Publications – Hanz Richter
Books / book chapters:
[2] H. Richter. Advanced Control of Turbofan Engines. Springer, 2011. [DOI] Errata
[1] Y. Kondratenko, P. Khalaf, H. Richter and D. Simon, Fuzzy Real-Time Multi-Objective Optimization of a Prosthesis Test Robot Control System, in Advanced Control Techniques in Complex Engineering Systems (Y. Kondratenko, A. Chiikrii, V.F. Gubarev and J. Kacprzyk, Eds), pp. 165-185, Studies in Systems, Decision and Control, SSDC, v. 203, Springer Nature Switzerland AG, 2019.
Journals:
[42] : H. Richter, M. Fathizadeh and T. Kaptain, Entropy Generation Minimization Beyond Thermodynamics: A Generalized Gouy-Stodola Theorem and Optimal Control, ASME Journal of Dynamic Systems, Measurements and Control (submitted), 2024
[41] : F. Zhang, J. Chen, J.J. Mvogo, H. Richter, G. Lu, B. Hu and Q. Lin, Add-on
Disturbance Compensation for Kinematic Control of Robotic Systems with
Closed Architectures, IEEE Transactions on Robotics, (submitted) 2024
[40] : M.Y. Sonaye, S. Bohara, B. Welsh, E.Ertugral, C. Kothapalli, H. Richter, K. Garg and P. Sikder, Extrusion-based 3D Bioprinting of Bioactive and Piezoelectric Scaffolds for Treating Critical Soft Tissue Wounds, Advances in Wound Care, https://doi.org/10.1089/wound.2024.0073, 2024
[39] H. Richter. Thermodynamic H-infinity Control of Multidomain Power Networks , IEEE Control Systems Letters, 7, 1939-1944, https://doi.org/10.1109/LCSYS.2023.3283474, 2023.
[38] H. Richter. Energy Cyclo-Directionality, Average Equipartition and Exergy Efficiency of Multidomain Power Networks , IEEE Control Systems Letters, 6, 3337-3342, 2022, https://doi.org/10.1109/LCSYS.2022.31847482022
[37] A. Ghorbanpour and H. Richter. Energy-Optimal Impedance Control of Cooperative Robot Manipulators, ASME Journal of Dynamic Systems, Measurements and Control, 144 (12), 2022 https://arxiv.org/pdf/2106.07491.pdf
[36] H. Warner, P. Khalaf, H. Richter, D. Simon, E. Hardin and A.J. van den Bogert, Early evaluation of a powered transfemoral prosthesis with force-modulated impedance control and energy regeneration , Medical Engineering and Physics , v. 100, 103744, 2022. https://www.sciencedirect.com/science/article/abs/pii/S1350453321001442
[35] A. Ghorbanpour and H. Richter, A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers , ASME Letters on Dynamic Systems and Control , 2 (2) 021004, Paper No: ALDSC-21-1020, 2021 https://asmedigitalcollection.asme.org/lettersdynsys/article/2/2/021004/1121140
[34] H. de las Casas, H. Warner, and H. Richter. Real-time optimization of an ellipsoidal trajectory orientation using muscle effort with extremum seeking control , Medical Engineering and Physics , v. 91, pp. 19-27, 2021. https://www.sciencedirect.com/science/article/abs/pii/S1350453321000321
[33] H. de las Casas, S. Bianco and H. Richter, Targeted Muscle Effort Distribution with Exercise Robots: Trajectory and Resistance Effects, Medical Engineering & Physics , v. 94, pp. 70-79, 2021 https://doi.org/10.1016/j.medengphy.2021.06.008
[32] H. Richter, J. Connolly and D. Simon, Optimal Control and Energy Management for Hybrid Gas-Electric Propulsion, ASME Journal of Engineering for Gas Turbines and Power, Paper No: GTP-20-1173, 2020 https://doi.org/10.1115/1.4047890
[31] H. Richter and H. Warner, Motion Optimization for Musculoskeletal Dynamics, A Flatness-Based Polynomial Approach, IEEE Transactions on Automatic Control, v. 66, n. 7, 2021 https://ieeexplore.ieee.org/document/9216543
[30] H. Mohammadi, G. Khademi, A. van den Bogert, D. Simon and H.Richter, Upper-Body Estimation of Muscle Forces, Muscle States and Joint Motion Using an Extended Kalman Filter, IET Control Theory and Applications v. 14 (19), 2020 https://doi.org/10.1049/iet-cta.2020.0321
[29] H. Warner, H.Richter and A. van den Bogert, Backstepping Control of Open-Chain Linkages Actuated by Antagonistic Hill Muscles, ASME Journal of Dynamic Systems, Measurements and Control, 142(10):101007, doi: https://doi.org/10.1115/1.4047447
[28] H. De las Casas, K. Kleis, H. Richter, K. Sparks and A. van den Bogert, Eccentric Training with a Powered Rowing Machine, Medicine in Novel Technology and Devices v.2, doi: https://doi.org/10.1016/j.medntd.2019.100008, 2019.
[27] P. Khalaf and H. Richter, Trajectory Optimization of Robots with Regenerative Drive Systems: Numerical and Experimental Results, IEEE Transactions on Robotics, 2019, DOI: 10.1109/TRO.2019.2923920
[26] T. Liu, X. Du, X. Sun, H. Richter and F. Zhu, Robust tracking control of aero-engine rotor speed based on switched LPV model, Aerospace Science and Technology, v. 91, pp. 382-390, 2019, https://doi.org/10.1016/j.ast.2019.05.031
[25] E. Gualter dos Santos and H. Richter, Design and Analysis of a Novel Actuation Mechanism with Controllable Stiffness, Actuators, 8 (1), 12, 2019
[24] M. Golestani, S. Mobayen, and H. Richter. Fast robust adaptive tracker for uncertain nonlinear second-order systems with time-varying uncertainties and unknown parameters, Intl. J. of Adaptive Control and Signal Processing, v. 32, n. 12, pp. 1764-1781, 2018, https://onlinelibrary.wiley.com/doi/abs/10.1002/acs.2943
[23] D. Ebeigbe, T. Nguyen, H. Richter and D. Simon, Robust Regressor-Free Control of Rigid Robots Using Function Approximations, IEEE Transactions on Control Systems Technology, pp. 1-14, 2019, DOI: 10.1109/TCST.2019.2914634
[22] H. Mohammadi, H. Yao, G. Khademi, T. Nguyen, D. Simon and H. Richter, Extended Kalman Filtering for State Estimation of a Hill Muscle Model, IET Control Theory and Applications, v. 12, N. 3, pp. 384-394, 2018.
[21] T. Nguyen, H. Warner, H. La, H. Mohammadi, D. Simon and H. Richter, State Estimation for an Agonistic-Antagonistic Muscle System, Asian Journal of Control, , v.21 (1) 2018. Available https://arxiv.org/pdf/1712.00522.pdf
[20] F. Rohani, H. Richter and A. van den Bogert, Optimal Design and Control of an Electromechanical Transfemoral Prosthesis with Energy Regeneration, PLOS One, 2018. https://doi.org/10.1371/journal.pone.0188266
[19] G. Khademi, H. Mohammadi, H. Richter, and D. Simon, “Optimal Mixed Tracking\Impedance Control with Application to Transfemoral Prostheses with Energy Regeneration,” IEEE Transactions on Biomedical Engineering, no. 99, pp. 1-17, 2017. DOI: 10.1109/TBME.2017.2725740
[18] P. Khalaf and H. Richter, “On global, closed-form solutions to parametric optimization problems for robots with energy regeneration”, ASME Journal of Dynamic Systems, Measurements and Control, v. 140 (3): 031003-031003-12, https://doi.org/10.1115/1.4037653, 2017
[17] S. A. Fakoorian, D. Simon, H. Richter and V. Azimi, “Ground reaction force estimation in prosthetic legs with nonlinear Kalman filtering methods”, ASME Journal of Dynamic Systems, Measurements and Control, v. 139, 2017. DOI: 10.1115/1.4036546
[16] X. Du, H. Richter, and Y. Guo. Multivariable sliding mode strategy with output constraints for aero-engine propulsion control. AIAA Journal of Guidance, Dynamics and Control, 39(7), 2016. [DOI]
[15] H. Richter. A framework for control of robots with energy regeneration. ASME Journal of Dynamic Systems, Measurements and Control, 137(9), 2015. [DOI]
[14] H. Richter and D. Simon. Robust tracking control of a prosthesis test robot. ASME Journal of Dynamic Systems, Measurements and Control, 136(3), 2014. [DOI]
[13] H. Richter, D. Simon, W. Smith, and S. Samorezov. Dynamic modeling and parameter estimation of a leg prosthesis test robot. Applied Mathematical Modelling, 39(2):559-573, 2014.
[12] Qinling Zheng, Hanz Richter, and Zhiqiang Gao. Active disturbance rejection control for piezoelectric beam. Asian Journal of Control, 16(6):1612-1622, 2014. [DOI]
[11] H. Richter. Multiple sliding modes with override logic: Limit management in aircraft engine controls. AIAA Journal of Guidance, Control and Dynamics, 35(4):1132-1142, 2012. [DOI]
[10] H. Richter. A multi-regulator sliding mode control strategy for output-constrained systems. Automatica, 47:2251-2259, 2011. [DOI]
[9] H. Richter. Motion control of a container with slosh: Constrained sliding mode approach. ASME Journal of Dynamic Systems, Measurements and Control, 132(3), 2010. [DOI]
[8] H. Richter and R.E. Maynard. Hybrid-dynamical modelling, characterization, and experimental verification of a free-wheeling clutch. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 224(4):361-372, 2010. [DOI]
[7] H. Richter. Feasibility of piezoelectric actuation with a reduced number of drivers: A periodic control approach. Journal of Intelligent Materials, Systems and Structures, 20(10):1259-1266, 2009. [DOI]
[6] H. Richter, A. Singaraju, and J.S. Litt. Multiplexed predictive control of a large commercial turbofan engine. AIAA Journal of Guidance, Control and Dynamics, 31(2):273-281, 2008. [DOI]
[5] H. Richter, B.D. O’Dell, and E.A. Misawa. Robust positively invariant cylinders in constrained variable structure control. Automatic Control, IEEE Transactions on, 52(11):2058-2069, Nov 2007.
[4] H. Richter and E.A. Misawa. Boundary layer eigenvalues in siso discrete-time sliding mode control with observer. ASME Journal of Dynamic Systems, Measurements and Control, 128(3):729-730, 2006. [DOI]
[3] H. Richter, E. Barbieri, and F. Figueroa. Modelling and validation of a propellant mixer for controller design. Applied Mathematical Modelling, 29(2):195-210, 2005. [DOI]
[2] H. Richter and E.A. Misawa. Stability of discrete-time systems with quantized input and state measurements. IEEE Transactions on Automatic Control, 48(8):1453-1458, August 2003.
[1] H. Richter, E.A. Misawa, D.A. Lucca, and H. Lu. Modeling nonlinear behavior in a piezoelectric actuator. Precision Engineering, 25(2):128-137, 2001. [DOI]
Peer-Reviewed Conference Proceedings:
[52] H. Richter and A. Mastropieri, Memristor-Based Dynamic Modeling of Muscle Fatigue, 2025 American Control Conference (submitted)
[51] M. Fathizadeh and H. Richter, Thermodynamics-inspired trajectory optimization of a planar robotic arm, 2025 American Control Conference (submitted)
[50] H. Richter, J. Connolly and D.Simon, Optimal Control and Energy Management in Hybrid Turbojet Engines, 2020 ASME Dynamic Systems and Control Conference
[49] H. Richter, Control for optimal energy regeneration from autorotation in UAVs, 2020 American Conference
[48] E. Gualter dos Santos and H. Richter, Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator, Proc. ASME Dynamic Systems and Control Conference, Atlanta, Georgia, 2018
[47] A. Ghorbanpour and H. Richter, Control with Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors, Proc. ASME Dynamic Systems and Control Conference, Atlanta, Georgia, 2018
[46] H. Richter, S. Mobayen and D. Simon, Contact and Tracking Hybrid Control with Impulse-Momentum Sliding Surface and Terminal Sliding Mode, Proc. ASME Dynamic Systems and Control Conference, Atlanta, Georgia, 2018
[45] P. Khalaf, H. Warner, E. Hardin, H. Richter and D. Simon, Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype, Proc. ASME Dynamic Systems and Control Conference, Atlanta, Georgia, 2018
[44] B. Kim and H. Richter, Energy Regeneration-Based Hybrid Control for Transfemoral Prosthetic Legs Using Four-Bar Mechanism, Proc. 44th Annual Conf. IEEE Industrial Electronics Society, 2018
[43] H. Richter and H. Warner, “Stable Nonlinear Control of an Angonist-Antagonist Muscle-Driven System”, Proc. 2017 IFAC World Congress, Toulouse, France, July 2017.
[42] H. Warner, H. Richter and A. van den Bogert, “Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System”, Proc. ASME Dynamic Systems and Control Conference, Tysons Corner, Virginia, 2017.
[41] H. Mohammadi, G. Khademi, D. Simon and H. Richter, “State Estimation of an Advanced Rowing Machine Using Optimized Kalman Filtering”, Proc. ASME Dynamic Systems and Control Conference, Tysons Corner, Virginia, 2017.
[40] H. De las Casas, H. Richter and A. van den Bogert, “Design and Hybrid Impedance Control of a Powered Rowing Machine”, Proc. ASME Dynamic Systems and Control Conference, Tysons Corner, Virginia, 2017.
[39] H. Richter, X. Hui, T. van den Bogert, and D. Simon. Semiactive virtual control of a hydraulic prosthetic knee. In Proceedings of the 2016 IEEE Conference on Control Applications, Buenos Aires, Argentina.
[38] J. Lee and H. Richter. Impedance control based on a multi-time-scale approach: Extended high-gain observers and dynamic inversion. In Proceedings of the 2016 IEEE Conference on Control Applications, Buenos Aires, Argentina.
[37] G. Khademi, H. Richter, and D. Simon. Multi-objective optimization of tracking/impedance control for a prosthetic leg with energy regeneration. In Proceedings of the 2016 IEEE Conference on Decision and Control.
[36] P. Khalaf and H. Richter. Parametric optimization of stored energy in robots with regenerative drive systems. In Proceedings of the International Conference on Advanced Intelligent Mechatronics, Banff, Canada, 2016.
[35] H. Warner, D. Simon, and H. Richter. Design optimization and control of a crank-slider actuator for a lower-limb prosthesis with energy regeneration. In Proceedings of the International Conference on Advanced Intelligent Mechatronics, Banff, Canada, 2016.
[34] H. Mohammadi, D. Simon and H. Richter, State Estimation of a Muscle-Driven Linkage, Proc. 2018 American Control Conference, Milwaukee, Wisconsin
[33] T. Nguyen, H. Warner, H. Mohammadi, D. Simon and H. Richter, “On the State Estimation of An Agonistic-Antagonistic Muscle System”, Proc. ASME Dynamic Systems and Control Conference, Tysons Corner, Virginia, 2017.
[32] S. Otitoju and H. Richter. Admittance control for an electromechanical rowing machine. In Proceedings of the International Conference on Advanced Intelligent Mechatronics, Banff, Canada, 2016.
[31] A. Koelewijn, H. Richter, and A. van den Bogert. Trajectory optimization in stochastic multibody systems using direct collocation. In Proceedings of the 4th Joint International Conference on Multibody System Dynamics, Montréal, Canada, 2016.
[30] H. Warner, H. Mohammadi, and H. Richter. Switched robust tracking/impedance control for an active transfemoral prosthesis. In Proceedings of the 2016 American Control Conference, Boston, Massachusetts, 2016.
[29] V. Azimi, D. Simon, H. Richter, and S. Fakoorian. Robust composite adaptive transfemoral prosthesis control with non-scalar boundary layer trajectories. In Proceedings of the 2016 American Control Conference, Boston, Massachusetts, 2016.
[28] S. Fakoorian, D. Simon, H. Richter, and V. Azimi. Ground reaction force estimation in prosthetic legs with an extended Kalman filter. In 2016 Annual IEEE Systems Conference (SysCon), Orlando, FL, 2016, pp. 1-6. DOI: 10.1109/SYSCON.2016.7490563
[27] D. Ebeigbe, D. Simon, and H. Richter. Hybrid function approximation based control with application to prosthetic legs. In Proceedings of the 2016 IEEE Systems Conference.
[26] P. Khalaf, H. Richter, A. van den Bogert, and D. Simon. Multi-objective optimization of impedance parameters in a prosthesis test robot. In Proceedings of the 2015 ASME Dynamic Systems and Control Conference, Columbus, Ohio.
[25] H. Richter and A. van den Bogert. On the system-theoretic passivity properties of a hill muscle model. In Proceedings of the 2015 ASME Dynamic Systems and Control Conference, Columbus, Ohio.
[24] X. Du and H. Richter. A MIMO sliding mode approach to limit protection in aero-engines. In Proceedings of the 2015 ASME Dynamic Systems and Control Conference, Columbus, Ohio.
[23] V. Azimi, D. Simon, and H. Richter. Stable robust adaptive impedance control of a prosthetic leg. In Proceedings of the 2015 ASME Dynamic Systems and Control Conference, Columbus, Ohio.
[22] Hadis Mohammadi and H. Richter. Robust tracking-impedance control: Application to prosthetics. In 2015 American Control Conference,Chicago, 2015.
[21] H. Richter and D. Selvaraj. Impedance control with energy regeneration in advanced exercise machines. In 2015 American Control Conference,Chicago, 2015.
[20] R. Davis, H. Richter, D. Simon, and A. van den Bogert. Evolutionary ground reaction force optimization of a prosthetic leg testing robot. In American Control Conference,Portland, Oregon, pages 4081-4086, 2014. [DOI]
[19] R. Rarick, H. Richter, D. van den Bogert, D. Simon, H. Warner, and T. Barto. Optimal design of a transfemoral prosthesis with energy storage and regeneration. In Proc. American Control Conference, Portland, Oregon, pages 4108-4113, 2014. [DOI]
[18] H. Richter, D. Simon, and A. van den Bogert. Semiactive virtual control method for robots with regenerative energy-storing joints. In Proc. 19th IFAC World Congress, Cape Town, South Africa, pages 10244-10250, 2014. [DOI]
[17] Qinling Zheng, D. Simon, H. Richter, and Zhiqiang Gao. Differential particle swarm evolution for robot control tuning. In American Control Conference (ACC), 2014, pages 5276-5281, 2014. [DOI]
[16] A. Shah, D. Simon, and H. Richter. Constrained biogeography-based optimization for invariant set computation. In American Control Conference (ACC), 2012, pages 2639-2644, 2012. [DOI]
[15] H. Richter. Control design with output constraints: Multi-regulator sliding mode approach with override logic. In American Control Conference (ACC), 2012, pages 6166-6171, 2012. [DOI]
[14] H. Richter. A hybrid sliding mode strategy for minimum-phase systems with output constraints. In Variable Structure Systems (VSS), 2010 11th International Workshop on, pages 154-159, 2010. [DOI]
[13] H. Richter and R.E. Maynard. Hybrid-dynamic modeling and characterization of mechanical transmissions with unidirectional coupling. In Proceedings of the 2009 ASME Dynamic Systems and Control Conference, pages 297-304. [DOI]
[12] H. Richter and K. Karnik. High-performance motion control with slosh: A constrained sliding mode approach. In Proceedings of the 2008 ASME Dynamic Systems and Control Conference, pages 187-194. [DOI]
[11] H. Richter. Constrained sliding mode control: Invariant cylinder methodology. In Variable Structure Systems, 2008. VSS ’08. International Workshop on, pages 256-261, 2008. [DOI]
[10] H. Richter and A. Singaraju. Multiplexed order-reducing control of linear discrete-time systems. In American Control Conference, 2006, 2006. [DOI]
[9] H. Richter. Robust positively invariant cylinders for constrained sliding mode control designs. In Decision and Control, 2004. CDC. 43rd IEEE Conference on, volume 5, pages 5272-5278, 2004. [DOI]
[8] H. Richter. Robust nonlinear control of a thermal mixing process. In Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on, volume 2, pages 1376-1381, 2004. [DOI]
[7] E. Barbieri, H. Richter, and F. Figueroa. Small signal point-to-point tracking of a propellant mixer. In American Control Conference, 2003. Proceedings of the 2003, volume 4, pages 2845-2850, 2003.
[6] H. Richter, E. Barbieri, and F. Figueroa. Nonlinear modeling and control of a propellant mixer. In American Control Conference, 2003. Proceedings of the 2003, volume 4, pages 2839-2844, 2003. [DOI]
[5] H. Richter. Tracking of a thermodynamic process using a polytropic surface as sliding manifold. In American Control Conference, 2003. Proceedings of the 2003, volume 1, pages 197-201, 2003.
[4] H. Richter and E.A. Misawa. Boundary layer eigenvalues in observer-based discrete-time sliding mode control. In American Control Conference, 2002. Proceedings of the 2002, volume 4, pages 2935-2936, 2002.
[3] H. Richter, E.A. Misawa, and B.D. O’Dell. Stability analysis of discrete linear systems with quantized input. In American Control Conference, 2002. Proceedings of the 2002, volume 4, pages 2991-2996, 2002. [DOI]
[2] H. Richter and E.A. Misawa. Stability analysis of discrete linear systems with quantized input and state measurements. In American Control Conference, 2002. Proceedings of the 2002, volume 3, pages 2392-2397, 2002. [DOI]
[1] H. Richter, E.A. Misawa, and D.A. Lucca. Characterization of nonlinearities in a piezoelectric positioning device. In Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on, pages 717-720, 1997. [DOI]
Other conference presentations:
[89] H. Richter and J.S. Litt. A novel controller for gas turbine engines with aggressive limit management. In 47th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit, 2011. [DOI]
[90] H. Richter, F. Torres, and J. Sanchez. Strain sensing with a piezoelectric biopolymer. In World Forum on Smart Materials and Smart Structures Technology, 2008. [DOI]
[91] J. Brousseau, R. Maynard, A. Singaraju, and H Richter. A testbed for attitude control using cold gas thrusters. In ASME 2006 International Mechanical Engineering Congress and Exposition, 2006. [DOI]
[92] H. Richter, E. Barbieri, and F. Figueroa. A matlab-based graphical user interface for simulation and control design of a hydrogen mixer. In 40th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit, 2004. [DOI]
[93] H. Richter, E. Barbieri, and F. Figueroa. Modeling, simulation and control of a propellant mixer. In 39th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit, 2003. [DOI]
Theses – Hanz Richter
“Modelado y Simulacion de Materiales Viscoelasticos No-Lineales”, (in Spanish) Engineering Licensure Thesis, Pontificia Universidad Catolica del Peru, Lima, January 2003.
“Hyperplane Design in Observer-Based Discrete-Time Sliding Mode Control”, Master’s Thesis, Oklahoma State University, 1997.
“Stability Analysis of Discrete Linear System under Input and Measurement Quantization”, PhD. Dissertation, Oklahoma State University, 2001.
Others
Pilot Studies for a Rowing Ergometer with Energy Regeneration (tech report)
“Biocompatible Piezoelectric Film Sensors: Potential Applications”, Wound Consortium seminar series, presented at the Akron General Medical Center, March 30, 2009.
Richter, H., “Theoretical Tools and Software for Modeling, Simulation and Control Design of Rocket Test Facilities”, NASA Technical Memorandum SSTI-8060-0001, NASA Stennis Space Center, August 2004. National Research Council Associateship Program, Contract NASW-99027, 2004.
Richter, et.al., “A Graphical User Interface for Modeling, Simulation and Control Design of a Propellant Mixer”, NASA Tech Briefs, Nov 2005.