Eric Butcher

About

Eric Butcher is a Professor of Aerospace and Mechanical Engineering, as well as a Professor of Electrical and Computer Engineering, and a member of the Graduate Faculty at the University of Arizona. His educational background includes a PhD in Mechanical Engineering from Auburn University, along with master's degrees in Aerospace Engineering Sciences and Mechanical Engineering from the University of Colorado and Auburn University, respectively, and a BS in Engineering Physics from the University of Oklahoma. He also holds a BMA in Musical Arts from the University of Oklahoma. His work experience spans several academic institutions and national laboratories, including roles as Associate Professor and Professor at the University of Arizona since 2014, Associate Professor at New Mexico State University from 2007 to 2013, and positions at the University of Alaska Fairbanks from 1998 to 2006, as well as technical staff at Sandia National Laboratory. His research interests encompass dynamics and control in nonlinear, time-periodic, time-delayed, stochastic, and fractional order systems; chaos identification and control; multi-agent consensus control and estimation; spacecraft guidance, navigation, and control; estimation and control of spacecraft attitude and relative motion dynamics; coupled orbit/attitude dynamics; Coulomb formation flying; interplanetary, interstellar, and libration point transfers; nonlinear vibrations; order reduction; regenerative chatter in machining; and…

Research topics

• Artificial Intelligence
• Computer Science
• Mathematics
• Physics
• Engineering
• Control engineering
• Applied mathematics
• Computer vision
• Geometry
• Classical mechanics

Selected publications

• SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation

  IEEE Transactions on Aerospace and Electronic Systems · 2021 · 23 citations

  Senior authorCorresponding

  In this article, an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$SE(3)$</tex-math></inline-formula> -constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of quaternions or ot…

  DOI

• Rigid-Body Pose Hybrid Control Using Dual Quaternions: Global Asymptotic Stabilization and Robustness

  Journal of Guidance Control and Dynamics · 2020 · 22 citations

  A hybrid feedback control scheme is proposed for stabilization of rigid-body dynamics (position, orientation, and velocities) using unit dual quaternions, in which the dual quaternions and velocities are used for feedback. Specifically, both set-point stabilization and tracking control are addressed in this work. It is well known that rigid-body attitude control is subject to topological constraints, which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the…

  DOI

• Rigid-Body Attitude Control, Synchronization, and Bipartite Consensus Using Feedback Reshaping

  Journal of Guidance Control and Dynamics · 2023-02-01 · 13 citations

  articleSenior author

  Improved attitude control laws based on a feedback reshaping strategy using rotation matrices are proposed for attitude control of a single rigid body on [Formula: see text] and for multibody attitude synchronization on [Formula: see text]. For attitude control of a single body the proposed control law improves the closed-loop response for initial principal rotation angles near 180° while producing a globally continuous control torque. For the problem of multibody attitude synchronization, an al…

  PublisherDOI

• Finite-time Attitude Consensus Control of a Multi-Agent Rigid Body System

  2022 American Control Conference (ACC) · 2020 · 13 citations

  In this paper, finite-time attitude consensus control laws for multi-agent rigid body systems are presented using rotation matrices. The control objective is to stabilize the relative configurations in a finite convergence time. First, the control design is done on the kinematic level where the angular velocities are the control signals. Next, the design is conducted on the dynamic level in the framework of the tangent bundle TSO(3) associated with SO(3), where the torques implement the feedback…

  DOI

• Framework for the full N-body problem in SE(3) and its reduction to the circular restricted full three-body problem

  Celestial Mechanics and Dynamical Astronomy · 2023-07-10 · 9 citations

  article
  PublisherDOI

Recent grants

• Collaborative Research: Resilient Decentralized Estimation and Control for Cooperative Rigid Body Multivehicle Systems

  NSF · $250k · 2016–2019

• Collaborative Research: Stability, Identification, and Stochastic Resonance in Stochastic Delayed Systems

  NSF · $249k · 2009–2012

Frequent coauthors

• Morad Nazari

  Embry–Riddle Aeronautical University

  43 shared

• S. C. Sinha

  Stanford University

  26 shared

• Amit K. Sanyal

  26 shared

• Arman Dabiri

  Southern Illinois University Edwardsville

  24 shared

• T. Alan Lovell

  United States Air Force Research Laboratory

  14 shared

• Oleg A. Bobrenkov

  14 shared

• Ehsan Samiei

  New Mexico State University

  14 shared

• Shahab Torkamani

  University of Alabama

  14 shared

Awards & honors

• UA Academic Leadership Fellow, 2018
• AFRL Summer Faculty Fellowship, 2015, 2016, 2018, 2020
• Best Paper Award, 12th International Conference on Multibody…
• Fulbright Scholar, 2020-21

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