N. Coleman

U.S. Army Combat Capabilities Development Command Armaments Center, United States Army

Papers

Total Citations

H-Index

About

N. Coleman’s research centers on the control and modeling of robotic manipulators, with a particular focus on nonlinear dynamics and optimal control strategies. Their major contribution lies in the development of the “imaginary robot” concept, a novel dynamic model that enables exact linearization through simplified nonlinear feedback. This framework, introduced in their 1987 paper (7 citations), addresses the challenge of decomposing the inertial matrix to achieve precise, real-time control. Coleman’s earlier work on optimal control with exact linearization (1986, 2 citations) further advanced the field by tackling the inherent complexities of robotic systems—such as multi-input, multi-output nonlinearities and time-varying parameters—to improve real-time performance. Though their citation counts are modest, Coleman’s ideas represent a foundational step in bridging nonlinear control theory with practical robotic applications. Their work is particularly notable for its theoretical elegance, offering a streamlined approach to linearization that continues to inform research in advanced robotics and automation. For students and researchers exploring nonlinear control or robotic system modeling, Coleman’s contributions provide a clear, early example of how simplified models can yield powerful results in complex dynamic systems.