%% File: refs.bib %% Last Modified: 2/11/02 %% By: Randy Beard %% %% BibTex database for research references %% @STRING{ACC = "Proceedings of the American Control Conference"} @STRING{CDC = "Proceedings of the {IEEE} Conference on Decision and Control"} @STRING{CST = "{IEEE} Transactions on Control Systems Technology"} @STRING{TAC = "{IEEE} Transactions on Automatic Control"} @STRING{TRA = "{IEEE} Transactions on Robotics and Automation"} @STRING{TSMC = "{IEEE} Transactions on Systems, Man, and Cybernetics"} @STRING{ARC = "Automation and Remote Control"} @STRING{JOTA = "Journal of Optimization Theory and Applications"} @STRING{JGCD = "{AIAA} Journal of Guidance, Control and Dynamics"} @STRING{SIAM = "{S}{I}{A}{M} Journal on Control and Optimization"} @STRING{ICRA = "Proceedings of the {IEEE} International Conference on Robotics and Automation"} %%A @ARTICLE{AbbottMcLainBeard01, AUTHOR = "Richard D. Abbott and Timothy W. McLain and Randal W. Beard", TITLE = "Validation of a Synthesis Technique for the Optimal Control of an Electro-hydraulic Positioning System", JOURNAL = "ASME Journal of Dynamic Systems, Measurement, and Control", YEAR = "2001", VOLUME = "123", MONTH = "September", ABSTRACT = " Location: Keywords: Comments: ", } @MISC{ABET00, NOTE = "http://www.abet.org/", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{Aeyels85, AUTHOR = "D. Aeyels", TITLE = "Stabilization of a class of nonlinear systems by a smooth feedback control", JOURNAL = "System and Control Letters", YEAR = "1985", VOLUME = "5", PAGES = "289--294", } @INPROCEEDINGS{Aeyels86, AUTHOR = "Dirk Aeyels", TITLE = "Local and Global Stabilizability for Nonlinear Systems", BOOKTITLE = "Theory and Applications of Nonlinear Control Systems", YEAR = "1986", EDITOR = "C. I. Byrnes and A. Lindquist", PUBLISHER = "Elsevier Science Publishers", ADDRESS = "North-Holland", PAGES = "93--105", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear systems, stabilization, smooth feedback control law, global stabilization, center manifold, power system Comments: Stabilization by smooth feedback in the neighborhood of an equilibrium point of a control system is considered. By means of the integral manifold approach we extend this result to a global context. Then the stabilization of a synchronous generator with speed control, after the occurrence of a symmetric fault is investigated. ", } @ARTICLE{AganovicGajic94, AUTHOR = "Zijad Aganovic and Zoran Gajic", TITLE = "The Successive Approximation Procedure for Finite-Time Optimal Control of Bilinear Systems", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "9", PAGES = "1932--1935", MONTH = "September", ABSTRACT = " Location: shelf Keywords: Succesive Approximations, Bilinear systems, open-loop control, Lyapunov Equations, Chemical Reactor, optimal control Comments: It is shown in this paper that the successive approximation procedure simplifies computations of the optimal solution of a bilinear-quadratric optimal control problem. On the contrary of the results of Hofer and Tibken where the optimal solution has been obtained in terms of a sequence of the differential Riccati equations, in the presented method only solutions of a sequence of the differential Lyapunov equations are required. A chemical reactor example is used to demonstrate the efficiency of the new method. ", } @ARTICLE{AgrawalXu94, AUTHOR = "Om P. Agrawal and Yangsheng Xu", TITLE = "On the Global Optimum Path Planning for Redundant Space Manipulators", JOURNAL = TSMC, YEAR = "1994", VOLUME = "24", NUMBER = "9", PAGES = "1306--1316", MONTH = "September", ABSTRACT = " Location: Shelf Keywords: Robot Manipulator, Path Planning, Space, Holonomic and Nonholonomic Constraints, Variational approach, free flying, kinematic redundancy. Comments: Robotic manipulators will play a significant role in the maintenance and repair of space stations and satellites, and other future space missions. Robot path planning and control for the above applications should be optimum, since any inefficiency in the planning may considerably risk the success of the space mission. This paper presents a global optimum path planning scheme for redundant space robotic manipulators to be used in such missions. In this formulation, a variational approach is used to minimize the objective functional. It is assumed that the gravity is zero in space, and the robotic manipulator is mounted on a completely free-flying base and the attitude control is off. Linear and angular monentum conditions for this system lead to a set of mixed holonomic and nonholonomic constraints. These equations are adjoined to the objective functional using a Lagrange multiplier technique. The formulation leads to a system of Differential and Algebraic Equations. A numerical scheme for forward integration of this system is presented. A planar redundant space manipulator consisting of three arms and a base is considered to demonstrate the feasibility of the formulation. The approach to optimum path planning of redundant space robots is significant since most robots that have been developed for space applications so far are redundant. The kinematic redundancy of space robots offers efficient control and provides the necessary dexterity for extra-vehicular activity that exheeds human capacity. ", } @BOOK{Aho83, AUTHOR = "Alfred V. Aho and John E. Hopcroft and Jeffrey D. Ullman", TITLE = "Data Structures and Algorithms", PUBLISHER = "Addison Wesley", YEAR = "1983", } @BOOK{Aho88, AUTHOR = "Alfred V. Aho and Ravi Sethi and Jeffrey D. Ullman", TITLE = "Compilers, Principles, Techniques, and Tools", PUBLISHER = "Addison Wesley", YEAR = "1988", } @INPROCEEDINGS{AkellaWen95, AUTHOR = "Padma Akella and John T. Wen", TITLE = "Synthesized Passive Feedback Control of Sensor-Rich Smart Structures", BOOKTITLE = "IEEE Conference on Control Applications", YEAR = "1995", ADDRESS = "Desmond Hotel, Albany, New York", ABSTRACT = " Location: Ref DB 4 Keywords: Smart Structures, Piezoelectric Sensors, Passivity, Linear Matrix Inequalities, Flexible Beam Comments: The so-called smart structures frequently have more sensors than actuators, due to the lower cost and simpler instumentation. The passivity based controller, which is frequently used in structural control due to its inherent robustness properties, requires senson/actuator collocation; therefore, it can at best utilize only a subset of the sensors. This paper considers the design of a `squaring down' matrix which would render a system passive subject to some aditional performance considerations. This problem is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved due to the recent advance in interior point methods in convex programming. We applied this procedure with the assumption that the sensors provide displcement as well as velocity information which is generally not true. We show that the proposed scheme can be implemented without the use of such velocity information. Simulation results involving a single flexible beam with torque input and pub position and strain gauge output are presented. ", } @ARTICLE{Albrekht61, AUTHOR = "E. G. Al'brekht", TITLE = "On the Optimal Stabilization of Nonlinear Systems", JOURNAL = "Joural of Applied Mathematics and Mechanics", YEAR = "1961", VOLUME = "25", NUMBER = "5", PAGES = "836--844", ABSTRACT = " Location: ref DB 4 Keywords: Nonlinear, Optimal, Suboptimal, regulator, Taylor series expansion Comments: The author considers the problem of the formation of the guidance action in a nonlinear control system under the condition of the minimum of the integral for the estimate of quality for small initial disturbances. The problem is solved by the methods of Liapunov and Chetaev in stability theory. ", } @INPROCEEDINGS{AllgowerRehmGilles94, AUTHOR = "F. Allgower and A. Rehm and E.D. Gilles", TITLE = "An Engineering Perspective on Nonlinear $H_\infty$ Control", BOOKTITLE = "Proceedings of the 33rd Conference on Decision and Control", YEAR = "1994", ADDRESS = "Lake Buena Vista, FL", PAGES = "2537--2542", MONTH = "December", ABSTRACT = " Location: Ref DB 13 Keywords: nonlinear H-infinity, I/O linearization, Comments: This paper discusses the usefulness of nonlinear H-infinity control compared to linear H-infinity control. In particular they show several important results. First, for linear H-infinity control, robust w.r.t. additive disturbance implies a certain amount of robustness w.r.t. multiplicative disturbances. This is not the case for nonlinear control. Also, some of the standard assumptions for linear H-infinity control are without loss of generality. For the nonlinear case this is not true. They show that approximate I/O linearization can be solved by the nonlinear H-infinity control problem. They also identify several open questions, including 1) restrictive standard assumptions, 2) the problem at optimality (not discussed) 3) computation of HJI inequalities 4) formulation of meaningful nonlinear H-infinity control problems. ", } @ARTICLE{Anderson66, AUTHOR = "B. D. O. Anderson", TITLE = "Stability of Control Systems with Multiple Nonlinearities", JOURNAL = "Journal of the Franklin Institute", YEAR = "1966", VOLUME = "282", NUMBER = "3", PAGES = "155--160", MONTH = "September", } @INPROCEEDINGS{Anderson66b, AUTHOR = "B. D. O. Anderson", TITLE = "Development and Applications of a System Theory Criteria for Rational Positive Real Matrices", BOOKTITLE = "Proceedings of the Fourth Allerton Conference", YEAR = "1966", PAGES = "400--407", } @ARTICLE{Anderson67, AUTHOR = "B. D. O. Anderson", TITLE = "A System Theory Criterion for Positive Real Matrices", JOURNAL = SIAM, YEAR = "1967", VOLUME = "5", NUMBER = "2", PAGES = "171--182", } @INPROCEEDINGS{AndersonBeard01, AUTHOR = "Erik P. Anderson and Randal W. Beard", TITLE = "Constrained Extremal Trajectories and {UAV} Path Planning", BOOKTITLE = ICRA, YEAR = 2002, ADDRESS = "Washington D.C.", MONTH = "May", NOTE = "(submitted)", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{AndersonGrantham89, AUTHOR = "M. J. Anderson and W. J. Grantham", TITLE = "{L}yapunov Optimal Feedback Control of a Nonlinear Inverted Pendulum", JOURNAL = "ASME Journal of Dynamic Systems, Measurement, and Control", YEAR = "1989", VOLUME = "111", PAGES = "554--558", MONTH = "December", ABSTRACT = " Location: Ref DB 4 Keywords: Lyapunov Optimal, Inverted Pendulum, Variable Structure Systems, Nonlinear Comments: Lyapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which rocks the pendulum out of its potential well, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Lyapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target. ", } @BOOK{AndersonMoore71, AUTHOR = "B. D. O. Anderson and J. B. Moore", TITLE = "Linear Optimal Control", PUBLISHER = "Prentice Hall", YEAR = "1971", ADDRESS = "Englewood Cliffs, New Jersey", } @INPROCEEDINGS{AndersonRobbins98, AUTHOR = "Mark R. Anderson and Andrew C. Robbins", TITLE = "Formation Flight as a Cooperative Game", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation and Control Conference", YEAR = "1998", ORGANIZATION = "American Institute of Aeronautics and Astronautics", ADDRESS = "Boston, MA", PAGES = "244--251", MONTH = "August", NOTE = "AIAA-98-4124", ABSTRACT = " Location: Ref DB 12 Keywords: Formation flight, Aircraft flying in formation, behavioral approach, instincts, multi-agent, Comments: This paper describes the application of the behavioral approach to aircraft flying in formation. The authors do not identify the approach as a behavioral, rather they attempt to mimic the instinctive behavior of birds and fish. Results are non-rigorous, but they do demonstrate cooperative behavior. The drawback is that the behavior cannot necessarily be directed. ", } @BOOK{Apostol67, AUTHOR = "Tom. A. Apostol", TITLE = "Calculus", PUBLISHER = "Blaisdell Publishing Company", YEAR = "1967", VOLUME = "I", ADDRESS = "Waltham, MA", EDITION = "2nd", ABSTRACT = " Location: Ref DB 10 Keywords: Calculus, Curves, Analytic geometry, Osculating plane, velocity, acceleration Comments: ", } @BOOK{Apostol74, AUTHOR = "Tom M. Apostol", TITLE = "Mathematical Analysis", PUBLISHER = "Addison Wesley", ADDRESS = "Reading, Massachusetts", YEAR = "1974", } %%AR @BOOK{Arnold73, AUTHOR = "V. I. Arnold", TITLE = "Ordinary Differential Equations", PUBLISHER = "MIT Press", YEAR = "1973", } @BOOK{Arnold89, AUTHOR = "V. I. Arnold", TITLE = "Mathematical Methods of Classical Mechanics", PUBLISHER = "Springer Verlag", ADDRESS = "New York, New York", YEAR = "1989", } @ARTICLE{Artstein83, AUTHOR = "Zvi Artstein", TITLE = "Stabilization with Relaxed Controls", JOURNAL = "Nonlinear Analysis, Theory, Methods, and Applications", YEAR = "1983", VOLUME = "7", NUMBER = "11", PAGES = "1163--1173", ABSTRACT = " Location: Ref DB 13 Keywords: Control Lyapunov functions (clf) Relaxed controls stabilization dither small control property pulse width modulation Comments: This paper is one of the first to discuss the idea of a control Lyapunov function (clf), although it is not called that in the paper. The main result of the paper is that a system is guaranteed to be stabilizable by relaxed controls iff there is a $C^1$ function $V>0$ such that $\inf_u\in U V_x\cdot f(x,u) < 0$ except at $x==0$. The system is globally stabilizable if $V$ is radially unbounded. The relaxed control is not necessarily continuous, unless $V$ also satisifies the small control property (not called this in the paper). The author claims that the difference between this paper and \cite{Sontag83} is Sontag does not look for Smooth clf's. Indeed this paper guarantees the existence of smooth clf given that a smooth relaxed control can asymptotically stabilize the system. \cite{Sontag83} does not require the control to be (relaxed) control to be smooth, and does not guarantee that $V$ will be smooth. ", } @BOOK{AthansFalb, AUTHOR = "Michael Athans and Peter Falb", TITLE = "Optimal Control", PUBLISHER = "McGraw-Hill Book Company", YEAR = "1966", ADDRESS = "New York, New York", } %%AS @ARTICLE{AsadaKitano99, AUTHOR = "Minoru Asada and Hiroaki Kitano", TITLE = "The RoboCup Challenge", JOURNAL = "Robotics and Autonomous Systems", YEAR = "1999", VOLUME = "29", PAGES = "3--12", ABSTRACT = " Location: Ref DB 11 Keywords: RoboCup robot soccer multi-agent research Comments: This paper describes the RoboCup design challenges and describes the possible AI research that can be derived from robot soccer. ", } @ARTICLE{Astrom83, AUTHOR = "K. J. Astrom", TITLE = "Theory and Applications of Adaptive Control--A Survey", JOURNAL = "Automatica", YEAR = "1983", VOLUME = "19", PAGES = "471--486", MONTH = "September", ABSTRACT = " Location: Ref DB 7 Keywords: Adaptive control, MRAC, STC, Survey, Gain Scheduling Comments: A survey of adaptive control theory and its applications indicates that when designed with adequate practical precautions it may be used succesfully in a variety of applications even though many theoretical problems remain to be solved. ", } %%B @BOOK{Baba85, AUTHOR = "N. Baba", TITLE = "New Topics in {L}earning {A}utomata Theory and Applications", PUBLISHER = "{Lecture Notes in Control and Information Science, Springer Verlag}", YEAR = "1985" } @MASTERSTHESIS{Bailey99, AUTHOR = "Christopher A. Bailey", TITLE = "Fuel Saving Schemes for Separated Spacecraft Flying in Formation", SCHOOL = "Brigham Young University", YEAR = "1999", ADDRESS = "Provo, Utah 84602", MONTH = "December", ABSTRACT = " Location: Keywords: formation flying, fuel equalization, Comments: ", } @ARTICLE{BaileyMcLainBeard00a, AUTHOR = "Christopher A. Bailey and Timothy W. McLain and Randal W. Beard", TITLE = "Fuel Saving Strategies for Dual Spacecraft Interferometry Missions", JOURNAL = "Journal of the Astronatical Sciences", YEAR = "In Review.", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{BaileyMcLainBeard00, AUTHOR = "Chris Bailey and Timothy McLain and Randal Beard", TITLE = "Fuel Saving Strategies for Separated Spacecraft Interferometry", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation, and Control Conference", YEAR = "2000", ADDRESS = "Denver, CO", MONTH = "August", NOTE = "AIAA Paper No. AIAA-2000-4441", ABSTRACT = " Location: shelf Keywords: ST3 formation flying fuel equalization Comments: This paper describes Chris Bailey's approach to scheduling tour through the U-V points and stars for fuel optimal, or equalized tours. The basic idea is to mix retarget, resize and reorient maneuvers to save fuel. ", } @PHDTHESIS{Balaram85, AUTHOR = "J. Balaram", TITLE = "Suboptimal Control of Nonlinear Systems", SCHOOL = "Rensselaer Polytechnic Institute", YEAR = "1985", ADDRESS = "Troy, New York", ABSTRACT = " Location: RPI Library Keywords: Suboptimal Control, Approximation Theory, George Saridis, Upper bounds, Comments: In this thesis, a design method is proposed to iteratively improve the performance of a given suboptimal, admissible feedback control law for a deterministic nonlinear system. In the case of the nonlinear regulator problem, the method is shown to lead to successively improved, asymptotically stable control laws. These control laws are also robust with respect to parameter variations in the system equation and variations in the control actuator gains. Moreover, unlike the methods proposed in the past, the design method requires only the determination of upper bounds to the performance of a given control law and not the actual value function itself. This provides a degree of flexibility, leading to a solution method for finding the upper bound functions as a Lipschitz continuous tensor product spline function obtained by solving a linear programming problem. The design method is demonstrated by developing successively improved controllers for mechanical manipulator arm. ", } @ARTICLE{BalchArkin98, AUTHOR = "Tucker Balch and Ronald C. Arkin", TITLE = "Behavior-Based Formation Control for Multirobot Teams", JOURNAL = "IEEE Transactions on Robotics and Automation", YEAR = "1998", VOLUME = "14", NUMBER = "6", PAGES = "926--939", MONTH = "December", ABSTRACT = " Location: Shelf Keywords: Formation Control, Mobile Robots, Behavior based approach, Leader following, Comments: This paper describes a behavior based approach to formation keeping for mobile robots. The prespective is from a computer scientist and has very little mathematical setup or analysis. The project is funded by DARPA. The basic idea is to average several competing behaviors including goal seeking, collision avoidance, formation maintainance. They also study unit-center-referenced verses leader referenced verses neighbor referenced formation control. The unit-center-referenced control is very similar to the template control idea. They describe the application of the ideas to two different hardware implementations. ", } @INPROCEEDINGS{BalkcomMason00, AUTHOR = "Devin J. Balkcom and Matthew T. Mason", TITLE = "Extremal Trajectories for Bounded Velocity Differential Drive Robots", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco", PAGES = "2479--2484", MONTH = "April", ABSTRACT = " Location: Ref DB 13 Keywords: mobile robots differential drive nonholonomic time optimal point and shoot Pontryagin's Maximum principle Comments: This paper argues via the Pontryagin maximum principle that rotations and straight lines are optimal maneuvers for differential drive mobile robots. In other words, to move from one position and orientation to another in optimal time, requires a series of pure rotations and pure translations. Several simplifying assumptions are made to derive this result. First kinematic models are assumed, i.e., no mass. Second, it is assumed that infinite acceleration is possible. The robots are assumed to move at constant velocity throughout the maneuver: starts and stops are considered instantaneous. ", } @ARTICLE{BallHeltonWalker93, AUTHOR = "Joseph A. Ball and J. William Helton and Michael L. Walker", TITLE = "${H}_\infty$ Control for Nonlinear Systems with Output Feedback", JOURNAL = TAC, YEAR = "1993", VOLUME = "38", NUMBER = "4", PAGES = "548--559", MONTH = "April", ABSTRACT = " Location: Ref DB 7 Keywords: Nonlinear H-infinity, disturbance rejection, nonlinear control, Hamilton-Jacobi-Isaacs equation, dissipative, Comments: The basic question of nonlinear $H^\infty$ control theory is to decide, for a given two port system, when does feedback exist which makes the full system dissipative and internally stable. This problem can also be viewed as an interesting question about circuits. Also, after translation, the problem has a game theoretic statement. This paper presents several necessary conditions for solutions to exist and gives sufficient conditions fo a certain construction to lead to a solution. ", } @ARTICLE{BangKimKim97, AUTHOR = "Hyochoong Bang and Jong-ah Kim and Myungsuk Kim", TITLE = "Optimal Reorientation Maneuver of Bias Momentum Spacecraft", JOURNAL = "Journal of Guidance, Control and Dynamics", YEAR = "1997", VOLUME = "20", NUMBER = "6", PAGES = "1076--1082", MONTH = "November", ABSTRACT = " Location: Ref DB 10 Keywords: Satellite Control, Optimal Control, Minimum Time, Minimum Fuel, Momentum Bias Spacecraft, Satellite model, Bang-Bang control time-delay filter Comments: Application of an optimal control theory is made to find the optimal rotational maneuver strategy of a pitch bias momentum spacecraft. Time-optimal and fuel/time-optimal control laws are each investigated separately. Conventional time-optimal control theory is adopted taking into account the gyroscopic effect embedded in the bias momentum spacecraft. The modal decomposition technique is not applicable to gyroscopic systems due to the skew-symmetric system matrix. Therefore, the analysis is conduced with physical coordinates with extra effort in comparison with working with modal coordinates. It turns out that the symmetric torque profile, which is a necessary condition for the rest-to-rest maneuver of generic structural systems, does not apply to gyroscopic systems. ", } @InCollection{Baras91, AUTHOR = "John S. Baras", TITLE = "Real Time Architectures for the Zakai Equation and Applications", JOURNAL = "Stochastic Analysis: Liber Amicorum for Moshe Zakai", YEAR = "1991", PAGES = "15--38", } @ARTICLE{BarshanDurrantWhyte95, AUTHOR = "Billur Barshan and Hugh F. Durrant-Whyte", TITLE = "Inertial Navigation Systems for Mobil Robots", JOURNAL = "IEEE Transactions on Robotics and Automation", YEAR = "1995", VOLUME = "11", NUMBER = "3", PAGES = "328--342", MONTH = "June", ABSTRACT = " Location: Shelf Keywords: INS, Inertial Navigation System, Mobil Robotics, Gyro, Accelerometers, Kalman Filter Comments: ", } @BOOK{BasarBernhard95, AUTHOR = "Tamer Basar and Pierre Bernhard", TITLE = "${H}_\infty$--Optimal Control and Related Minimax Design Problems", PUBLISHER = "Birkha{\"{u}}ser", YEAR = "1995", } @ARTICLE{BassWebber66, AUTHOR = "R. W. Bass and R. F. Webber", TITLE = "Optimal Nonlinear Feedback Control Derived from Quartic and Higher-Order Performance Criteria", JOURNAL = TAC, YEAR = "1966", VOLUME = "11", NUMBER = "3", PAGES = "448--454", MONTH = "July", ABSTRACT = " Location: ref DB 4 Keywords: Optimal Control, nonlinear performance index, multinomial forms Comments: ", } @ARTICLE{Battilotti96, AUTHOR = "Stefano Battilotti", TITLE = "Global Output Regulation and Disturbance Attenuation with Global Stability via Measurement Feedback for a Class of Nonlinear Systems", JOURNAL = TAC, YEAR = "1996", VOLUME = "41", NUMBER = "3", PAGES = "315--327", MONTH = "March", ABSTRACT = " Location: shelf Keywords: nonlinear systems control Lyapunov functions continuous feedback dynamic feedback Comments: ", } @ARTICLE{BaumannRugh86, AUTHOR = "William T. Baumann and Wilson J. Rugh", TITLE = "Feedback Control of Nonlinear Systems by Extended Linearization", JOURNAL = TAC, YEAR = "1986", VOLUME = "31", NUMBER = "1", PAGES = "40--46", MONTH = "January", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear regulator, feedback, extended linearization, gain scheduling, inverted pendulum, nonlinear observer, feedback linearization, output feedback Comments: ", } @INPROCEEDINGS{BaumannRugh86a, AUTHOR = "William T. Baumann and Wilson J. Rugh", TITLE = "Feedback Control of Nonlinear Systems by Extended Linearization: The Multi-Input Case", BOOKTITLE = "Theory and Applications of Nonlinear Control Systems", YEAR = "1986", EDITOR = "C. I. Byrnes and A. Lindquist", PUBLISHER = "Elsevier Science Publishers", ADDRESS = "North-Holland", PAGES = "107--113", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear control, extended linearization, gain scheduling, smooth feedback control laws Comments: For multi-input, multi-output, analytic, nonlinear systems, we consider a design method based on the family of linearizations of the system, parameterized by the family of constant operating points. Nonlinear state feedback control laws and output/observer feedback control laws are designed such that the eigenvalues of the family of closed-loop linearizations have specified, analytically-scheduled values with respect to the family of closed-loop operating points. ", } %%BE @PHDTHESIS{Beard95, AUTHOR = "Randal Beard", TITLE = "Improving the Closed-Loop Performance of Nonlinear Systems", SCHOOL = "Rensselaer Polytechnic Institute", YEAR = "1995", ADDRESS = "Troy, New York", } @ARTICLE{Beard00, AUTHOR = "Randal W. Beard", TITLE = "Linear Operators with Application in Control and Signal Processing", JOURNAL = "IEEE Control Systems Magazine", YEAR = "In Review", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{Beard00a, AUTHOR = "Randal W. Beard", TITLE = "Robot Soccer: An Ideal Senior Design Experience", BOOKTITLE = ACC, YEAR = "2000", ADDRESS = "Chicago, Illinois", PAGES = "3975--3979", MONTH = "June", ABSTRACT = " Location: Keywords: Comments: ", } @TECHREPORT{Beard-JPL98, AUTHOR = "Randal Beard", TITLE = "Architecture and Algorithms for Constellation Control", INSTITUTION = "Jet Propulsion Laboratory, California Institute of Technology", YEAR = "1998", TYPE = "{T}echnical {R}eport", ADDRESS = "4800 Oak Grove Dr., Pasadena, CA 91109", MONTH = "March", } @INPROCEEDINGS{BeardArchibaldOlson02, AUTHOR = "Randal W. Beard and James K. Archibald and Steven A. Olson", TITLE = "Robot Soccer as a Culminating Design Project for Undergraduates", BOOKTITLE = ACC, YEAR = "2002", ADDRESS = "Anchorage, Alaska", MONTH = "May", ABSTRACT = " Location: disk Keywords: robot soccer. Comments: ", } @ARTICLE{BeardEtAl01, AUTHOR = "Randal W. Beard and Timothy W. McLain and Michael Goodrich and Erik P. Anderson", TITLE = "Coordinated Target Assignment and Intercept for Unmanned Air Vehicles", JOURNAL = TRA, YEAR = "(submitted November 2001)", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{BeardMcLainHadaegh00, AUTHOR = "Randal W. Beard and Timothy W. McLain and Fred Y. Hadaegh", TITLE = "Fuel Optimization for Constrained Rotation of Spacecraft Formations", JOURNAL = "AIAA Journal of Guidance, Control, and Dynamics", YEAR = "2000", VOLUME = "23", NUMBER = "2", PAGES = "339--346", MONTH = "March-April", ABSTRACT = " Location: Shelf Keywords: formation flying fuel equalization fuel minimization Comments: Solves the fuel minimization/equalization problem for single rotations of constellations having $N$ spacecraft. The relative position of the spacecraft is assumed to be fixed throughout the maneuver. ", } @INPROCEEDINGS{BeardMcLainWen99, AUTHOR = "Randal Beard and Timothy W. McLain and John T. Wen", TITLE = "Successive Galerkin Approximation of the Isaacs Equation", BOOKTITLE = "IFAC World Congress", YEAR = "1999", ADDRESS = "Beijing, China", MONTH = "July", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{BeardHadaegh99a, AUTHOR = "Randal W. Beard and Fred Y. Hadaegh", TITLE = "Finite Thrust Control for Satellite Formation Flying with State Constraints", ADDRESS = "San Diego, CA", BOOKTITLE = ACC, YEAR = "1999", PAGES = "4383--4387" } @INPROCEEDINGS{BeardHadaegh99b, AUTHOR = "Randal W. Beard and Fred Y. Hadaegh", TITLE = "Fuel Optimized Rotation for Satellite Formations in Free Space", BOOKTITLE = ACC, ADDRESS = "San Diego, CA", YEAR = "1999", PAGES = "2975--2979", MONTH = "June", } @ARTICLE{BeardHadaegh99c, AUTHOR = "Randal W. Beard and Fred Y. Hadaegh", TITLE = "Fuel Optimization for Unconstrained Rotation of Spacecraft Formations", JOURNAL = "Journal of the Astronautical Sciences", YEAR = "1999", VOLUME = "43", NUMBER = "3", PAGES = "259--273", MONTH = "July-December", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{BeardGunther98, AUTHOR = "Randal W. Beard and Jacob Gunther and Jonathan Lawton and Wynn Stirling", TITLE = "The Nonlinear Projection Filter", JOURNAL = "AIAA Journal of Guidance, Control and Dynamics", YEAR = "1999", VOLUME = "22", NUMBER = "2", PAGES = "258--266", MONTH = "March-April", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{BeardLawtonHadaegh00, AUTHOR = "Randal W. Beard and Jonathan Lawton and Fred Y. Hadaegh", TITLE = "A Feedback Architecture for Formation Control", BOOKTITLE = ACC, YEAR = "2000", ADDRESS = "Chicago, IL.", MONTH = "June", PAGES = "4087--4091", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{BeardLawtonHadaegh01, AUTHOR = "Randal W. Beard and Jonathan Lawton and Fred Y. Hadaegh", TITLE = "A Feedback Architecture for Formation Control", JOURNAL = "IEEE Transactions on Control Systems Technology", YEAR = "2001", VOLUME = "9", NUMBER = "6", PAGES = "777--790", MONTH = "November", ABSTRACT = " Location: Keywords: interferometry, virtual structure, formation flying Comments: ", } @ARTICLE{BeardMcLain98, AUTHOR = "Randal W. Beard and Timothy W. McLain", TITLE = "Successive {G}alerkin Approximation Algorithms for Nonlinear Optimal and Robust Control", JOURNAL = "International Journal of Control: Special Issue on Breakthroughs in the Control of Nonlinear Systems", YEAR = "1998", VOLUME = "71", NUMBER = "5", PAGES = "717-743", } @INPROCEEDINGS{BeardMcLain98a, AUTHOR = "Randal W. Beard and Timothy W. McLain", TITLE = "A Practical Algorithm for Designing Nonlinear ${\cal H}_\infty$ Control Laws", BOOKTITLE = ACC, YEAR = "1998", ADDRESS = "Philidelphia, PA", } @INPROCEEDINGS{BeardMcLainHadaegh98, AUTHOR = "Randal W. Beard and Timothy W. McLain and Fred Y. Hadaegh", TITLE = "Fuel Equalized Retargeting for Separated Spacecraft Interferometry", BOOKTITLE = ACC, YEAR = "1998", ADDRESS = "Philidelphia, PA", PAGES = "1580--1584", MONTH = "June", } @INPROCEEDINGS{BeardMcLainHadaegh99b, AUTHOR = "Randal W. Beard and Timothy W. McLain and Fred Y. Hadaegh", TITLE = "Fuel Optimized Rotation for Spacecraft Formations in Free Space", BOOKTITLE = "1999 American Control Conference", YEAR = "1999", ADDRESS = "San Diego, CA", } @INPROCEEDINGS{BeardStirlingFrost98, AUTHOR = "Randal Beard and Richard Frost and Wynn Stirling", TITLE = "A Hierarchical Coordination Scheme for Satellite Formation Initialization", BOOKTITLE = "AIAA Guidance, Navigation and Control Conference", YEAR = "1998", ADDRESS = "Boston, MA", PAGES = "677--685", MONTH = "August", NOTE = "AIAA paper \#98-4225", } @INPROCEEDINGS{BeardSar93, AUTHOR = "Randal Beard and George N. Saridis", TITLE = "A Cost Measure for Efficient Scheduling in Intelligent Machines", BOOKTITLE = "IEEE 8th International Symposium on Intelligent Control", YEAR = "1993", ADDRESS = "Chicago, Illinois", MONTH = "August", ABSTRACT = " Location: shelf Keywords: Intelligent Machines, Coordination Level, Hierarchical Petri Nets, cost measure Comments: ", } @INPROCEEDINGS{BeardSaridisWen95a, AUTHOR = "Randal Beard and George Saridis and John Wen", TITLE = "Computing Nonlinear Optimal Controls from Existing Stabilizing Controls", BOOKTITLE = "The 4th IEEE Conference on Control Applications", YEAR = "1995", ADDRESS = "Desmond Hotel, Albany, New York", } @INPROCEEDINGS{BeardSaridisWen95d, AUTHOR = "Randal Bear and George Saridis and John Wen", TITLE = "An Iterative Solution to the Finite-Time Linear Quadratic Optimal Feedback Control Problem", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1995", PAGES = "3921-3922", ADDRESS = "Seattle, WA", ABSTRACT = " Location: Keywords: Finite-Time, Linear, Successive Approximation, Iterative Solution, Riccati Equation, 1995 ACC, American Control Conference Comments: Saridis's successive approximation theory is applied to the finite-time quadratic optimal control problem. The result is an iterative scheme which successively improves any initial control law ultimately converging to the optimal state feedback control. The novelty of the approach is that the solution of a nonlinear Riccati equation is replaced by the successive solution of a linear Lyapunov equation. Numerical examples illustrate the approach. ", } @ARTICLE{BeardSaridisWen96, AUTHOR = "Randal Beard and George Saridis and John Wen", TITLE = "Improving the Performance of Stabilizing Control for Nonlinear Systems", JOURNAL = "Control Systems Magazine", VOLUME = "16", NUMBER = "5", PAGES = "27--35", MONTH = "October", YEAR = "1996", } @INPROCEEDINGS{BeardSaridisWen96a, AUTHOR = "Randal Beard and George Saridis and John Wen", TITLE = "{G}alerkin Approximation of the Generalized {H}amilton-{J}acobi-{B}ellman Equation", BOOKTITLE = "{IFAC} Triennial World Congress", YEAR = "1996", ADDRESS = "San Francisco", VOLUME = "E", PAGES = "347--352", MONTH = "July", } @ARTICLE{BeardSaridisWen97, AUTHOR = "Randal Beard and George Saridis and John Wen", TITLE = "{G}alerkin Approximation of the Generalized {H}amilton-{J}acobi-{B}ellman Equation", JOURNAL = "Automatica", VOLUME = "33", NUMBER = "12", PAGES = "2159--2177", YEAR = "1997", } @ARTICLE{BeardSaridisWen98, AUTHOR = "Randal Beard and George Saridis and John Wen", TITLE = "Approximate Solutions to the Time-Invariant {H}amilton-{J}acobi-{B}ellman Equation", JOURNAL = "Journal of Optimization Theory and Applications", VOLUME = "96", NUMBER = "3", MONTH = "March", YEAR = "1998", } @INPROCEEDINGS{BeardHadaegh98, AUTHOR = "Randal W. Beard and Fred Y. Hadaegh", TITLE = "Constellation Templates: An Approach to Autonomous Formation Flying", BOOKTITLE = "World Automation Congress", YEAR = "1998", ADDRESS = "Anchorage, Alaska", MONTH = "May", PAGES = "177.1--177.6", NOTE = "ISIAC", } @TECHREPORT{BeardFarahLima93, AUTHOR = "Randal Beard and Jeffrey Farah and Pedro Lima", TITLE = "A Proposal of an Architechture for the Coordination Level of Intelligent Machines", INSTITUTION = "Center for Intelligent Robotic Systems for Space Exploration (CIRSSE), Rensselaer Polytechnic Institute", ADDRESS = "Troy, New York", NUMBER = "CIRSSE-133", YEAR = "1993", ABSTRACT = " Location: shelf Keywords: Intelligent Machines, Coordination Level, Hierarchical Petri Net, cost measure Comments: ", } @MASTERSTHESIS{BeardMS, AUTHOR = "Randal Beard", TITLE = "Hierarchical Formulation of the Dispatcher in Intelligent Machines", SCHOOL = "Rensselaer Polytechnic Institute", YEAR = "1993", ADDRESS = "Department of Electrical, Computer, and Systems Engineering, Troy, New York", NOTE = "Available as CIRSSE-139 from Center for Intelligent Robotic Systems for Space Exploration, Rensselaer Polytechnic Institute,Troy, New York", } @INPROCEEDINGS{BeardYoungStirling01, AUTHOR = " Randal W. Beard and Brett Young and Wynn C. Stirling", TITLE = "Nonlinear Regulation Using the Satisficing Paradigm", BOOKTITLE = ACC, YEAR = "2001", ADDRESS = "Arlington, VA", PAGES = "WM11-4", MONTH = "June", ABSTRACT = " Location: Web site Keywords: Satisficing universal formulas nonlinear regulation Comments: This is the first paper that we published on the application of satisficing control for dynamic systems. The main results of the paper are to derive an analytic expression for the satisficing set, to parameterize all satisficing controls via the functions $\eta$ and $\nu$, and to show that all satisficing control strategies define a universal formula. ", } @ARTICLE{Bell94, AUTHOR = "Bradley M. Bell", TITLE = "The Iterated {K}alman Smoother as a {G}auss-{N}ewton Method", JOURNAL = "{S}{I}{A}{M} Journal of Optimization", YEAR = "1994", VOLUME = "4", NUMBER = "3", PAGES = "626--636", MONTH = "August", } @ARTICLE{BellCathey93, AUTHOR = "Bradley M. Bell and Frederick W. Cathey", TITLE = "The Iterated {K}alman Filter Update as a {G}auss-{N}ewton Method", JOURNAL = TAC, YEAR = "1993", VOLUME = "38", NUMBER = "2", PAGES = "294--297", MONTH = "February", } @BOOK{Bellman57, AUTHOR = "Richard E. Bellman", TITLE = "Dynamic Programming", PUBLISHER = "Princeton University Press", YEAR = "1957", ADDRESS = "Princeton, New Jersey", } @BOOK{BellmanDreyfus62, AUTHOR = "R. Bellman and S. Dreyfus", TITLE = "Applied Dynamic Programming", PUBLISHER = "Princeton University Press", YEAR = "1962", ADDRESS = "Princeton, New Jersey", } @ARTICLE{BellmanLee84, AUTHOR = "R. E. Bellman and E. S. Lee", TITLE = "History and Development of Dynamic Programming", JOURNAL = "IEEE Control Systems Magazine", YEAR = "1984", PAGES = "24--28", MONTH = "November", ABSTRACT = " Location: Ref DB 7 Keywords: Dynamic Programming, Tribute to Richard Bellman, Quasilinearization, Invariant Imbedding. Comments: ", } @ARTICLE{BenedettoGrizzle94, AUTHOR = "M. D. Di Benedetto and J. W. Grizzle", TITLE = "Asymptotic Model Matching for Nonlinear Systems", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "8", PAGES = "1539-1550", MONTH = "August", ABSTRACT = " Location: shelf Keywords: Nonlinear Control, Model Matching, Differential Geometry Comments: This paper investigates the problem of designing a compensating control law for a square invertible nonlinear plant so that the response of the closed-loop system asymptotically matches that of a prescribed, driven, nonlinear model. A set of necessary conditions for achieving asymptotic model matching is established. One of these involves the stability properties for a subdynamics which is common to every model matching closed loop. This subdynamics, called the fixed dynamics, is intrinsically characterized. Based on these results, a new set of sufficient conditions for achieving asymptotoic model matching is given. The interrelation between the minimum phase and vector relative degree properties of a plant and a matchable model are studied. ", } @BOOK{Berg00, AUTHOR = "Mark de Berg and Marc van Kreveld and Mark Overmars and Otfried Schwarzkopf", TITLE = "Computational Geometry: Algorithms and Applications", PUBLISHER = "Springer-Verlag", YEAR = "2000", volume = "", pages = "", unprintednote = "http://www.cs.ruu.nl/geobook/"} @ARTICLE{Bertsekas76, AUTHOR = "Dimitri P. Bertsekas", TITLE = "On Error Bounds for Successive Approximation Methods", JOURNAL = TAC, YEAR = "1976", VOLUME = "21", PAGES = "394--396", MONTH = "June", ABSTRACT = " Location: Ref DB 4 Keywords: Successive Approximation, Error bounds, contraction mapping, dynamic programming Comments: This note considers a class of contraction mappings and the successive approximation method for obtaining the associated fixed points. Some error bounds are provided which generalize and strengthen those given by McQueen [1] and Denardo [2] for dynamic programming algorithms. ", } @INPROCEEDINGS{BhatBernstein95, AUTHOR = "Sanjay P. Bhat and Dennis S. Bernstein", TITLE = "Lyapunov Analysis of Finite-Time Differential Equations", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1995", PAGES = "1831--1832", ADDRESS = "Seattle, WA", ABSTRACT = " Location: Ref DB 7 Keywords: Finite time, Lyapunov, regulator Comments: Necessary and Sufficient conditions in terms of Lyapunov functions are derived for the finite-time stability of equilibria of systems of differential equations with continuous but non-Lipschitzian right hand sides. ", } @INPROCEEDINGS{BitmeadGevers91, AUTHOR = "Robert R. Bitmead and Michel Gevers", TITLE = "{R}iccati Difference and Differential Equations: Convergence, Monotonicity and Stability", BOOKTITLE = "The {R}iccati Equation", YEAR = "1991", EDITOR = "Bittanti, Laub, Willems", PUBLISHER = "Springer Verlag", PAGES = "263--291", ABSTRACT = " Location: Ref DB 1 Keywords: Riccati Equation, Optimal control, optimal filtering, discrete time lyapunov stability, solution of lyapunov equations, fake algebraic Riccati equation, Receding horizon LQ Comments: Develops various stability results for infinite, and receding horizon optimal control/filtering problems. The fake algebraic Riccati equation ( FARE ) is used to develop stability conditions in the receding horizon case. Clear statements of the Discrete, and continuous time Lyapunov stability theorems are given. ", } @BOOK{BittantiLaubWillems91, AUTHOR = "Sergio Bittanti and Alan Laub and Jan C. Willems", TITLE = "The {R}iccati Equation", PUBLISHER = "Springer Verlag", YEAR = "1991", ADDRESS = "New York, New York", } %%BL @BOOK{Blakelock65, AUTHOR = "John H. Blakelock", TITLE = "Automatic Control of Aircraft and Missiles", PUBLISHER = "John Wiley \& Sons", YEAR = "1965", ABSTRACT = " Location: Ref DB 14 Keywords: Aircraft dynamics, autopilot design missiles equations of motion Comments: This book derives the equations of motion for a airplane and then linearizes and designs autopilots for the lateral and longitudinal dynamics. The autopilot designs are accomplished via root locus design. ", } @INPROCEEDINGS{BlakeMulthopp98, AUTHOR = "William Blake and Dieter Multhopp", TITLE = "Design, Performance and Modeling Considerations for Close Formation Flight", BOOKTITLE = "Proceedings of the AIAA Navigation, Guidance and Control Conference", YEAR = "1998", ADDRESS = "Boston, MA", PAGES = "476--486", MONTH = "August", NOTE = "AIAA-98-4343", ABSTRACT = " Location: Ref DB 12 Keywords: Aircraft Formation Flying, Reduced Drag, Increased Drag, Comments: This paper describes a study of the potential benefits of muliple airplanes flying in formation. The conclusions of the paper are (1) large reductions in induced drag are possible, (2) optimal formations have lighter aircraft in front and heavier aircraft in the rear, (3) optimal cruise altitude of a formation is much higher than an equivalent single aircraft, (4) the ability to accurately maintain lateral position is critical. 50% of the drag benefit is lost if the lateral/vertical position cannot be maintained to better than 1/10th of the wingspan. ", } @INPROCEEDINGS{BlandinoCassadyPeterson97, AUTHOR = "J. J. Blandino and R. J. Cassady and T. T. Peterson", TITLE = "Pulsed Plasma Thrusters for the New Millennium Interferometer {(DS-3)} Mission", BOOKTITLE = "25th International Electric Propulsion Conference", YEAR = "1997", ADDRESS = "Cleveland, OH", PAGES = "IEPC 97-192", MONTH = "August", ABSTRACT = " Location: Ref DB 12 Keywords: Formation flying thrusters pulsed plasma thrusters Comments: This paper describes the possible use of pulse plasma thrusters for formation flying interferometry applications. ", } %%BO @BOOK{Boltyanskii71, AUTHOR = "V. G. Boltyanskii", TITLE = "Mathematical Methods of Optimal Control", PUBLISHER = "Holt, Rinehart and Winston, Inc.", YEAR = "1971", } @InProceedings{BorndorferEisenblatterGrotschelMartin97, author = {R. Bornd\a"orfer and A. Eisenbl\a"atter and M. Gr\a"otschel and A. Martin}, title = {Frequency Assignment in Cellular Phone Networks}, booktitle = {International Symposium on Mathematical Programming}, year = 1997, address = {Lausanne, EPFL}, month = {August 24-29} } @ARTICLE{BosargeEtAl73, AUTHOR = "W. E. Bosarge and O. G. Johnson and R. S. McKnight and W. P. Timlake", TITLE = "The {R}itz-{G}alerkin Procedure for Nonlinear Control Problems", JOURNAL = "SIAM Journal of Numerical Analysis", YEAR = "1973", VOLUME = "10", NUMBER = "1", PAGES = "94--110", MONTH = "March", ABSTRACT = " Location: Ref DB 2 Keywords: Ritz Galerkin Approximation, Nonlinear Control, Numerical Methods, Open loop control, Convergence proofs Comments: Consider the deterministic optimal control problem which requires minimization of a cost functional \[ J[u] = \int_0^T g(x,u,t) dt \] subject to \[ \dot{x}(t) = f(x,u,t), \; x(0) = x_0. \] This problem is viewed as a standard variational minimization problem subject to nonholonomic constraints. Two procedures for the numerical approximation of this continuous problem are the Ritz direct method and the Galerkin procedure, which in the context of the paper, results in equivalent numerical algorithms. Local convergence of the approximations are established under appropriate smoothness assumptions on $f$ and $g$. Error bounds for both cost functional convergence and state and control convergence are derived. Explicit error bounds are presented for the Ritz-Galerkin approximation over suitable finite-dimensional spaces of splines. Additional global convergence results are presented for the linear state regulator problem and for problems with linear or almost linear system equations and convex cost criteria. ", } @ARTICLE{BoseModarressi76, AUTHOR = "N. K. Bose and A. R. Modarressi", TITLE = "General Procedure for Multivariable Polynomial Positivity Test with Control Applications", JOURNAL = TAC, YEAR = "1976", PAGES = "696--701", MONTH = "October", ABSTRACT = " Location: Ref DB 7 Keywords: Multivariable polynomial, positivity test, Comments: A procedure is given to determine whether or not a polynomial in several real variables is globally positive. Emphasis is placed on the resolution of singularities of various types that occur during the implementation of the algorithm. A nontrivial example encountered in application of Lyapunov direct method to stability investigation of nonlinear control systems is given to illustrate the details of the procedure. ", } @Article{BoucD87, author = {R.~Bouc and M.~Defilippi}, title = {A {G}alerkin Multiharmonic Procedure For Nonlinear Multidimensional Random Vibration}, journal = {International Journal of Engineering Science}, year = 1987, volume = 25, number = 6, pages = {723-733} } @BOOK{Boyd94, AUTHOR = "S. P. Boyd and L. EL Ghaoui and E. Feron and V. Balakrishnan", TITLE = "Linear Matrix Inequalities in System and Control Theory", PUBLISHER = "SIAM", YEAR = "1994", ADDRESS = "Philadelphia", } %%BR @InProceedings{BrandtBrauerWeiss00, author = {F. Brandt and W. Brauer and G. Wei\ss}, title = {Task Assignment in Multiagent Systems based on Vickrey-type Auctioning and Leveled Commitment Contracting}, booktitle = {CIA-2000 (Cooperative Information Agents) workshop proceedings}, year = 2000, address = {Boston, USA} } @ARTICLE{BranickyBorkarMitter98, AUTHOR = "M. S. Branicky and V. S. Borkar and S. K. Mitter", TITLE = "A Unified Framework for Hybrid Control: Model and Optimal Control Theory", JOURNAL = "TAC", YEAR = "1998", VOLUME = "43", NUMBER = "1", PAGES = "31--45", MONTH = "January", } @ARTICLE{Braunl99, AUTHOR = "Thomas Braunl", TITLE = "Research Relevance of Mobile Robot Competitions", JOURNAL = "IEEE Robotics and Automation Magazine", YEAR = "1999", VOLUME = "6", NUMBER = "4", PAGES = "32--37", MONTH = "December", ABSTRACT = " Location: shelf Keywords: mobile robot competions senior projects robot soccer history Comments: This paper gives a brief history of mobile robot competitions and how they have evolved. The potential for research contributions is also discussed. Could give as introductory material to students. ", } @ARTICLE{BrigoHanzonLegland98, AUTHOR = "Damiano Brigo and Bernard Hanzon and Francois LeGland", TITLE = "A Differential Geometric Approach to Nonlinear Filtering: The Projection Filter", JOURNAL = TAC, YEAR = "1998", VOLUME = "43", NUMBER = "2", PAGES = "247--252", MONTH = "February", } @BOOK{Brockett70, AUTHOR = "Roger W. Brockett", TITLE = "Finite Dimensional Linear Systems", PUBLISHER = "John Wiley \& Sons.", YEAR = "1970", ABSTRACT = " Location: BYU Library Keywords: Comments: ", } @INPROCEEDINGS{Brockett83, AUTHOR = "R. W. Brockett", TITLE = "Asymptotic Stability and Feedback Stabilization", BOOKTITLE = "Differential Geometric Control Theory", YEAR = "1983", EDITOR = "R. S. Millman and H. J. Sussmann", PUBLISHER = "Birkha{\"{u}}ser", PAGES = "181--191", } @INPROCEEDINGS{BrockettDai91, AUTHOR = "R. W. Brockett and Liyi Dai", TITLE = "Non-holonomic Kinematics and the Role of Elliptic Functions in Constructive Controllability", BOOKTITLE = "1991 IEEE R \& A Workshop on Nonholonomic Motion Planning", YEAR = "1991", ADDRESS = "Hyatt Regency, Sacramento, CA", PAGES = "1--17", MONTH = "April", ABSTRACT = " Location: Ref DB 2 Keywords: Non-holonomic constraints, optimal path planning, plate-ball problem Comments: No Abstract. My description: The following system and objective function is considered: \dot{x}_1 = u_1 \dot{x}_2 = u_2 \dot{x}_3 = x_1 u_2 - x_2 u_1 J = \int_0^T u_1^2 + u_2^2 dt It is shown that the ball and plate problem is modeled by these ì equations. He also argues that a generalization of these ì equations are in some sense generic to mechanical, non-holonomic ì systems. It is shown that the optimal control is given as u_1 = r cos(\alpha(t)) u_2 = r sin(\alpha(t)) where \alpha is given by a differential equation dependent on the ì system and the end points x_T. The control is, of course, open ì loop. ", } @BOOK{Brogan91, AUTHOR = "William L. Brogan", TITLE = "Modern Control Theory", PUBLISHER = "Prentice Hall", YEAR = "1991", ADDRESS = "Englewood Cliffs, New Jersey", EDITION = "3rd", } @ARTICLE{Brookfield96, AUTHOR = "Stephen Brookfield", TITLE = "Through the Lens of Learning: How Experiencing Difficult Learning Challenges and Changes Assumptions About Teaching", JOURNAL = "To Improve the Academy", YEAR = "1996", VOLUME = "15", PAGES = "3--15", ABSTRACT = " Location: Ref DB 7 Keywords: Comments: The author challenges facutly to cast themselves in the role of learners for tasks or subjects which, unlike their areas of expertise, do NOT come easily to them. The purpose is to better understand what it is to experience the struggle shared by many students to grasp new material. The author recounts his own efforts to master a daunting new skill and the many lessons he learned about teaching and learning in the process. ", } @BOOK{BrownChurchhill93, AUTHOR = "James W Brown Ruel V Churchill", TITLE = "Fourier Series and Boundary Value Problems", PUBLISHER = "McGraw-Hill", YEAR = "1993", } @INPROCEEDINGS{ByrnesIsidori84, AUTHOR = "ByrnesIsidori84", TITLE = "A Frequency Domain Philosophy for Nonlinear Systems, with Applications to Stabilization and to Adaptive Control", BOOKTITLE = "Proceedings of the 23rd Conference on Decision and Control", YEAR = "1984", ADDRESS = "Las Vegas, NV.", PAGES = "1569--1573", MONTH = "December", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear, Frequency Domain, Zero Dynamics, Infinite Zeros, Minimum Phase, Lead-Lag Comments: In this paper we deveilop, in the nonlinar setting, certain of the basic elements of the frequency domain approach to linear system theory. Thus we develop analoughes of te notation of left and right half plane zeros for systems of relative degreeone. It is shown that high gain output feedback stabilizes minimum phase systems of strong relative degree one and that lag-leand compensators can also be used to shape the response of nonlinear systms. We conclude with a discussion of the performance of high gain adaptive stabilizers for such nonlinear systems. ", } @BOOK{BrysonHo75, AUTHOR = "A. E. Bryson and Y. C. Ho", TITLE = "Applied Optimal Control", PUBLISHER = "Hemisphere", YEAR = "1975", ADDRESS = "New York, New York", } %%BU @INPROCEEDINGS{BuppBernsteinCoppola95, AUTHOR = "Robert T. Bupp and Dennis S. Bernstein and Vincent T. Coppola", TITLE = "A Benchmark Problem for Nonlinear Control Design: Problem Statement, Experimental Testbed, and Passive Nonlinear Compensation", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1995", ADDRESS = "Seattle, WA", PAGES = "4363--4367", MONTH = "June", ABSTRACT = " Location: Ref DB 7 Keywords: Bernstein, ACC nonlinear benchmark problem, nonlinear control, passive absorbers Comments: ", } @BOOK{Burden88, AUTHOR = "Richard L. Burden and J. Douglas Faires", TITLE = "Numerical Analysis", PUBLISHER = "PWS-KENT Publishing Company", YEAR = "1988", ADDRESS = "Boston", EDITION = "Fourth Edition", } @Book{BurdenFaires, author = {Richard L. Burden and J. Douglas Faires}, title = {Numerical Analysis}, publisher = {Prindle, Weber and Schmidt}, year = "1985", edition = "3rd", } @INPROCEEDINGS{Burdick91, AUTHOR = "Burdick, Joel W.", TITLE = "A Classification of 3{R} Manipulator Singularities and Geometires", BOOKTITLE = "Proceedings of the 1991 IEEE International Conference on Robotics and Automation", YEAR = "1991", ADDRESS = "Sacramento, California", PAGES = "2670--2675", MONTH = "April", ABSTRACT = " Location: Ref DB 2 Keywords: manipulator singularity, Jacobian, geometry Comments: This paper categorizes 3R manipulator singularities and geometries based on genericity. A novel recursive application of screw theory is used to generate singular configurations and provide a geometric interpretation of non-genericity. An generic manipulator classification scheme based on homotopy class is introduced. Non-generic geometries are interpreted as bifurcations of generic geometries with respect to kinematic parameter values. Some conjectures on the classes of manipulators which can change pose without passing through a singularity are also given. ", } @TechReport{Burkard99, author = {R. E. Burkard}, title = {Selected Topics in Assignment Problems}, institution = {Institute of Mathematics B, Technical University Graz}, year = 1999, month = {Movember}, note = {To appear in {\em Discrete Applied Mathematics}} } @INPROCEEDINGS{BusseInalhamHow00, AUTHOR = "Franz D. Busse and Gokhan Inalhan and Jonathan P. How", TITLE = "Project Orion: Precise Formation Flying Using Differential Carrier {GPS}", BOOKTITLE = "23rd Annual {AAS} Guidance and Control Conference", YEAR = "2000", ORGANIZATION = "American Astronautical Society", ADDRESS = "Breckenridge, CO", PAGES = "AAS 00-016", MONTH = "February", ABSTRACT = " Location: Ref DB 12 Keywords: Formation Flying Project ORION GPS Comments: This paper gives an update of the project ORION at Stanford University. ", } @INPROCEEDINGS{ButlerRizziHollis00, AUTHOR = "Zack J. Butler and Alfred A. Rizzi and Ralph L. Hollis", TITLE = "Cooperative Coverage of Rectilinear Environments", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco, CA", PAGES = "2722--2727", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: Covering Algorithms Mobile Robots Distributed control coordinated control Comments: This paper describes an algorithm for covering an area using multiple autonomous robots. The algorithm is sensor-based in the sense that a priori knowledge of the area to be covered is not known. The basic idea is to break the area (which is assumed to be rectangular) into smaller rectangular regions and then execute a seed-sowing path in that region. While the algorithm is shown to be complete, there are many problems with this paper including: no collision avoidance, multiple robots may be within the same cell. ", } %%C @ARTICLE{Cannon92, AUTHOR = "M. E. Cannon", TITLE = "Integrated {GPS-INS} for High-Accuracy Road Positioning", JOURNAL = "Journal of Surveying Engineering", YEAR = "1992", VOLUME = "118", NUMBER = "4", PAGES = "103--117", MONTH = "November", ABSTRACT = " Location: Ref DB 9 Keywords: GPS, Global Positioning System, INS, Inertial Navigation System, Kalman Filtering, Position measurements Comments: ", } @INPROCEEDINGS{CanudasBerghuisNijmeijer94, AUTHOR = "C. {Canudas de Wit} and Harry Berghuis and Henk Nijmeijer", TITLE = "Practical Stabilization of Nonlinear Systems in Chained Form", BOOKTITLE = "Proceedings of the 33rd Conference on Decision and Control", YEAR = "1994", ADDRESS = "Lake Buena Vista, FL", PAGES = "3475--3480", MONTH = "December", ABSTRACT = " Location: Ref DB 11 Keywords: nonholonomic systems, mobile robots, chained form, practical stability, hybrid control, Comments: This is an interesting paper that decomposes a system in chained form into two parts: a discrete time part controlled by a discrete input $u_1(k)$ and a continuous time part, parametrized by $u_1(k)$ but controlled by $u_2(t)$. In a sense, the strategy is very similar to our recently submitted results (with Brett and Jonathan) on Hybrid control of mobile robots. The control is said to be a ``hybrid'' controller because part of the control is discrete time and part is continuous time. Stability of the sampled output is proven, however mention is not made of the state between sample periods. ", } @ARTICLE{CanudasetAl95, AUTHOR = "C. {Canudas {d}e Wit} and H. Olsson and K. J. Astrom and P. Lischinsky", TITLE = "A New Model for Control of Systems with Friction", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "3", PAGES = "419--425", MONTH = "March", ABSTRACT = " Location: Shelf Keywords: Friction, Dynamic Model, Friction compensation Comments: This paper combines several previous models of friction into one dynamic model. The model accurately predicts such effects as presliding displacement, frictional lag, varying break-away force, slip-stick motion, and limit cycles caused by friction. The paper also proposes a friction compensation scheme and show that it successfully drives the errors to zero and acurately predicts the frictional forces. The weakness in the compensation scheme is that exact frictional model is assumed and velocity measurements are assumed. Experimental results are presented in \cite{IwasakiShibataMatsui99} ", } @ARTICLE{CanudasSordalen92, AUTHOR = "C. {Canudas {d}e Wit} and O. Sordalen", TITLE = "Exponential Stabilization of Mobile Robots with Nonholonomic Constraints", JOURNAL = TAC, YEAR = "1992", VOLUME = "37", NUMBER = "11", PAGES = "1791--1797", MONTH = "November", ABSTRACT = " Location: Shelf Keywords: Nonholonomic control, mobile robots, arc, exponential stabilization, Comments: This paper derives a nonholonomic control law for Hilare-type mobile robots. The control law causes the robots to traverse arc-shaped trajectories. The paper contains a proof that the control exponentially stabilizes the system. The analysis is limited to the kinematic equations for the robot. Experimental results are not included. ", } @ARTICLE{CapuzzoDolcetta83, AUTHOR = "I. {Capuzzo Dolcetta}", TITLE = "On a Discrete Approximation of the {H}amilton-{J}acobi Equation of Dynamic Programming", JOURNAL = "Applied Mathematics and Optimization", YEAR = "1983", VOLUME = "10", PAGES = "367--377", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton-Jacobi equations, Viscosity Solutions, Discrete approximations, Finite-Difference approximation, Comments: An approximation of the Hamilton-Jacobi-Bellman equation connected with the infinite horizon optimal control problem with discount is proposed. The approximate solutions are shown to converge uniformly to the viscosity solution, in the sense of Crandall-Lions, of the original problem. Moreover, the approximate solutions are interpreted as value functions of some discrete time control problem. This allows to construct by dynamic programming a minimizing sequence of piecewise constant controls. ", } @ARTICLE{CapuzzoDolcettaFalcone89, AUTHOR = "I. {Capuzzo Dolcetta} and M. Falcone", TITLE = "Discrete Dynamic Programming and Viscosity Solutions of the {B}ellman Equation", JOURNAL = "Annales Institut Henri Poincare, Anal. Nonlinear", YEAR = "1989", VOLUME = "6 (supplement)", PAGES = "161--184", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton-Jacobi-Bellman equation Viscosity Solutions Discrete dynamic programming Finite Difference scheme approximation schemes rate of convergence Comments: This paper present a technique for approximating the viscosity solution of the Bellman equation in deterministic control problems. This technique, based on discrete dynamic programming, leads to monotonically converging schemes and allows to prove a priori error estimates. Several computational algorithms leading to monotone convergence are reviewed and compared. ", } @ARTICLE{CapuzzoDolcettaIshii84, AUTHOR = "I. {Capuzzo Dolcetta} and H. Ishii", TITLE = "Approximate Solutions of the {B}ellman equation of deterministic control theory", JOURNAL = "Applied Mathematics and Optimization", YEAR = "1984", VOLUME = "11", PAGES = "161--181", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton Jacobi Bellman equation Viscosity solutions Finite difference scheme convergence rate relaxed control Comments: ", } @ARTICLE{Cavicchi96, AUTHOR = "Thomas J. Cavicchi", TITLE = "Phase-Root Locus and Relative Stability", JOURNAL = "Control Systems Magazine", YEAR = "1996", VOLUME = "16", NUMBER = "4", PAGES = "69--77", MONTH = "August", ABSTRACT = " Location: shelf Keywords: Root Locus, Phase margin, Gain margin, Phase root locus Comments: This paper develops the dual of the root locus technique: how the closed loop poles vary as uniform phase is added to the system. The technique enables phase and gain margins to be read from the root locus. ", } %%CE @ARTICLE{CebuharCostanza84, AUTHOR = "W. A. Cebuhar and V. Costanza", TITLE = "Approximation Procedures for the Optimal Control of Bilinear and Nonlinear Systems", JOURNAL = JOTA, YEAR = "1984", VOLUME = "43", NUMBER = "4", PAGES = "615--627", MONTH = "August", ABSTRACT = " Location: Ref DB 4 Keywords: Optimal, Bilinear, Nonlinear, Approximation, Open-loop, Perturbation Methods, Generalized Riccati equation, Hamilton-Jacobi-Bellman equation Comments: Optimal control problems for bilinear systems are studied and solved with a view to approximating analogous problems for general nonlinear systems. For a given bilinear optimal control problem, a sequence of linear problems is constructed, and their solutions are shown to converge to the desired solution. Also, the direct solution to the Hamilton-Jacobi equation is analyzed. A power-series approach is presented which requires offline calculations as in the linear case (Riccati equation). The methods are compared and illustrated. Relations to classical linear systems theory are discussed. ", } @Book{CeliaGray92, AUTHOR = "Michael A. Celia and William G. Gray", TITLE = "Numerical Methods for Differential Equations", PUBLISHER = "{P}rentice {H}all", YEAR = "1992", ADDRESS = "New Jersey", ABSTRACT = " Location: BYU library Keywords: Galerkin's Method, Finite Element, Method of Weighted Residuals Comments: ", } %%CH @INPROCEEDINGS{ChandlerRasmussen00, AUTHOR = "P.R. Chandler and S. Rasumussen and M. Pachter", TITLE = "{UAV} Cooperative Path Planning", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation, and Control Conference", YEAR = "2000", ADDRESS = "Denver, CO", MONTH = "August", NOTE = "AIAA Paper No. AIAA-2000-4370", ABSTRACT = " Location: Ref DB 14 Keywords: path planning UAV coordinated rendezvous velocity constraints turning radius constraints fillet Voronoi search Comments: This paper describes a simple approach to path planning for UAVs. The basic idea is to plan a polygonal path through the targets using a Voronoi algorithm in connection with an A* or Dijkstra algorithm. The polygonal paths are then made 'flyable' by inserting fillets at the kinks in the path. The described algorithm works well when the turning radius is small compared to the path links. ", } @INPROCEEDINGS{Chang91, AUTHOR = "B. C. Chang and X. P. Li and S. S. Banda and H. H. Yeh", TITLE = "Robust Control Systems Design by $H_\infty$ Optimization Theory", BOOKTITLE = "Proceedings of the AIAA Navigation, Guidance and Control Conference", YEAR = "1991", ADDRESS = "New Orleans, LA", PAGES = "723--729", MONTH = "August", } @INPROCEEDINGS{ChangHolmbergKhatib00, AUTHOR = "Kyong-Sok Chang and Robert Holmberg and Oussama Khatib", TITLE = "The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco, CA", PAGES = "470--475", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: cooperative arms, branching robots, Comments: This paper describes a solution to the problem of getting multiple arms to cooperate together to lift an object. ", } @ARTICLE{ChapmanEtAl93, AUTHOR = "J. W. Chapman and M. D. Ilic and C. A. King and L. Eng and H. Kaufman", TITLE = "Stabilizing a Multimachine Power System via Decentralized Feedback Linearizing Excitation Control", JOURNAL = "IEEE Transactions on Power Systems", YEAR = "1993", VOLUME = "8", NUMBER = "3", PAGES = "830--839", MONTH = "August", ABSTRACT = " Location: ref DB 2 Keywords: power systems, nonlinear control, voltage regulator, feedback linearization Comments: ", } @ARTICLE{ChenLiu95, AUTHOR = "Chi-Tsong Chen and Ching-Shau Liu", TITLE = "On Control System Design: A Comparative Study", JOURNAL = "IEEE Control Systems Magazine", YEAR = "1994", VOLUME = "14", NUMBER = "5", PAGES = "47--51", MONTH = "October", ABSTRACT = " Location: shelf Keywords: H-infinity, Q-parameterization, linear algebraic methods, comparison, control design, Comments: The linear algebraic method for designing control systems was introduced in the Magazine[1],[3]. In this article, the method will be compared with designs using the Q-parameterization and then compared with designs using pole-placement and model(pole-and-zero) matching. It is hown by an example that the method may also yield a better result than the quadratic optimal and the $\Hinf$ methods if the design specifications are given in terms of rise time, overshoot and the constraints on the actuating signal. ", } @INPROCEEDINGS{ChenLuh94, AUTHOR = "Qin Chen and J. Y. S. Luh", TITLE = "Coordination and Control of a Group of Small Mobile Robots", BOOKTITLE = ICRA, YEAR = "1994", PAGES = "2315--2320", ABSTRACT = " Location: Ref DB 11 Keywords: Formation Flying, Mobile Robots, Coordinated lifting, behavioral approach to coordination, Comments: This paper considers the formation control of a group of robots to form geometric patterns and then to transport obsticles using the group of robots. The problem is broken into five steps: (1) Formation of a geometric pattern of mobile robots within a group; (2) Alignment of the orientation of each robot in group; (3) coordination of the robot in the formation group; (4) motion realization; (5) stability of the formation during motion. (1) is accomplished using a heuristic similar to \cite{YunAlptekinAlbayrak97}. (2) is accomplished using PD control, referencing from a leader robot. (3) is accomplished by checking the violation of position and orientation constraints at each formation time step and adjusting. (4) is accomplished with PD controllers. (5) is accomplished by ensuring that the settling time of each robot is faster than the formation sample rate. ", } @ARTICLE{ChenSuzukiYamashita97, AUTHOR = "Zhengyuan Chen and Ichiro Suzuki and Masafumi Yamashita", TITLE = "Time-Optimal Motion of Two Omnidirectional Robots Carrying a Ladder Under a Velocity Constraint", JOURNAL = "IEEE Transactions on Robotics and Automation", YEAR = "1997", VOLUME = "13", NUMBER = "5", PAGES = "721--729", MONTH = "October", ABSTRACT = " Location: shelf Keywords: Time-Optimal Motion Planar Robots Relative Position Constraint Calculus of Variations Motion Planning Comments: We consider the problem of computing a time-optimal motion for two omnidirectional robots carrying a ladder from an initial position to a final position in a plane without obstacles. At any moment during the motion, the distance between the robots remains unchanged and the speed of each robot must be either a given constant $v$, or $0$. A trivial lower bound on time for the robots to complete the motion is the time needed for the robot farther away from its destination to move to the destination along a straight line at a constant speed of $v$. ", } @INPROCEEDINGS{ChenWen95, AUTHOR = "Xin Chen and John T. Wen", TITLE = "Rational ${L}_1$ Compensators with ${H}_\infty$ Constraints", BOOKTITLE = "Proceedings of the 34th Conference on Decision and Control", YEAR = "1995", ADDRESS = "New Orleans", MONTH = "December", ABSTRACT = " Location: ref DB 4 Keywords: Positive Polynomials, H-infinity, L1 constraints Comments: This paper presents a rational $\calL_1$ and mixed $\calL_1/\hinf$ compensator design methodology for continuous time systems. The problem formulation involves finding a finite dimensional stabilizing feedback controller that minimized the $\calL_1$ norm of a closed-loop transfer matrix subject to a frequency domain $\Hinf$ norm contraint on another closed-loop transfer matrix. It is shown that for a one-block problem the optimal solution can be approximated arbitrarily closely, in terms of the closed-loop $\calL_1$ norm, by solving a sequence of convex optimization problems over linear matrix inequalities. Numerical example is provided to demonstrate the effectiveness of this approach. ", } @INPROCEEDINGS{ChichkaSpeyer98, AUTHOR = "David F. Chichka and Jason L. Speyer", TITLE = "Solar-Powered, Formation-Enhanced Aerial Vehicle Systems for Sustained Endurance", BOOKTITLE = ACC, YEAR = "1998", ADDRESS = "Philadelphia, PA", MONTH = "June", ABSTRACT = " Location: Ref DB 12 Keywords: formation flying aerial vehicle speyer-flyer Comments: need to read ", } @ARTICLE{Choi95, AUTHOR = "Jinhoon Choi", TITLE = "Connections Between Local Stability in {L}yapunov and Input/Output Senses", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "12", PAGES = "2139--2142", MONTH = "December", ABSTRACT = " Location: shelf Keywords: Lyapunov stability, input/output stability, finite gain over set, finite gain over ball, Comments: The concept of gain over set was recently introduced as a tool for local input/output analysis of nonlinear systems. In this setting, the finiteness of the gain over set defines a local stability in the input/output sense. In this note, we show that the finite gain over ball stability is related to the local stability in the sense of Lyapunov. ", } @ARTICLE{ChoiKim01, AUTHOR = "Jong-Suk Choi and Byung Kook Kim", TITLE = "Near-Time-Optimal Trajectory Planning for Wheeled Mobile Robots with Translational and Rotational Sections", JOURNAL = TRA, YEAR = "2001", VOLUME = "17", NUMBER = "1", PAGES = "85--90", MONTH = "February", ABSTRACT = " Location: Shelf /www_docs/papers/others/ChoiKim01.pdf Keywords: mobile robots time optimal constraints trajectory generation Comments: This paper investigates the time-optimal trajectory generation where it is assume that the trajectory consists of a straight line section, followed by a constrained constant velocity arc, followed by a translational section. Given the current and velocity constraints of the robot motors, a time-optimal trajectory is generated. Some of the methods from this paper could be used to generate turning rate constraints for our nonlinear filter approach to trajectory generation. ", } @ARTICLE{ChowKokotovic81, AUTHOR = "Joe H. Chow and Petar V. Kokotovic", TITLE = "A Two-Stage {L}yapunov-{B}ellman Feedback Design of a Class of Nonlinear Systems", JOURNAL = TAC, YEAR = "1981", VOLUME = "26", NUMBER = "3", PAGES = "656--663", MONTH = "June", ABSTRACT = " Location: ref DB 4 Keywords: nonlinear systems, Lyapunov, Bellman, Optimal, Feedback, Singular Perturbations, Stability, Boundedness, sub-optimal Comments: The composit control proposed in an earlier paper for a class of singularly perturbed nonlinear systems in now shown to possess properties essential for near-optimal feedback design. It asymptotically stabilizes the desired equilibrium and produces a finite cost which tends to the optimal cost for a slow problem as the singular perturbation parameter tends to zero. Thus, the well-posedness of the full regulator problem is established. The stability results are also applicable to two-time-scale systems which are not singularly perturbed, and the paper does not assume the knowledge of singular perturbation techniques. ", } @ARTICLE{ChungKangLee94, AUTHOR = "Dohyoung Chung and Taesam Kang and Jang Gyu Lee", TITLE = "Stability Robustness of LQ Optimal Regulators for the Performance Index with Cross-Product Terms", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "8", PAGES = "1698--1702", MONTH = "August", ABSTRACT = " Location: shelf Keywords: Optimal Control, Linear Quadratic Regulator, Stability Margins, Gain Margin, Phase margin, Cross-product terms Comments: Suggested are the guaranteed stability margins of LQ optimal regulators for the performance index with cross-product terms, using the required stability margins are presented as well as the conditions to guarantee the stability margins of standard LQ optimal regulators. An example for LQ optimal control of a dc motor system is given to demonstrate how the weighting matrices can be chosen to guarantee the required stability margins. ", } %%CL @INPROCEEDINGS{Clarke99, AUTHOR = "J. C. Clarke", TITLE = "Experiments in Co-operation and Autonomy", BOOKTITLE = "IJCAI Workshop on Adjustable Autonomy", YEAR = "1999", ADDRESS = "Stockholm, Sweden", NOTE = "url=citeseer.nj.nec.com/161477.html", ABSTRACT = " Location: Ref DB 14, www_docs/papers/others/ Keywords: cooperation adjustable autonomy autonomous systems Comments: This is an interesting paper that defines autonomy as taking individual actions, and cooperation as taking actions that have been decided upon jointly. A number of architectures are implemented and compared in a simple pursuit-evasion game. The conclusion of the paper is that for large systems, both autonomous and cooperative behaviours should exist together. An architecture is proposed that builds upon these ideas. ", } @INPROCEEDINGS{CloutierEtAl96, AUTHOR = "James R. Cloutier and Christopher N. {D'Souza} and Curtis P. Mracek", TITLE = "Nonlinear Regulation and Nonlinear ${H}_\infty$ Control Via the State-Dependent {R}iccati Equation Technique", BOOKTITLE = "IFAC World Congress", YEAR = "1996", ADDRESS = "San Francisco, California", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear regulator, State dependent Riccati equation, H-infinity, feedback, optimal control Comments: ", } %%CO @BOOK{Coffman76, AUTHOR = "E. G. Coffman", TITLE = "Computer and Job-Shop Scheduling Theory", PUBLISHER = "John Wiley \& Sons, Inc", YEAR = "1976" } @PHDTHESIS{Colgren93, AUTHOR = "Richard Dean Colgren", TITLE = "$H_\infty$ Control of Nonlinear Systems Using Describing Functions and Simplicial Algorithms", SCHOOL = "University of Southern California", YEAR = "1993", } @BOOK{Cormen93, AUTHOR = "Thomas H. Cormen and Charles E. Leiserson and Ronald L. Rivest", TITLE = "Introduction to Algorithms", PUBLISHER = "McGraw-Hill", YEAR = "1993", volume = "", pages = "", unprintednote = ""} @BOOK{CoverThomas91, AUTHOR = "Thomas M. Cover and Joy A. Thomas", TITLE = "Elements of Information Theory", PUBLISHER = "Wiley", YEAR = "1991", } %%CR @ARTICLE{CrandallIshiiLions92, AUTHOR = "Michael G. Crandall and Hitoshi Ishii and Pierre-Louis Lions", TITLE = "User's Guide to Viscosity Solutions of Second Order Partial Differential Equations", JOURNAL = "Bulletin of the American Mathematical Society", YEAR = "1992", VOLUME = "27", NUMBER = "1", PAGES = "1--67", MONTH = "July", ABSTRACT = " Location: Ref DB 7 Keywords: Viscosity Solutions Hamilton-Jacobi equations, Partial Differential Equations Nonsmooth solutions Comments: The notion of viscosity solutions of scalar fully nonlinear partial differential equations of second order provides a framework in which startling comparison and uniqueness theorems, existence theorems, and theorems about continuous dependence may now be proved by very efficient and striking arguments. The range of important applications of these results is enormous. This article is a self-contained exposition of the basic theory of viscosity solutions. ", } @ARTICLE{Crisman96, AUTHOR = "Jill D. Crisman", TITLE = "System Design Via Small Mobile Robots", JOURNAL = "IEEE Transactions on Education", YEAR = "1996", VOLUME = "39", NUMBER = "2", PAGES = "275--280", MONTH = "May", ABSTRACT = " Location: Ref DB 13 Keywords: Mobile robots, line tracking, senior projects, system level design Comments: This paper describes a senior level design course at Northeastern University which students evidently take to fulfill the ABET senior-level design requirement. The students design a robot that must follow a maze made of a white line on a dark floor. This paper motivated our current program. ", } @MASTERSTHESIS{Curtis00, AUTHOR = "J. Willard Curtis", TITLE = "Nonlinear Controller Comparison on a Benchmark System", SCHOOL = "Brigham Young University", YEAR = "2000", ADDRESS = "Provo, Utah 84602", MONTH = "April", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{CurtisBeard01, AUTHOR = "J. Willard Curtis and Randal W. Beard", TITLE = "A Model-Predictive Satisficing Approach to a Nonlinear Tracking Problem", BOOKTITLE = CDC, YEAR = "2001", ADDRESS = "Orlando, FL", MONTH = "December", NOTE = "(submitted)", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{CurtisBeard01a, AUTHOR = "J. Willard Curtis and Randal W. Beard", TITLE = "Successive Collocation: An Approximation to Optimal Nonlinear Control", BOOKTITLE = ACC, YEAR = "2001", ADDRESS = "Arlington, VA", MONTH = "June", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{CurtisBeard01b, AUTHOR = "J. Willard Curtis and Randal W. Beard", TITLE = "Satisficing: A New Approach to Constructive Nonlinear Control", JOURNAL = TAC, YEAR = "(submitted)", ABSTRACT = " Location: Keywords: Comments: Main satisficing paper. ", } %%D @ARTICLE{DalsmoEgeland97, AUTHOR = "Morten Dalsmo and Olav Egeland", TITLE = "State Feedback $\mathcal{H}_\infty$-Suboptimal Control of a Rigid Spacecraft", JOURNAL = TAC, YEAR = "1997", VOLUME = "42", NUMBER = "8", PAGES = "1186--1189", MONTH = "August", ABSTRACT = " Location: Shelf Keywords: nonlinear H-infinity control, Hamilton-Jacobi Isaacs inequality, Spacecraft attitude control, geodesis metric on SO(3), global stabilizing solution, quaternions, Comments: This paper derives a global stabilizing state feedback control law on SO(3). Th paper shows that a storage function that is very similar to the Lyapunov function in \cite{WenKreutz91} solves the HJ inequality. As a side note, the paper uses what it calls the ``geodesic metric on SO(3)'' as a measure of the size of a rotation. Essentially, the geodesic metric is the absolute value of the Euler rotation angle. ", } @INPROCEEDINGS{DasCobbStallard98, AUTHOR = "Alok Das and Richard Cobb and Michael Stallard", TITLE = "{TECHSAT 21}: A Revolutionary Concept in Distributed Space Based Sensing", BOOKTITLE = "Proceedings fo the Guidance, Navigation and Control Conference", YEAR = "1998", ORGANIZATION = "American Institute of Aeronautics and Astronautics", ADDRESS = "Boston, MA", PAGES = "1--6", MONTH = "August", NOTE = "Paper no. AIAA-98-5255", ABSTRACT = " Location: Ref DB 12 Keywords: Techsat 21, formation flying, multiple satellites, radar, phased array, Comments: This paper describes the goals of the Air Force's TechSat 21 program. It offers several ideas about potential applications including surveillance, passive radiometery, terrain mapping, navigation and communication. They also describe a potential distributed satellite radar system. Many potential benefits are also discussed including (1) increased adaptability, (2) ability to cheaply upgrade the cluster, (3) new capabilities, (4) mission survivability, (5) increased baseline offering performance increases for sensing missions. ", } @ARTICLE{Daum86, AUTHOR = "Frederick E. Daum", TITLE = "Exact Finite-Dimensional Nonlinear Filters", JOURNAL = TAC, YEAR = "1986", VOLUME = "31", NUMBER = "7", PAGES = "616--622", MONTH = "July", } @ARTICLE{Daum87, AUTHOR = "Frederick E. Daum", TITLE = "Solution of the Zakai Equation by Separation of Variables", JOURNAL = TAC, YEAR = "1987", VOLUME = "32", NUMBER = "10", PAGES = "941--943", MONTH = "October", } %%DE @TECHREPORT{DeCou91a, AUTHOR = "A. B. {DeCou}", TITLE = "Multiple Spacecraft Optical Interferometry, Preliminary Feasibility Assessment", INSTITUTION = "JPL", YEAR = "1991", TYPE = "Technical Internal Report", NUMBER = "D-8811", MONTH = "August", ABSTRACT = " Location: Ref DB 10, Keywords: Interferometry, Formation Flying, Orbital Dynamics, U-V plane, geo syncronous orbits, Comments: This paper works out control laws for interferometers orbiting the earth. The orbital dynamics are used to conserve fuel. Good explanation of the U-V plane. ", } @ARTICLE{DeCou91b, AUTHOR = "Anthony B. {DeCou}", TITLE = "Orbital Station-Keeping for Multiple Spacecraft Interferometry", JOURNAL = "The Journal of the Astronautical Sciences", YEAR = "1991", VOLUME = "39", NUMBER = "3", PAGES = "283--297", MONTH = "July-Sept.", ABSTRACT = " Location: Ref DB 10, Keywords: Interferometry, Formation Flying, Orbital Dynamics, U-V plane, geo syncronous orbits, Comments: This paper works out control laws for interferometers orbiting the earth. The orbital dynamics are used to conserve fuel. Good explanation of the U-V plane. ", } @INPROCEEDINGS{deJager97, AUTHOR = "Bram {de Jager}", TITLE = "Linear and nonlinear ${\cal H}_\infty$ control: An example", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1997", ADDRESS = "Albuquerque, NM", MONTH = "June", } @ARTICLE{deQueirozKapilaYan00, AUTHOR = "Marcio S. {de Queiroz} and Vikram Kapila and Qiguo Yan", TITLE = "Adaptive Nonlinear Control of Multiple Spacecraft Formation Flying", JOURNAL = "Journal of Guidance, Control, and Dynamics", YEAR = "2000", VOLUME = "23", NUMBER = "3", PAGES = "385--390", MONTH = "May--June", ABSTRACT = " Location: Shelf Keywords: Formation Flying earth orbit nonlinear control adaptive control continuous thrusters leader following Comments: This paper describes a leader following control law for two spacecraft in earth orbit. The proposed control law is adaptive and remains stable for a wide class of parameters. The disturbance forces and masses of the spacecraft do not need to be known. The paper assumes that the thrusters can deliver continuous thrusts. The control force values shown in simulation appear to be very large, on the order of 10^5 kg*m/hrs^2. The paper is very similar to \cite{YanYangKapila00}. ", } @INPROCEEDINGS{DesaiOstrowskiKumar98, AUTHOR = "Jaydev P. Desai and Jim Ostrowski and Vijay Kumar", TITLE = "Controlling Formations of Multiple Mobile Robots", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "1998", ADDRESS = "Leuven, Belgium", PAGES = "2864--2869", MONTH = "May", ABSTRACT = " Location: Ref DB 11 Keywords: Formation control, multiple robots, leader-following, feedback linearization, nonholonomic control, direct graphs, tree structures, Comments: This paper describes the use of feedback linearization techniques to derive tracking control laws for nonholonomic robots. The formation control strategies are leader-following. In addition to this the authors describe the formation configuration as a directed graph. The shape of the formation is changed as graph structures are changed. Simulation results are given. ", } @INPROCEEDINGS{DesaiWangZefranKumar96, AUTHOR = "Jaydev Desai and Chau-Chang Wang and Milos Zefran and Vijay Kumar", TITLE = "Motion Planning for Multiple Mobile Manipulators", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "1996", ADDRESS = "Minneapolis, Minnesota", PAGES = "2073--2078", MONTH = "April", } @article{Desoer65, AUTHOR = "Charles A. Desoer", TITLE = "A Generalization of the {P}opov Criteria", JOURNAL = TAC, YEAR = "1965", PAGES = "182--185", MONTH = "April", } @ARTICLE{DesoerLin85, AUTHOR = "Charles A. Desoer and Ching-An Lin", TITLE = "Tracking and Disturbance Rejection of {MIMO} Nonlinear Systems with {PI} Controller", JOURNAL = TAC, YEAR = "1985", VOLUME = "30", NUMBER = "9", PAGES = "861--867", MONTH = "September", ABSTRACT = " Location: Ref DB 9 Keywords: Tracking Disturbance Rejection MIMO Nonlinear Proportional Integral Control Comments: We study tracking and disturbance rejection of a class of MIMO nonlinear systems with linear proportional plus integral (PI) compensator. Roughly speaking, we show that if the given nonlinear plant is exponentially stable and has a strictly increasing dc steady-state I/O map, then a simple PI compensator can be used to yield a stable unity-feedback closed-loop system which asymptotically tracks reference inputs that tend to constant vectors and asymptotically rejects disturbance that tend to constant vectors. ", } @ARTICLE{DesoerShahruz86, AUTHOR = "C. A. Desoer and S. M. Shahruz", TITLE = "Stability of dithered non-linear systems with backlash or hysteresis", JOURNAL = "International Journal of Control", YEAR = "1986", VOLUME = "43", NUMBER = "4", PAGES = "1045--1060", ABSTRACT = " Location: Ref DB 9 Keywords: Dither nonlinear systems backlash hysteresis stability Comments: ", } @BOOK{DesoerVidyasagar75, AUTHOR = "C. A. Desoer and M. Vidyasagar", TITLE = "Feedback Systems: Input-Output Properties", PUBLISHER = "Academic Press Inc.", ADDRESS = "New York, New York", YEAR = "1975", } @ARTICLE{DevasiaChenPaden96, AUTHOR = "Santosh Devasia and Degang Chen and Brad Paden", TITLE = "Nonlinear Inversion-Based Output Tracking", JOURNAL = TAC, YEAR = "1996", VOLUME = "41", NUMBER = "7", PAGES = "930--942", MONTH = "July", ABSTRACT = " Location: shelf Keywords: Nonlinear MIMO Tracking Inversion Comments: An inversion procedure is introduced for nonlinear systems which constructs a bounded input trajectory in the preimage of a desired output trajectory. ", } @INPROCEEDINGS{DGKF88, AUTHOR = "John Doyle and Keith Glover and Pramod Khargonekar and Bruce Francis", TITLE = "State-Space Solutions to Standard ${H}_2$ and ${H}_{\infty}$ Control Problems", BOOKTITLE = ACC, YEAR = "1988", ADDRESS = "Atlanta, GA", MONTH = "June", ABSTRACT = " Location: Ref DB 3 Keywords: H-2 optimal control, H-infinity control, Dual Riccati equations, State space approach to H-infinity optimal control, Comments: Simple state-space formulas are presented for a controller solving a standard $H_{\infty}$-problem. The controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG (i.e. $H_2$) theory. This paper is also intended to be of tutorial value, so a standard $H_2$-solution is developed in parallel. ", } @ARTICLE{DGKF89, AUTHOR = "John C. Doyle and Keith Glover and Pramod P. Khargonekar and Bruce A. Francis", TITLE = "State-Space Solutions to Standard $\mathcal{H}_2$ and $\mathcal{H}_\infty$ Control Problems", JOURNAL = TAC, YEAR = "1989", VOLUME = "34", NUMBER = "8", PAGES = "831--847", MONTH = "August", ABSTRACT = " Location: ref DB 13 Keywords: H-2 optimal control, H-infinity control, Dual Riccati equations, State space approach to H-infinity optimal control, Comments: Simple state-space formulas are presented for a controller solving a standard $H_{\infty}$-problem. The controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG (i.e. $H_2$) theory. This paper is also intended to be of tutorial value, so a standard $H_2$-solution is developed in parallel. ", } @ARTICLE{DongHuoTsoXu00, AUTHOR = "Wenjie Dong and Wei Huo and S.K. Tso and W.L. Xu", TITLE = "Tracking Control of Uncertain Dynamic Nonholonomic System and Its Application to Wheeled Mobile Robots", JOURNAL = TRA, YEAR = "2000", VOLUME = "16", NUMBER = "6", PAGES = "870--874", MONTH = "December", ABSTRACT = " Location: Shelf Keywords: Nonholonomic robots tracking control backstepping dynamic control Comments: This paper derives a tracking controller for nonholonomic robots under the assumption that the inertia matrix is not known. First, a kinematic controller is derived using Lyapunov techniques. Then an adaptive dynamic controller is derived using backstepping techniques. The paper is obtuse and hard to read, and does not lead to additional insight. ", } @ARTICLE{DoyleStein79, AUTHOR = "J. C. Doyle and G. Stein", TITLE = "Robustness with Observers", JOURNAL = TAC, YEAR = "1979", VOLUME = "24", NUMBER = "4", PAGES = "606--611", ABSTRACT = " Location: ref DB 9 Keywords: Observers Loop Transfer recovery Robustness Kalman Filters Comments: This paper describes an adjustment procedure for observer-based linear control systems which asymptotically achieves the same loop transfer functions (and hence the same relative stability, robustness, and disturbance rejection properties) as full-state feedback control implementation. ", } @ARTICLE{DoyleStein81, AUTHOR = "J. C. Doyle and G. Stein", TITLE = "Multi-variable Feedback Design: Concepts for a Classical/Modern Synthesis", JOURNAL = TAC, YEAR = "1981", VOLUME = "26", NUMBER = "2", PAGES = "4--16", } @UNPUBLISHED{DS3FinalRFP_Exhibit1, AUTHOR = "JPL", TITLE = "Exhibit 1: {D}eep {S}pace 3 Spacecraft System Requirements", NOTE = "Exhibit 1 of Request for Proposal RFP NO. N01-4-9048-213 for Deep Space 3 (DS-3) Spacecraft System Industry Partner found at ${\tt http://huey.jpl.nasa.gov/ds3\_rfp/ds3-RFP\_Complete.pdf}$", } @BOOK{Dud80, AUTHOR = "R. O. Duda and P. E. Hart", TITLE = "Pattern Recognition and Scene Analysis", PUBLISHER = "Wiley", ADDRESS = "New York, New York", YEAR = "1980" } %%E @BOOK{Elachi87, AUTHOR = "Charles Elachi", TITLE = "Introduction to the Physics and Techniques of Remote Sensing", PUBLISHER = "Wiley Interscience", YEAR = "1987", } @ARTICLE{Eppstein99, AUTHOR = "David Eppstein", TITLE = "Finding the $k$ shortest paths", JOURNAL = "{SIAM} Journal of Computing", YEAR = "1999", volume = "28", number = "2", pages = "652--673", ABSTRACT = " From Tim McLain. " } @ARTICLE{EscobarOrtegaSiraRamirez99, AUTHOR = "Gerando Escobar and Romeo Ortega and Herbertt Sira-Ramirez", TITLE = "Output-Feedback Global Stabilization of a Nonlinear Benchmark System Using a Saturated Passivity-Based Controller", JOURNAL = TAC, YEAR = "1999", VOLUME = "7", NUMBER = "2", PAGES = "289--293", MONTH = "March", ABSTRACT = " Location: Shelf Keywords: Nonlinear Benchmark problem passivity based control saturated control output feedback Euler-Lagrange systems Comments: This paper exploits the Euler-Lagrange structure of the nonlinear benchmark problem to derive an output feedback control law for the nonlinear benchmark problem. Control constraints are explicitely ensured, while guaranteeing the stability of the closed-loop system. Excellent application paper. ", } %%F @ARTICLE{FaizAgrawalMurray01, AUTHOR = "Nadeem Faiz and Sunil K. Agrawal and Richard M. Murray", TITLE = "Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities", JOURNAL = JGCD, YEAR = "2001", VOLUME = "24", NUMBER = "2", PAGES = "219--227", MONTH = "March--April", ABSTRACT = " Location: Shelf /www_docs/papers/others/FaizAgrawalMurray01.pdf Keywords: trajectory planning differentially flat nonlinear optimization state constraints input constraints near real-time Comments: This paper describes a computational technique for generating trajectories for differentially flat systems in near real-time. Step 1. The state equations are embedded in the flat space. Step 2. The state and input constraints are converted to the flat space. Step 3. Semi-infinite optimization is used to approximate the possibly nonlinear and nonconvex constraints using polytopes. Step 4. The trajectory is parameterized using basis functions. Step 5. A collocation method is used to convert the trajectory into a set of points that must lie within the polytope generated in Step 3. Step 6. An optimization step finds the trajectory coefficients to satisfy the constraints. Step 3 is performed off-line, while step 6 is performed on-line. ", } @ARTICLE{Falcone87, AUTHOR = "M. Falcone", TITLE = "A Numerical Approach to the Infinite Horizon Problem of Deterministic Control Theory", JOURNAL = "Applied Mathematics and Optimization", YEAR = "1987", VOLUME = "15", PAGES = "1--13", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton Jacobi Bellman Equation Nonlinear Control Optimal Control Infinite time horizon finite element solution error estimates Comments: We are concerned with the Hamilton-Jacobi equation related to the infinite horizon problem of deterministic control theory. Approximate solutions are constructed by means of a discretization in time as well as in the state variable and we prove that their rate of convergence to the viscosity solution is of order 1, provided a semiconcavity assumption is satisfied. A computational algorithm, originally due to R. Gonzales and E. Rofman, is adapted and reformulated for the problem at hand in order to obtain an error estimate for the numerical approximate solutions. ", } @ARTICLE{FalconeFerretti94, AUTHOR = "Marizio Falcone and Roberto Ferretti", TITLE = "Discrete time high-order schemes for viscosity solutions of {H}amilton-{J}acobi-{B}ellman equations", JOURNAL = "Numerische Mathematik", YEAR = "1994", VOLUME = "67", PAGES = "315--344", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton-Jacobi-Bellman equation, viscosity solutions, discretation in time, finite-difference method, L_infinity convergence estimates, Comments: A general method for constructing high-order approximation schemes for Hamilton-Jacobi-Bellman equations is given. The method is based on a discret version of the Dynamic Programming Principle. We prove a general convergence result for this class of approximation shcemes also obtaining, under more restrictive assumptions, an estimate in $L^\infty$ of the order of convergence and of the local trunction error. The schemes can be applied, in particular, to the stationary linear first order equation in $\re^n$. We present several examples of schemes belonging to this class and with fast convergence to the solution. ", } @TECHREPORT{FaxMurray01, AUTHOR = "J. Alexander Fax and Richard M. Murray", TITLE = "Graph Laplacians and Stabilization of Vehicle Formations", INSTITUTION = "Engineering and Applied Science, California Institute of Technology", YEAR = "2001", NUMBER = "CDS Technical Report 01-007", ADDRESS = "Pasadena, CA 91125", MONTH = "July", NOTE = "http://www.cds.caltech.edu/~murray/cgi-bin/htdblist.cgi?papers/config.db", ABSTRACT = " Location: Ref DB 14 /ee/beard/www_docs/papers/others/ Keywords: formation control graph theory graph Laplacians formation stability Comments: This paper considers the problem of $N$ identical LTI systems in a dynamically decoupled formation. Each of the system implements an identical control strategy that takes into account relative state measurements. A graph is used to model the information flow. It is shown that a matrix, called the Graph Laplacian, which can be defined from the adjacency matrix of the graph, has eigenvalues which are related to the interconnection structure of the graph. A theorem is stated that shows that if the Nyquist plot of the plant/controller, does not encircle the eigenvalues of the graph Laplacian, then the relative formation will be stabilized. ", } %%FI @BOOK{Finlayson72, AUTHOR = "Bruce A. Finlayson", TITLE = "The Method of Weighted Residuals and Variational Principles", PUBLISHER = "Academic Press", ADDRESS = "New York, New York", YEAR = "1972", ABSTRACT = " Location: Ref DB 2 Keywords: (Chapter 11), Galerkin's Method, Convergence, Error Bounds, Partial Differential Equations, Numerical Methods, symmetric, positive definite, positive bounded below, Energy norm, Comments: ", } @MISC{FIRA, TITLE = "Federation of International Robot-Soccer Association (FIRA)", HOWPUBLISHED = "http://www.fira.net", ABSTRACT = " Location: Web Keywords: Robot soccer senior projects Comments: ", } @ARTICLE{Fitts66, AUTHOR = "R. E. Fitts", TITLE = "Two Counterexamples to {A}izerman's Conjecture", JOURNAL = TAC, YEAR = "1966", VOLUME = "11", NUMBER = "3", PAGES = "553--556", ABSTRACT = " Location: ref DB 2 Keywords: Aizerman's conjecture Comments: In the last few years, several sufficient conditions have been found for establishing the aympotitc stability in the large of the null solution of feedback systems containing a single nonlinearity. The experiments reported in this paper show that if these sufficient conditions are violated, in certain cases instability occurs in the form of oscillations. These experiments not only establish a new class of oscillators but they also constitute counter examples to Aizerman's conjecture. An explaination of the oscillations is proposed which uses harmonic linearization. ", } @BOOK{FlemingRishel75, AUTHOR = "Wendell H. Fleming and Raymond W. Rishel", TITLE = "Deterministic and Stochastic Optimal Control", PUBLISHER = "Springer Verlag", YEAR = "1975", } @BOOK{FlemingSoner93, AUTHOR = "Wendell H. Fleming and H. Mete Soner", TITLE = "Controlled {M}arkov Processes and Viscosity Solutions", PUBLISHER = "Springer Verlag", ADDRESS = "Berlin, Germany", YEAR = "1993", ABSTRACT = " Location: Ref DB 7 Keywords: Viscosity Solutions Finite-Difference Approximations Hamilton-Jacobi-Bellman equation HJB Comments: Chapter 9 gives a description of how to reduce th HJB equation to a discrete-time dynamic programming problem by the use of finite-differencing. ", } @BOOK{Fletcher84, author = "C. A. J. Fletcher", title = "Computational {G}alerkin Methods", series = "Springer Series in Computational Physics", publisher = "Springer Verlag", address = "New York, New York", year = "1984", ABSTRACT = " Location: library Keywords: Galerkin, Weighted Residuals, Finite Element, Numerical solutions to differential equations. Comments: ", } %%FO @ARTICLE{FoltaBordiScolese92, AUTHOR = "David Folta and Francesco Bordi and Christopher Scolese", TITLE = "Considerations on Formation Flying Separations for Earth Observing Satellite Missions", JOURNAL = "Advances in the Astronautical Sciences: Proceedings of the AAS/AIAA Spaceflight Mechanics Meeting", YEAR = "1992", VOLUME = "79", NUMBER = "2", PAGES = "803--822", ABSTRACT = " Location: Ref DB 10 Keywords: Formation Flying, Precision Sensing, simultaneous observations from sensors, Comments: This paper is a continuation of~\cite{ScoleseFoltaBordi91}. The results of that paper are confirmed via simulations. Three types of formations are considered: close formations (separation distances of approximately 100 m), ideal formations (separation distances of approximately 450 km, and dynamic formations (separation distances of approximately 450 km). The conclusion was that for these three types of orbits, only close formations can consistently obtain a large FOV overlap (80-90 percent). They also conclude that with present technology, formation flying with separations under 1km will require special relative navigation techniques. For two spacecraft separated by 100m, the time difference between simultaneous observations of the same location on earth is 0.0133 s. ", } @INPROCEEDINGS{FoltaQuinn98, AUTHOR = "David Folta and David Quinn", TITLE = "A Universal {3-D} Method for Controlling the Relative Motion of Multiple Spacecraft in any Orbit", BOOKTITLE = "AIAA Guidance, Navigation and Control Conference", YEAR = "1998", ADDRESS = "Boston, MA", MONTH = "August", ABSTRACT = " Location: Ref DB 12 Keywords: Formation Flying, Earth orbit, follow the leader, geo-centric formations, Comments: This paper describes a software package that keeps a follower spacecraft in formation relative to a leader. The Delta V is computed to maintain the relative distance from the leader. Motion of the formation is not considered. Perhaps templates could provide value added. ", } @ARTICLE{FontanMataric98, AUTHOR = "Miguel Schneider-Fontan and Maja J. Mataric", TITLE = "Territorial Multi-Robot Task Division", JOURNAL = TRA, YEAR = "1998", VOLUME = "14", NUMBER = "5", PAGES = "815--822", MONTH = "October", ABSTRACT = " Location: Ref DB 11, Shelf Keywords: mobile robots multiple robots coordinated control behavior based coordination behavioral approach subsumption architecture Comments: This paper presents a behavioral approach to the problem of coordinating multiple robots to move a number of pucks to a goal location. The basic idea is to divide the area into equal rectangular rectangles and then have robots move the pucks in their territory to the neighboring territory that is closest to the goal. The control strategy is based on Rodney Brook's subsumption architecture. The paper provides a nice literature review of related work. Performance is quantified in terms of achieving the goal and also the amount of inter-robot interference that is induced. The authors make the point that 'adaptive group behavior is a balance between minimizing interference and maximizing synergy (goal achievement at the group level).' ", } @ARTICLE{FossenSagatun91, AUTHOR = "Thor I. Fossen and Svein I. Sagatun", TITLE = "Adaptive Control of Nonlinear Systems: A Case Study of Underwater Robotic Systems", JOURNAL = "Journal of Robotic Systems", YEAR = "1991", volume = "8", number = "3", pages = "393--412", } %%FR @BOOK{FranklinPowell, AUTHOR = "Gene F. Franklin and J. David Powell and Abbas Emami-Naeini", TITLE = "Feedback Control of Dynamic Systems", PUBLISHER = "Addison Wesley", YEAR = "1994", EDITION = "3rd", } @INPROCEEDINGS{FrazzoliDahlehFeron01, AUTHOR = "Emilio Frazzoli and Munther A. Dahleh and Eric Feron", TITLE = "Real-Time Motion Planning for Agile Autonomous Vehicles", BOOKTITLE = ACC, YEAR = "2001", ADDRESS = "Arlington VA", PAGES = "43--49", MONTH = "June", ABSTRACT = " Location: web ref DB 14 Keywords: UAVs motion planning probabilistic roadmaps obsticle avoidance path planning Comments: This paper describes a path planning algorithm which is reportedly 'probabilistically complete' and can be executed in real time. The algorithms works by starting from the current state and then randomly chosing another equilibrium state and then planning a path from that state and then testing to see if collisions occured. Collision free paths are kept and further random exploration is pursued. A notion of tau-safty is introduced to ensure that planned paths are safe for a time tau into the future to allow further planning and maneuvering. ", } @INPROCEEDINGS{FreemanKokotovic95, AUTHOR = "R. A. Freeman and P. V. Kokotovic", TITLE = "Optimal Nonlinear Controllers for Feedback Linearizable Systems", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1995", ADDRESS = "Seattle, Washington", PAGES = "2722--2726", MONTH = "June", ABSTRACT = " Location: ref DB 7 Keywords: nonlinear control, regulators, control Lyapunov functions, nonlinear tracking problem, optimal control, Hamilton-Jacobi equation, pointwise min-norm controller Comments: ", } @BOOK{FreemanKokotovic96, AUTHOR = "Randy A. Freeman and Petar V. Kokotovic", TITLE = "Robust Nonlinear Control Design: State-Space and Lyapunov Techniques", PUBLISHER = "Birkhauser", YEAR = "1996", SERIES = "Systems \& Control: Foundations \& Applications", ABSTRACT = " Location: shelf Keywords: Robust control lyapunov functions, robust backstepping, set-valued analysis. Comments: ", } @ARTICLE{FreilingJank96, AUTHOR = "G. Freiling and G. Jank", TITLE = "Generalized {R}iccati Difference and Differential Equations", JOURNAL = "Linear Algebra and its Applications", YEAR = "1996", PAGES = "291--303", ABSTRACT = " Location: Ref DB 7 Keywords: Generalized Riccati Equation Comments: In this paper we investigate generalized Riccati differential and difference equations obtained from standard Riccati equations by adding a semidefinite perturbation term. For such equations we give results on the monotonic dependecne of the solutions of the coefficients and initial values as well as results on convergence of solutions. ", } %%FU @BOOK{Fu87, AUTHOR = "K. S. Fu and R. C. Gonzalez and C. S. G. Lee", TITLE = "{Robotics: Control, Sensing, Vision and Intelligence}", PUBLISHER = "McGraw Hill", ADDRESS = "New York, New York", YEAR = 1987 } @ARTICLE{FukaoNakagawaAdachi00, AUTHOR = "Takanori Fukao and Hiroshi Nakagawa and Norihiko Adachi", TITLE = "Adaptive Tracking Control of a Nonholonomic Mobile Robot", JOURNAL = TRA, YEAR = "2000", VOLUME = "16", NUMBER = "5", PAGES = "609--615", MONTH = "October", ABSTRACT = " Location: Shelf Keywords: nonholonomic robot, trajectory tracking, adaptive backstepping dynamic model Comments: This paper derives an adaptive backstepping controller for the dynamic model of a mobile robot with unknown parameters assuming that an adaptive controller for the kinematic equations with unknown parameters is known. An example is given but the trackable reference trajectories require that $\omega^d=0$. ", } %%G @ARTICLE{GalkowskiIslam91, AUTHOR = "Peggy J. Galkowski and Mohammed A. Islam", TITLE = "An Alternative Derivation of the Modified Gain Function of {S}ong and {S}peyer", JOURNAL = TAC, YEAR = "1991", VOLUME = "36", NUMBER = "11", PAGES = "1323--1326", MONTH = "November", } @ARTICLE{GaoChenFanMa92, AUTHOR = "Long Gao and Lin Chen and Yushun Fan and Haiwu Ma", TITLE = "A Nonlinear Control Design for Power Systems", JOURNAL = "Automatica", YEAR = "1992", VOLUME = "28", PAGES = "975--979", ABSTRACT = " Location: Ref DB 2 Keywords: nonlinear control, direct feedback linearization, power systems, voltage regulator Comments: In this paper, a simple exact linearization design method for scalar nonlinear control systems is discussed. Starting with the higher-order differential equation of nonlinear plant, a direct feedback linearizing compensator and a following feedback controller can be composed by physical variables of the plant. By using this method to power systems, a nonlinear excitation control of synchronous generator is proposed, which is new and effective for engineering. Digital simulation and physical experiment results of a practical power system show that the excellent stability, fast response, robustness, damping, steady-state and transient stability power limit are all achieved. ", } @ARTICLE{Garrard69, AUTHOR = "W. L. Garrard", TITLE = "Additional Results on Suboptimal Feedback Control of Nonlinear Systems", JOURNAL = "International Journal of Control", YEAR = "1969", VOLUME = "10", NUMBER = "6", PAGES = "657--663", ABSTRACT = " Location: ref DB 4 Keywords: Nonlinear systems, feedback control, sub-optimal, perturbation method, series approximation, convergence proof Comments: Convergence properties of a perturbational procedure for generating sub-optimal control laws for non-linear dynamical systems described by \[ \dot{x} = Ax + \epsilon \phi(\epsilon,x) + Bu \] are discussed. Optimization is carried out with respect to a quadratic performance index, and an estimate of the degradation of performance resulting from truncation of the perturbational solution is presented. ", } @ARTICLE{Garrard72, AUTHOR = "W. L. Garrard", TITLE = "Suboptimal Feedback Control for Nonlinear Systems", JOURNAL = "Automatica", YEAR = "1977", VOLUME = "8", PAGES = "219--221", ABSTRACT = " Location: ref DB 4 Keywords: Nonlinear, suboptimal, feedback, second-order approximation, Hamilton Jacobi Bellman equation Comments: A method is presented for synthesizing suboptimal feedback control laws for nonlinear systems optimized with respect to a quadratic performance index. The proposed method allows the designer to easily calculate a second-order approximation to the optimal control. ", } @ARTICLE{GarrardEnnsSnell92, AUTHOR = "William L. Garrard and Dale F. Ennis and S. Anthony Snell", TITLE = "Nonlinear Feedback Control of Highly Maneuvrable Aircraft", JOURNAL = "International Journal of Control", YEAR = "1992", VOLUME = "56", NUMBER = "4", PAGES = "799--812", } @ARTICLE{GarrardEtAl67, AUTHOR = "W. L. Garrard and N. H. McClamroch and L. G. Clark", TITLE = "An Approach to Suboptimal Feedback Control of Nonlinear Systems", JOURNAL = "International Journal of Control", YEAR = "1967", VOLUME = "5", NUMBER = "5", PAGES = "425--435", ABSTRACT = " Location: Ref DB 4 Keywords: Nonlinear control, suboptimal, approximation to Hamilton Jacobi Bellman equation, feedback Comments: A method is developed for the determination of sub-optimal control laws for non-linear dynamical systems. The control laws determined by the use of this method are in time invariant, feedback form and approximately minimize a performance index which is the integral of a positive definite function of the state plus a quadratic function of the control. The basis of the proposed technique is a method for the determination of approximate solutions for the associated Hamilton-Jacobi-Bellman equation. The method is applied to two examples and the results are shown to compare favourably with those obtained by use of other sub-optimal control procedures. The method developed in this paper is applicable, in a practical sense, to systems of higher than second order and seems to hold promise as a means for solving a large class of optimization problems. ", } @ARTICLE{GarrardJordan77, AUTHOR = "William L. Garrard and John M. Jordan", TITLE = "Design of Nonlinear Automatic Flight Control Systems", JOURNAL = "Automatica", YEAR = "1977", VOLUME = "13", PAGES = "497--505", ABSTRACT = " Location: Ref DB 2 Keywords: Airplane Control, attitude control, closed loop systems, nonlinear control, perturbation techniques, suboptimal control, 3rd order nonlinear control, Comments: A method for the synthesis of nonlinear automatic flight control systems is developed, and the performance of a control system synthesized by use of this method is compared to the performance of control system designed by use of linear quadratic optimal control theory. Comparisons are made on the basis of aircraft dynamic response at high angles of attack. It is found that the nonlinear controller reduces the altitude loss during stall and increases the magnitude of the angle of attack for which the aircraft can recover from stall. ", } %%GE @Book{Gelb74, title = {"Applied Optimal Estimation"}, publisher = {The M.I.T. Press}, year = 1974, editor = {Arthur Gelb} } @ARTICLE{GenesioEtAl85, AUTHOR = "Roberto Genesio and Michele Tartaglia and Antonio Vicino", TITLE = "On the Estimation of Asymptotic Stability Regions: State of the Art and New Proposals", JOURNAL = TAC, YEAR = "1985", VOLUME = "30", NUMBER = "8", PAGES = "747--755", MONTH = "August", ABSTRACT = " Location: Ref DB 4 Keywords: Region of Asymptotic Stability, Region of Attraction, Regulator, nonlinear control, Zubov method, LaSalle method, power systems, survey, trajectory reversing method Comments: This paper deals with the problem of the estimation of regions of asymptotic stability for continuous, autonomous, nonlinear systems. The first part of the work provides a comprehensive survey of the existing methods and of their applications in engineering fields. In the second part certain toplogical considerations are first developed and the `trajectory reversing method' is then presented together with a theorem on which it is based. In the final part, several examples of application are reported, showing the efficiency of the proposed technique for low-order systems. ", } @INPROCEEDINGS{GentiliMartinelli00, AUTHOR = "Federico Gentili and Francesco Martinelli", TITLE = "Robot group formations: a dynamic programming approach for a shortest path computation", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco", PAGES = "3152--3157", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: formation control mobile robots path planning dynamic programming rigid formation control Comments: This paper considers the problem of moving a group of robots in a rigid formation, while minimizing the total distance traveled by all robots combined. Robot dynamics are not considered, rather path lengths alone are considered. To solve the problem, a grid is placed on the region and a discrete dynamic programming problem is solved to find the shortest paths. The computational complexit is strongly dependent on the discretization, but only weakly dependent on the number of robots. Several motion heuristics are proposed that resemble Jonathan's elementary formation maneuvers. ", } @INPROCEEDINGS{Georges95, AUTHOR = "D Georges", TITLE = "{G}alerkin Methods for the Solution of Nonlinear Optimal Regulator and $\mathcal{H}_\infty$ Control Problems", BOOKTITLE = "Proceedings of the European Control Conference", YEAR = "1995", ADDRESS = "Rome, Italy", PAGES = "2078--2083", MONTH = "September", ABSTRACT = " Location: ref DB 13 Keywords: Galerkin approximation, Hamilton-Jacobi equations, Comments: This paper presents results that are very similar to the SGA method. The Galerkin approximation method is used to construct approximate solutions to the Hamilton-Jacob-Isaacs equation. Conference version of~\cite{Georges96}. ", } @ARTICLE{Georges96, AUTHOR = "D. Georges", TITLE = "Solutions of Nonlinear Optimal Regulator and $H_\infty$ Control Problems via Galerkin Methods", JOURNAL = "European Journal of Control", YEAR = "1996", VOLUME = "2", PAGES = "211--226", ABSTRACT = " Location: ref DB 13 Keywords: Galerkin approximation, Hamilton-Jacobi equations, Comments: This paper presents results that are very similar to the SGA method. The Galerkin approximation method is used to construct approximate solutions to the Hamilton-Jacob-Isaacs equation. Journal version of~\cite{Georges96}. ", } @ARTICLE{GeorgesCanudasRamirez99, AUTHOR = "Didier Georges and Carlos {Canudas de Witt} and Jose Ramiriz ", TITLE = "Nonlinear ${\mathcal{H}}_2$ and ${\mathcal{H}}_\infty$ Optimal Controllers for Current-Fed Induction Motors", JOURNAL = TAC, YEAR = "1999", VOLUME = "44", NUMBER = "7", PAGES = "1430--1435", MONTH = "July", ABSTRACT = " Location: Shelf Keywords: nonlinear H-infinity, induction motors Hamilton-Jacobi equations Comments: This paper computes solutions to one dimensional HJB and HJI equations. The solutions are computed using the quadratic formula. The induction motor equations of motor are reduced to a single degree of freedom. No simulation results are presented and I suspect that the simulation results will probably be very bad since the equations of motion for the angular shaft are completely ignored. ", } @ARTICLE{GeromelYamakami85, AUTHOR = "GeromelYamakami85", TITLE = "On the Robustness of Nonlinear Regulators and Its Application to Nonlinear Systems Stabilization", JOURNAL = TAC, YEAR = "1985", VOLUME = "30", NUMBER = "12", PAGES = "1251--1254", MONTH = "December", ABSTRACT = " Location: ref DB 7 Keywords: nonlinear control, robustness, optimal control, Hamilton-Jacobi equation, double pendulum, additive control perturbation Comments: ", } %%GI @ARTICLE{GilmanRhodes73, AUTHOR = "Alfred S. Gilman and Ian B. Rhodes", TITLE = "Cone-Bounded Nonlinearities and Mean-Square Bounds--Estimation Upper Bounds", JOURNAL = TAC, YEAR = "1973", VOLUME = "18", NUMBER = "3", PAGES = "260--265", MONTH = "June", } @ARTICLE{GiuliettiPolliniInnocent00, AUTHOR = "Fabrizio Giulietti and Lorenzo Pollini and Mario Innocenti", TITLE = "Autonomous Formation Flight", JOURNAL = "{IEEE} Control Systems Magazine", YEAR = "2000", VOLUME = "20", NUMBER = "6", PAGES = "34--44", MONTH = "December", ABSTRACT = " Location: Shelf /grad1/users/beard/www_docs/papers/others Keywords: formation flying UAVs Dijkstra's algorithm fault reconfiguration communication leader-following behavioral scheme (kinda) distributed Comments: This paper discusses close formation flight for multiple UAV's, and possibly manned vehicles. The main focus of the paper is on reconfiguring the communication channels between aircraft. The dynamics assumed for the aircraft are linearized lateral and longitudinal dynamics about trim conditions. An autopilot is designed using LQR techniques. Similar to our current approach, the inputs to the autopilot are velocity, altitude and heading commands. The formation controller is a leader following scheme that uses LQ controllers to track the trajectory of the leader. The leader following scheme can also be adjusted slightly to accommadate the relative position of other aircraft. The communication channels are configured using Dijkstra's algorithm to choose optimal, and suboptimal backup, links. Three types of communcation faults are discussed: Aircraft loss, transmitter failure, and receiver failure. Ad hoc, but deterministic (i.e., pre-programmed) schemes are persented deal with each of these failures. While distributed, the resolution to these faults does not constitute coordinated behavior. ", } @ARTICLE{Glad84, AUTHOR = "S. Torkel Glad", TITLE = "On the Gain Margin of Nonlinear and Optimal Regulators", JOURNAL = TAC, YEAR = "1984", VOLUME = "29", NUMBER = "7", PAGES = "615--620", MONTH = "July", ABSTRACT = " Location: ref DB 7 Keywords: nonlinear optimal control, Gain margin stability margins, robustness Comments: The robustness of nonlinear rugulator for nonlinear systems with respect to variations in gain is investigated. It is shown that there exists regulators that produce asymptotically stable closed-loop systems, but do not tolerate any variation in gain without instability. However, if the linearized closed-loop system is also asymptotically stable, then there is always some gain margin. For a wide class of optimal regulators, it is shown that the gain margin is infinite with respect to increases in the gain and that decreases down to 0.5 can be tolerated. The robustness properties of linear quadratic control laws are thus generalized. ", } @INPROCEEDINGS{Glad85, AUTHOR = "Torkel Glad", TITLE = "Robust Nonlinear Regulators Based on {H}amilton-{J}acobi theory and {L}yapunov functions", BOOKTITLE = "IEE Control Conference", YEAR = "1985", ADDRESS = "Cambridge", PAGES = "276--280", ABSTRACT = " Location: Ref DB 7 Keywords: robustness, nonlinear regulators, Hamilton-Jacobi-Bellman equation, Lyapunov functions, linear partial differential equation Comments: ", } @ARTICLE{Glad87, AUTHOR = "S. Torkel Glad", TITLE = "Robustness of Nonlinear State Feedback--A Survey", JOURNAL = "Automatica", YEAR = "1987", VOLUME = "23", NUMBER = "4", PAGES = "425--435", ABSTRACT = " Location: Ref DB 7 Keywords: Robustness, optimal feedback, gain margin, Lyapunov theory, Hamilton-Jacobi equation, nonlinear control, inverse optimal control Comments: Nonlinear optimal feedback has certain intrinsic robustness properties. These include infinite gain margin, where the gain can be nonlinear, static or dynamic. Certain design procedures also give a high gain reduction tolerance. ", } @ARTICLE{Glickman94, AUTHOR = "Ronald E. Glickman", TITLE = "{T}{I}{D}{E}: The Timed-Destination Approach to Constellation Formation Keeping", JOURNAL = "Advances in the Astronautical Sciences: Proceedings of the AAS/AIAA Spaceflight Mechanics Meeting", YEAR = "1994", VOLUME = "87", NUMBER = "2", PAGES = "725--743", ABSTRACT = " Location: Ref DB 10 Keywords: Formation flying, satellites, low earth orbit, equator crossing and time, eccentricity control Comments: This paper describes an approach to satellite formation keeping, for satellites in low-earth orbit. The basic idea is to keep track of the time that the satellite crosses the equator and the procession rate. The time and positions are then controlled by in-plane thrusting and orthogonal plane thrusting respectively. Advantages of the method include: small amounts of computation, no communication necessary between satellites, near-optimum fuel efficiency in the presence of drag, and external measurements imply no accumulation of errors in navigational data. GPS measurements are used for navigation. ", } @ARTICLE{GloverDoyle88, AUTHOR = "K. Glover and J. Doyle", TITLE = "State Space Formulae for All Stabilizing Controllers that Satisfy an $H_\infty$-Norm Bound and Relations to Risk Sensitivity", JOURNAL = "Systems \& Control Letters", YEAR = "1998", VOLUME = "11", PAGES = "167--172", } @BOOK{GoodwinGraebeSalgado01, AUTHOR = "Graham C. Goodwin and Stefan F. Graebe and Mario E. Salgado", TITLE = "Control System Design", PUBLISHER = "Prentice Hall", YEAR = "2001", ADDRESS = "Englewood Cliffs, New Jersey", } @ARTICLE{Goh93, AUTHOR = "C. J. Goh", TITLE = "On the Nonlinear Optimal Regulator Problem", JOURNAL = "Automatica", YEAR = "1993", VOLUME = "29", PAGES = "751--756", MONTH = "May", ABSTRACT = " Location: Ref DB 1 Keywords: Optimal, Nonlinear, Neural Net, flight control, stabilizers Comments: In this paper we show that a nonlinear feedback controller can be synthesized by appropriate training of a feedforward neural network to satisfy the corresponding nonlinear Hamilton-Jacobi-Bellman partial differential equation in a restricted domain of the state space. Asymptotoic stability of the closed-loop system is shown to be a natural consequence of the HJB equation. ", } %%GO @BOOK{Goldstein51, AUTHOR = "Herbert Goldstein", TITLE = "Classical Mechanics", PUBLISHER = "Addison-Wesley", YEAR = "1951", } @BOOK{Gonzalez92, AUTHOR = "Rafael C. Gonzalez and Richard E. Woods", TITLE = "Digital Image Processing", PUBLISHER = "Addison Wesley", YEAR = "1992", } @ARTICLE{GonzalezRofman85, AUTHOR = "R. Gonzalez and E. Rofman", TITLE = "On Deterministic Control Problems: An Approximation Procedure for the Optimal Cost I: The Stationary Problem", JOURNAL = SIAM, YEAR = "1985", VOLUME = "23", NUMBER = "2", PAGES = "242--266", MONTH = "March", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton Jacobi Bellman equation Viscosity solutions Finite Element solutions convergence proof relaxed control Comments: We study deterministic optimal control problems having stopping time, continuous and impulse controls in each strategy. We obtain the optimal cost, considered as the maximum element of a suitable set of subsolutions of the associated Hamilton-Jacobi equation, using an aproximation method. A particular derivative discretization scheme is employed. Convergence of approximate solutions is shown taking advantage of a discrete maximum principle which is also proved. For the numerical solutions of approximate problems we use a method of relaxation type. The algorithm is very simple; it can be run on computers with small central memory. ", } @ARTICLE{GonzalezRofman85a, AUTHOR = "R. Gonzalez and E. Rofman", TITLE = "On Deterministic Control Problems: An Approximation Procedure for the Optimal Cost II: The Nonstationary Problem", JOURNAL = SIAM, YEAR = "1985", VOLUME = "23", NUMBER = "2", PAGES = "267--285", MONTH = "March", ABSTRACT = " Location: Ref DB 7 Keywords: Hamilton-Jacobi Bellman equation finite-element solution nonstationary case time varying finite time convergence proofs Comments: ", } @INPROCEEDINGS{Goodrich01, AUTHOR = "Michael A. Goodrich", TITLE = "A Satisficing Approach to Assigning Vehicles to Targets", BOOKTITLE = "Proceedings of the {IEEE} International Conference on Systems, Man, and Cybernetics", YEAR = "2001", NOTE = "(accepted for publication)", ABSTRACT = " Location: Keywords: Comments: ", } @InProceedings{GoodrichEtAl01, author = {M. A. Goodrich and D. R. Olsen and J. W. Crandall and T. J. Palmer}, title = {Experiments in Adjustable Autonomy}, booktitle = {Proceedings of the IJCAI-01 Workshop: Autonomy, Delegation, and Control: Interacting with Autonomous Agents}, year = 2001, address = {Seattle, WA, USA}, month = {August}, note = {To appear.}, ABSTRACT = " Location: Keywords: Adjustable autonomy Comments: ", } @Article{GoodrichStirlingBoer2000, author = {M. A. Goodrich and W. C. Stirling and E. R. Boer}, title = {Satisficing Revisited}, journal = {Minds and Machines}, year = 2000, volume = 10, pages = {79-110} } @ARTICLE{GoodrichStirlingFrost98, AUTHOR = "Michael A. Goodrich and Wynn C. Stirling and Richard L. Frost", TITLE = "A Theory of Satisficing Decisions and Control", JOURNAL = "IEEE Transactions on Systems, Man, and Cybernetics--Part A. Systems and Humans", YEAR = "1998", VOLUME = "28", NUMBER = "6", PAGES = "763--779", MONTH = "November", ABSTRACT = " Location: Ref DB 13 Keywords: Satisficing Comments: Mike and Wynn's paper on satisficing control. ", } @Article{GoodrichStirlingFrostTFS98, author = {M. A. Goodrich and W. C. Stirling and R. L. Frost}, title = {Model Predictive Satisficing Fuzzy Logic Control}, journal = {IEEE Transactions on Fuzzy Systems}, year = 1999, volume = 7, number = 3, month = {June} } @BOOK{Graham81, AUTHOR = "Alexander Graham", TITLE = "Kronecker Products and Matrix Calculus:with Applications", PUBLISHER = "Halsted Press", YEAR = "1981", NOTE = "Properties of Kronecker Products", } @ARTICLE{Grandhi93, AUTHOR = "Ramana V. Grandhi and Anand Kumar and Anil Chaudhary and James C. Malas", TITLE = "State-Space Representation and Optimal Control of Nonlinear Material Deformation Using the Finite Element Method", JOURNAL = "International Journal for Numerical Methods in Engineering", YEAR = "1993", VOLUME = "36", PAGES = "1967--1986", ABSTRACT = " Location: Ref DB 1 Keywords: Finite Element, Extrusion, Optimal control Comments: A state-space model for representing the non-linear material deformation and an optimal control scheme for obtaining desired process conditions in the deforming material are presented in this paper. The formulation is general for various metal-forming processes including forging and extrusion operations. The state variables selected in the formulation are the die/billet contact nodal velocities and the nodal velocities of the critical finite elements of the billet. The control input is the ram velocity, which is determined by using the linear quadratic regulator theory to maintain desired strain rates within the selected finite elements. The influence of an optimally designed ram velocity on the deforming material is studied using performance measures. This paper includes the development of the state-space model from non-linear finite element formulation, optimal control strategy and numerical cases with discussions. ", } @BOOK{GreenLimebeer95, AUTHOR = "Michael Green and David J. N. Limebeer", TITLE = "Linear Robust Control", PUBLISHER = "Prentice Hall", YEAR = "1995", ADDRESS = "Englewood Cliffs, New Jersey", } @BOOK{Greenwood88, AUTHOR = "Donald T. Greenwood", TITLE = "Principles of Dynamics", PUBLISHER = "Prentice Hall", YEAR = "1988", ADDRESS = "Englewood Cliffs, NJ", EDITION = "2nd", ABSTRACT = " Location: Borrowed from Tim McLain Keywords: Comments: ", } @BOOK{GuentherLee88, AUTHOR = "Ronald B. Guenther and John W. Lee", TITLE = "Partial Differential Equations of Mathematical Physics and Integral Equations", PUBLISHER = "Prentice Hall", YEAR = "1988", ADDRESS = "Englewood Cliffs, New Jersey", ABSTRACT = " Location: Ref DB 2 Keywords: Calculus of Variations, Weak and Strong Convergence, Sobolev Space, Ritz-Galerkin Approximation, First Order Partial Differential Equations, Existence and Uniqueness proofs, Method of Characteristics Comments: In this chapter the method of characteristics for solving linear, quasilinear, and nonlinear partial differential equations is derived. The method of characteristics is then used to who existence and uniqueness of the solutions obtained. Clear examples are given. ", } @BOOK{GuentherLee88a, AUTHOR = "Ronald B. Guenther and John W. Lee", TITLE = "Partial Differential Equations of Mathematical Physics and Integral Equations", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1988", NOTE = "Partial Differential Equations of the First Order", } @BOOK{GuentherLee88b, AUTHOR = "Ronald B. Guenther and John W. Lee", TITLE = "Partial Differential Equations of Mathematical Physics and Integral Equations", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1988", NOTE = "Variational Methods", } @INPROCEEDINGS{Guinn98, AUTHOR = "Joseph R. Guinn", TITLE = "Precise Relative Motion of Formation Flying Space Vehicles", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation and Control Conference", YEAR = "1998", ORGANIZATION = "American Institute of Aeronautics and Astronautics", ADDRESS = "Boston, MA", PAGES = "34--39", MONTH = "August", NOTE = "AIAA-98-4187", ABSTRACT = " Location: Ref DB 12 Keywords: Spacecraft formation flying, Earth Orbiting Satellites, Orbital Dynamics, Applications of Formation Flying, Interferometry, DS3 in geo-sync orbit, Comments: This paper describes and partially quantifies the orbital disturbances that act on a formation of multiple satellites orbiting the earth. In particular, the following effects are briefly discussed: (1) aspherical gravity, (2) atmospheric drag, (3) solar radiation pressure, (4) third body gravity. Simulation results for these effects are briefly discussed for circular LEO and GEO orbits. The paper also lists several applications of satellite formations including (1) sensor cross-calibration missions and (2) interferometry missions. The paper is lacking detail. ", } @INPROCEEDINGS{GuntherBeardEtal96, AUTHOR = "Jake Gunther and Randy Beard and Jay Wilson and Travis Oliphant and Wynn Stirling", TITLE = "Fast Nonlinear Filtering via {G}alerkin's Method", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1997", ADDRESS = "Albuquerque, NM", } %%H @INPROCEEDINGS{HadaeghLuWang98, AUTHOR = "Fred Y. Hadaegh and Wei-Min Lu and Paul K. C. Wang", TITLE = "Adaptive Control of Formation Flying Spacecraft for Interferometry", BOOKTITLE = "IFAC", YEAR = "1998", ORGANIZATION = "IFAC", ABSTRACT = " Location: Ref DB 10 Keywords: Comments: ", } @ARTICLE{HaGilbert87, AUTHOR = "In Joong Ha and Elmer G. Gilbert", TITLE = "Robust Tracking in Nonlinear Systems", JOURNAL = TAC, YEAR = "1987", VOLUME = "32", NUMBER = "9", PAGES = "763--771", MONTH = "September", ABSTRACT = " Location: Ref DB 9 Keywords: Nonlinear Tracking Robust Inversion Multivariable Comments: A nonlinear feedback multivariable controller is used to implement tracking in a nonlinear system. The tracking error is measured by a general function of system state and the input command. The controller is robust in the sens that the tracking error is ultimately bounded in the presence of modeling errors. Free parameters, which affect the form of the controller, allow flexibility in determining such factors as: The size of the ultimate bound, the rate of error decay, excursion of the control, conditions on the class of modeling errors, and the level of system gain. Restrictive asumptions on the structure of the model and the modeling errors are required but they are treated in a transformation framework which allows the generalization of similar conditions which appear in the prior literatur. These assumptions hold for robotic manipulators. This application is investigated at some length an it appears that the resulting control scheme may have advantages over others which have been proposed in the robotics literature. ", } @ARTICLE{Halevi94, AUTHOR = "Yoram Halevi", TITLE = "Stable LQG Controllers", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "10", PAGES = "2104--2106", MONTH = "October", ABSTRACT = " Location: shelf Keywords: LQG, optimal control, stable controllers, stable conpensators, Lyapunov equation, design method for choosing weighting matricies Comments: The optimal LQG controller is known to stabilize the closed loop if certain mild conditions are satisfied. The controller itself, however, may be unstable. The paper presents a method of selecting the weighting and covariance matrices such that the optimal controller is internally asymptotically stable. The method is very easy to apply and for stable open-loop system involves the solution of a single Lyapunov equation. ", } @ARTICLE{HallbergKaminerPascoal99, AUTHOR = "Eric Hallberg and Isaac Kaminer and Antonio Pascoal", TITLE = "Development of a Flight Test System for Unmanned Air Vehicles", JOURNAL = "IEEE Control Systems Magazine", YEAR = "1999", VOLUME = "19", NUMBER = "1", PAGES = "55--65", MONTH = "February", ABSTRACT = " Location: Shelf Keywords: UAV flight test system auto pilot autonomous flight trajectory generation gain scheduling Comments: This paper describes the development of a UAV and the associated environment to test and develop autopilot algorithms. The hardware is described fairly extensively. Off-the-shelf equipment is used extensively, including an off-the-shelf autopilot. The control loop includes a downlink to collect all data on the ground. Autocode software is used to develop the real-time code. ", } @BOOK{HallidayResnick, AUTHOR = "David Halliday and Robert Resnick", TITLE = "Fundamentals of Physics", PUBLISHER = "John Wiley \& Sons", YEAR = "1988", EDITION = "3rd", ABSTRACT = " Location: Keywords: Comments: ", } @BOOK{HallPorsching90, AUTHOR = "Charles A. Hall and Thomas A. Porsching", TITLE = "Numerical Analysis of Partial Differential Equations", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1990", } @ARTICLE{HalmeHamalainen75, AUTHOR = "A. Halme and R. P. Hamalainen", TITLE = "On the Nonlinear Regulator Problem", JOURNAL = JOTA, YEAR = "1975", VOLUME = "16", PAGES = "255--275", ABSTRACT = " Location: ref DB 7 Keywords: Optimal control, nonlinear, pontryagin, two point boundary value, polynomial type operators, inversion theorem, analytic systems, finite-time problem, synthesis method Comments: ", } @ARTICLE{Hamzi01, AUTHOR = "Boumediene Hamzi", TITLE = "Some results on inverse optimality based design", JOURNAL = "Systems \$ Control Letters", YEAR = "2001", VOLUME = "43", PAGES = "239--246", ABSTRACT = " Location: Ref DB 13 Keywords: inverse optimality clf hjb equation Legendre-Fenchel transform Comments: This paper presents some results for inverse optimality for clf based design. The paper uses a new characterization of the clf based on the Legendre-Fenchel transform to derive inverse-optimality results. The paper also provides some simple properties for the Legendre-Fenchel transform. ", } @INPROCEEDINGS{HanVeloso98, AUTHOR = "Kwun Han and Manuela Veloso", TITLE = "Reactive Visual Control of Multiple Non-Holonomic Robotic Agents", BOOKTITLE = ICRA, YEAR = "1998", ADDRESS = "Leuven, Belgium", PAGES = "3510--3515", MONTH = "May", ABSTRACT = " Location: Ref DB 14 /grad1/users/beard/www_docs/papers/others Keywords: Robot soccer vision algorithm multi-agent association behaviors reactive path planning Comments: This paper describes the approach of CMUnited to the vision system for robot soccer. An association algorithm is describes that associates robots with detected positions. Also, a reactive path planner is described. ", } @INPROCEEDINGS{Hashimoto95, AUTHOR = "Masafumi Hashimoto and Fuminori Oba and Satoru Zenitani", TITLE = "Object-Transportation Control by Multiple Wheeled Vehicle Planar Cartesian Manipulator Systems", BOOKTITLE = ICRA, YEAR = "1995", PAGES = "2267--2272", ABSTRACT = " Location: Ref DB 11 Keywords: Robot Formation, Object Handling, Nonholonomic dynamics, Multiple robots, state constraints, Comments: This paper describes an approach to coordinated moving of an object by multiple robots that have a manipulator with two prismatic joints and one rotational joint. Nonholonomic dynamics are considered and constraints among the robots are also addressed through an optimization procedure. The paper is very poorly written and it is difficult to decipher exactly what the authors are doing. ", } %%HI @INPROCEEDINGS{HirataKosuge00, AUTHOR = "Yasuhisa Hirata and Kazuhiro Kosuge", TITLE = "Distributed Robot Helpers Handling a Single Object in Cooperation with a Human", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco", PAGES = "458--463", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: mobile robots robot-human cooperation casters omni-directional robots Comments: This paper describes the design of robots to assist humans in transporting objects. The mobile robots are controlled such that they act like wheel casters. As the human exerts forces on the object, the mobile robots respond. The control systems are designed to be passive, so that assuming that the human behaves in a passive way, the overall system is stable. ", } %%HO %%HU @ARTICLE{HuangLin95, AUTHOR = "Jie Huang and Ching-Fang Lin", TITLE = "Numerical Approach to Computing Nonlinear $H_\infty$ Control Laws", JOURNAL = "AIAA Journal of Guidance, Control and Dynamics", YEAR = "1995", VOLUME = "18", NUMBER = "5", PAGES = "989--994", MONTH = "September-October", } @PHDTHESIS{Haussler63, AUTHOR = "R. L. Haussler", TITLE = "On the Suboptimal Design of Nonlinear Control Systems", SCHOOL = "Purdue University", YEAR = "1963", ADDRESS = "Lafayette, Indiana", ABSTRACT = " Location: Ref DB 1 Keywords: Approximation theory, nonlinear, regulator Comments: This thesis presents a mathematical basis for determining and improving sub-optimal control policies for the so-called regulator problem. In order to judge the value of sub-optimal control, upper and lower bounds on the minimum value of the index of performance are established for each improved control. ", } @MISC{HermannMartin, AUTHOR = "Robert Hermann and Clyde Martin", TITLE = "Periodic Solutions of the {R}iccati Equation", HOWPUBLISHED = "Unknown Conference Proceedings", } @BOOK{Hertz91, AUTHOR = "John Hertz and Anders Krogh and Richard G. Palmer", TITLE = "Introduction to the Theory of Neural Computation", PUBLISHER = "Addison-Wesley", SERIES = "Santa Fe Institute Studies in the Sciences of Complexity", YEAR = "1991", } @ARTICLE{HeubergerEtAl95, AUTHOR = "Peter S. C. Heuberger and Paul M. J. Van den Hof and Okko H Bosgra", TITLE = "A Generalized Orthonormal Basis for Linear Dynamic Systems", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "3", PAGES = "451--465", MONTH = "March", ABSTRACT = " Location: shelf Keywords: Linear, Orthonormal basis, transfer functions, system identification Comments: In many areas of signal, system, and control theory, orthogonal functions play an important role in issues of analysis and design. In this paper it is shown that there exist orthogonal functions that, in a natural way, are generated by stable linear dynamical systems and that compose an orthonormal basis for the signal space $l^n_2$. To this end, use is made of balanced realizations of inner tranfer functions. The orthogonal functions can be considered as generalizations of, e.g., the pulse functions, Laguerre functions, and Kautz functions, and give rise to an alternative series expansion of rational transfer functions. It is shown how we can exploit these generalized basis functions to increase the speed of convergence in a series expansion, i.e., to obtain a good approximation by retaining only a finite number of expansion coefficients. Consequences for identification of expansion coefficients are analyzed, and a bound is formulated on the error that is made when approximating a system by a finite number of expansion coefficents. ", } @ARTICLE{HillMoylan80, AUTHOR = "David J. Hill and Peter J. Moylan", TITLE = "Dissipative Dynamical Systems: Basic Input-Output and State Properties", JOURNAL = "Journal of the Franklin Institute", YEAR = "1980", VOLUME = "309", PAGES = "327--357", } @ARTICLE{Hirshorn81, AUTHOR = "R. M. Hirschorn", TITLE = "Output Tracking in Multivariable Nonlinear Systems", JOURNAL = TAC, YEAR = "1981", VOLUME = "26", NUMBER = "2", PAGES = "593--595", MONTH = "April", ABSTRACT = " Location: Ref DB 9 Keywords: Nonlinear MIMO Tracking inverse systems Comments: In this note the class of functions which can appear as outputs is identified for a class of multivariable nonlinear systems. For these systems we construct right-inverse systems which act as prefilters. ", } @ARTICLE{HitzAnderson69, AUTHOR = "L Hitz and B. D. O. Anderson", TITLE = "Discrete Positive-Real Functions and their Application to System Stability", JOURNAL = "Proceedings of the {IEEE}", YEAR = "1969", VOLUME = "116", NUMBER = "1", PAGES = "153--155", MONTH = "January", } @ARTICLE{Ho97, AUTHOR = "Yu-Chi Ho", TITLE = "On the Numerical Solutions of Stochastic Optimization Problems", JOURNAL = TAC, YEAR = "1997", VOLUME = "42", NUMBER = "5", PAGES = "727--729", MONTH = "May", ABSTRACT = " Location: Shelf Keywords: Computational Intelligence Stochastic Optimization New Paradigm NP complete Intelligent control Knowledge simulation Comments: In this paper we discuss the role of soft computing (SC) in optimization problems. We point out that SC is closely related to computational intelligence. Each aims at complementing the limitations of many conventional techniques. ", } @BOOK{Hoare85, AUTHOR = "C.A.R. Hoare", TITLE = "Communicating Sequential Processes", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", SERIES = "International Series in Computer Science", YEAR = "1985", } @ARTICLE{HoferTibken88, AUTHOR = "E. P. Hofer and B. Tibken", TITLE = "An Iterative Method for the Finite-Time Bilinear-Quadratic Control Problem", JOURNAL = JOTA, YEAR = "1988", VOLUME = "57", NUMBER = "3", PAGES = "411--427", MONTH = "June", ABSTRACT = " Location: Ref DB 1 Keywords: Bilinear systems, finite-time optimal control, iterative methods, Riccati equation, fixed point theorems Comments: For bilinear control systems with quadratic cost, the so-called bilinear-quadritic problem, a feedback controller for the finite-time case is designed. An iteration procedure in close proximity to the Riccati approach is presented, and the proof of convergence is outlined. The potential ofthe new method is discussed, and the design procedure is illustrated in two examples. ", } @INPROCEEDINGS{How98, AUTHOR = "Jonathan P. How and Robert Twiggs and David Weidow and Kathy Hartman and Frank Bauer", TITLE = "{ORION}: A Low-Cost Demonstration of Formation Flying in Space Using {GPS}", BOOKTITLE = "Proceedings of the Astrodynamics Specialist Conference", YEAR = "1998", ORGANIZATION = "American Institute of Aeronautics and Astronautics, Inc.", ADDRESS = "Boston, MA", PAGES = "276--286", MONTH = "August", NOTE = "Paper no. AIAA-98-4398", ABSTRACT = " Location: Ref DB 12 Keywords: Formation Flying, ORION, GPS, hardware, LAN Comments: This paper describes a proposed formation flying mission at Stanford. The proposal is a six spacecraft mission where the primary goal seems to be to demonstrate GPS technology for measuring the relative positions and attitudes in the constellation. The scope of the program is very impressive if they can pull it off. Also, the paper gives detailed information about proposed thrusters and RF LAN networks that may be of use in the MAGICC lab. ", } @PHDTHESIS{Hsieh84, AUTHOR = "Jer-Guang Hsieh", TITLE = "Finite-Dimesional Feedback Control of a Class of Linear Infinite-Dimensional Systems Via {G}alerkin Approximation", SCHOOL = "Rensselaer Polytechnic Institute", YEAR = "1984", ADDRESS = "Troy, New York", MONTH = "December", NOTE = "1984", ABSTRACT = " Location: RPI library Keywords: Galerkin's Method, Distributed Parameter Systems, Infinite Dimensional Linear systems Comments: Control of the distributed parameter systems (DPS) usually involves dynamical descriptions on infinite-dimensional Hilbert or Banach spaces of functions. For a linear stabilizable and detectable DPS, an infintie-dimesional feedback controller exists so that the closed-loop system is stable. However, this infinite-dimensional controller generally cannot be implemented with practical computers and devices. Consequently, the reduced order modeling of DPS becomes extremely crucial for finite-dimensional controller design. In this thesis, Galerkin (or finite element) mehtods are presented as a way to develop finite-dimensional Galerkin controllers by approximating the infinite-dimensional stabilizing controller for a class of linear DPS. This investigation will give a very simple sufficient condition, i.e. the test of nonsingularity of a matrix for a finite-dimensional Galerkin feedback controller to perform as well as the infinite-dimensional stabilizing controller. ", } @BOOK{Hughes86, AUTHOR = "Peter C. Hughes", TITLE = "Spacecraft Attitude Dynamics", PUBLISHER = "John Wiley \& Sons", YEAR = "1986", } @INPROCEEDINGS{HuntSuMeyer83a, AUTHOR = "L. R. Hunt and R. Su and G. Meyer", TITLE = "Design for Multi-Input Nonlinear Systems", BOOKTITLE = "Differential Geometric Control Theory", YEAR = "1983", EDITOR = "R. W. Brockett and R. S. Millman and H. Sussmann", PUBLISHER = "Birkha{\"{u}}ser", PAGES = "268--298", } @ARTICLE{HuntSuMeyer83b, AUTHOR = "L. R. Hunt and R. Su and G. Meyer", TITLE = "Global Transformations of Nonlinear Systems", JOURNAL = TAC, YEAR = "1983", VOLUME = "28", NUMBER = "1", PAGES = "24--31", MONTH = "January", } @ARTICLE{HuntVerma94, AUTHOR = "L. R. Hunt and Madanpal S. Verma", TITLE = "Observers for Nonlinear Systems in Steady State", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "10", PAGES = "2113--2118", MONTH = "October", ABSTRACT = " Location: Shelf Keywords: Nonlinear Observers, Feedback Linearization, Error bounds, Comments: This paper constructs nonlinear observers for systems with observable and controlable linear parts. Central to the construction is a Poincare transformation that seems difficult to apply in practice. An existance proof is given, but it is not clear how to construct the observer. Lemma 2.2 in this paper is correct in \cite{ShimByunSeo99}. ", } %%I @ARTICLE{Ickes70, AUTHOR = "B. P. Ickes", TITLE = "A New Method for Performing Digital Control System Attitude Computations Using Quaternions", JOURNAL = "AIAA Journal", YEAR = "1970", VOLUME = "8", NUMBER = "1", PAGES = "13--17", MONTH = "January", ABSTRACT = " Location: ref DB 10 Keywords: Quaternions, Satellite Control, Quaternion algebra, rotations via quaternions, limitations on quaternions Comments: Space vehicle attitude control system performance is often limited by the computational speed of airborne digital computer hardware. The applicatio of quaternions to digital attitude control problems involving coordinate system transformations can reduce computation time by more than 40% over the equivalent direction cosine matrix solution due to a new method of treating quaternions which allows the order of multiplication to be interchanged so as to isolate the most rapidly varying parameters. This paper presents a formulation for control equations in which the control error is expressed as a quaternion and all coordinate system tranformations are performed using quaterions. The new principle of `quaternion algebra' which allows interchanging the order of multiplication is developed and used to simplify the control equations. The quaternion control equations are applied to a three-gimbal IMU example and the results are compared to an equivalent direction cosine matrix solution. ", } @BOOK{IoannouSun96, AUTHOR = "Petros A. Ioannou", TITLE = "Robust Adaptive Control", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1996", } @ARTICLE{IoannouTao87, AUTHOR = "Petros Ioannou and Gang Tao", TITLE = "Frequency Domain Conditions for Strictly Positive Real Functions", JOURNAL = TAC, YEAR = "1987", VOLUME = "32", NUMBER = "1", PAGES = "53--54", MONTH = "January", ABSTRACT = " Location: ref DB 2 Keywords: Positive Real, nonlinear, frequency domain Comments: Frequency domain conditions for strictly positive real functions which appear in literature are often only necessary or only sufficient. This point is raised in [1], [2], where necessary and sufficient conditions in the s-domain are given for a transfer function to be SPR. In this note, the points raised in [1], [2] are clarified further by giving necessary and sufficient conditions in the frequency domain for transfer functions to be SPR. These frequency-domain conditions are easier to test than those given in the s-domain or time domain. ", } @ARTICLE{Ionescu70, AUTHOR = "Tudor Ionescu", TITLE = "Hyperstability of Linear Time-Varying Discrete Systems", JOURNAL = TAC, YEAR = "1970", PAGES = "645--647", MONTH = "December", } @BOOK{Isidori89, AUTHOR = "Alberto Isidori", TITLE = "Nonlinear Control Systems", PUBLISHER = "Springer Verlag", YEAR = "1989", SERIES = "Communication and Control Engineering", ADDRESS = "New York, New York", EDITION = "2nd", } @ARTICLE{IsidoriAstolfi92, AUTHOR = "Alberto Isidori and Alessandro Astolfi", TITLE = "Disturbance Attenuation and ${H}_\infty$--Control Via Measurement Feedback in Nonlinear Systems", JOURNAL = TAC, YEAR = "1992", VOLUME = "37", NUMBER = "9", PAGES = "1283--1293", MONTH = "September", ABSTRACT = " Location: Ref DB 7 Keywords: nonlinear control, nonlinear H-infinity control, disturbance rejection, passivity, Hamilton-Jacobi-Isaacs equation, output feedback, Comments: This paper presents a solution to the problem of disturbance attenuation via measurement feedback with internal stability for an affine nonlinear system. It is also shown that the concept of disturbance attenuation, in the sense of turncated $L_2$ norms can be given--even in the nonlinear setup--an iterpretation in terms of the response to periodic inputs in the sense of rms amplitude. Finally, in the case of state feedback, a family of controllers is also provided. The proofs of all these results are surprisingly simple and indeed provide deeper insight even in the analysis of the corresponding linear control problem. ", } @ARTICLE{IsidoriByrnes90, AUTHOR = "Alberto Isidori and Christopher I. Byrnes", TITLE = "Output Regulation of Nonlinear Systems", JOURNAL = TAC, YEAR = "1990", VOLUME = "35", NUMBER = "2", PAGES = "131--140", MONTH = "February", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear, Regulator, Center manifold, zero dynamics, internal model principle Comments: ", } @ARTICLE{IsidoriKang95, AUTHOR = "Alberto Isidori and Wei Kang", TITLE = "${H}_\infty$ Control via Measurement Feedback for General Nonlinear Systems", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "3", PAGES = "466--472", MONTH = "March", ABSTRACT = " Location: shelf Keywords: nonlinear H-infinity control, measurement feedback, Hamilton-Jacobi-Isaacs equation, general feedback systems, perturbation method example, Comments: This paper shows how the problem of (local) distrubance attenuation via measurement feedback, with internal stability, can be solved for a nonlinear system of rather general structure. The solution of the problem is shown to be related to the existence of solutions of a pair of Hamilton-Jacobi inequalities in $n$ independent variables, which are associated with state-feedback and, respectively, output-injection design. the results of the paper extend a numer of recent achievements in this area. This paper develops the nonlinear H-infinity control for general nonlinear system, I.e. not necessarily systems that are affine in the control. The example at the end of the paper uses the perturbation method developed by Albrekht and Lukes to approximate the HJI equations. The paper also extends the necessary conditions given in \cite{BallHeltonWalker93} and the sufficient conditions given in \cite{Isidori93}. ", } @ARTICLE{IwasakiShibataMatsui99, AUTHOR = "Makoto Iwasaki and Tomohiro Shibata and Nobuyuki Matsui", TITLE = "Disturbance-Observer-Based Nonlinear Friction Compensation in Table Drive System", JOURNAL = "IEEE/ASME Transactions on Mechatronics", YEAR = "1999", VOLUME = "4", NUMBER = "1", PAGES = "3--8", MONTH = "March", ABSTRACT = " Location: Shelf Keywords: Nonlinear Friction, Dynamic friction model, friction compensation Comments: This paper uses the friction model presented in \cite{CanudasetAl95} to compensate for the friction in a table drive system. Experimental results are presented. Also, an experimental method for deriving the coefficients for the friction model are explained. In addition, an adaptive control that estimates the friction is also described. ", } %%J @INPROCEEDINGS{JadbabaieHauser00, AUTHOR = "Ali Jadbabaie and John Hauser", TITLE = "Relaxing the Optimality Condition in Receding Horizon Control", BOOKTITLE = "Proceedings of the 39th IEEE Conference on Decision and Control", YEAR = "2000", ADDRESS = "Sydney, Australia", PAGES = "4945--4950", MONTH = "December", ABSTRACT = " Location: Ref DB 13 Keywords: receding horizon control control Lyapunov functions clf sub-optimal satisficing Comments: This paper shows that stability can be achieved for receding horizon control in the case where instead of solving an finite-time optimal control problem at each time instance, they solve a feasibility problem that simply guarantees that the cost at each time instance is a decreasing function of time. The basic idea is to use a clf instead of a terminal cost constraint. This notion is in line with the satisficing philosophy. ", } @Book{Jain89, author = {Anil K. Jain}, title = {Fundamentals of Digital Image Processing}, publisher = {Prentice Hall}, ADDRESS = "Englewood Cliffs, New Jersey", year = 1989 } @ARTICLE{Jamshidi76, AUTHOR = "M. Jamshidi", TITLE = "A Feedback Near-Optimum Control for Nonlinear Systems", JOURNAL = "Information and Control", YEAR = "1976", VOLUME = "32", PAGES = "75--84", ABSTRACT = " Location: ref DB 4 Keywords: nonlinear control, suboptimal, Pontryagin's maximum principle, open loop, linear feedback along a path Comments: A near-optimum feedback controller based on the sensitivity of state and control functions with respect to a coupling parameter is introduced for nonlinear systems. The method makes use of Pontryagin's maximum principle and the Riccati formulation of the linear regulator problem. A numerical example with previously known results is solved using the method. ", } @INPROCEEDINGS{JankFontKoko95, AUTHOR = "Jankovic and Fontaine and Kokotovic", TITLE = "TORA Example: Cascade and Passivity Control Designs", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1995", ORGANIZATION = ACC, PAGES = "4347--4351", MONTH = "June", ABSTRACT = " Location: Keywords: Cascade,Backstepping, Passivity, NLBP, TORA Comments: This paper compares the performance of several varieties of cascade control strategies with some passivity based controls on the NLBP. ", } @BOOK{Jazwinski70, AUTHOR = "Andrew H. Jazwinski", TITLE = "Stochastic Processes and Filtering Theory", PUBLISHER = "Academic Press, Inc.", ADDRESS = "New York, New York", YEAR = "1970", VOLUME = "64", SERIES = "Mathematics in Science and Engineering", } @ARTICLE{JeongLee97, AUTHOR = "Il-Kwon Jeong and Ju-Jang Lee", TITLE = "Evolving Multi-Agents using a Self-Organizing Genetic Algorithm", JOURNAL = "Applied Mathematics and Computation", YEAR = "1997", VOLUME = "88", PAGES = "293--303", } @ARTICLE{Johansson90, AUTHOR = "Rolf Johansson", TITLE = "Quadratic Optimization of Motion Coordination and Control", JOURNAL = TAC, YEAR = "1990", VOLUME = "35", NUMBER = "11", PAGES = "1197--1208", MONTH = "November", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Nonlinear Control, Hamilton-Jacobi-Bellman equation, Robotic Manipulators, Quadratic Optimization, Adaptive Control Comments: ", } @BOOK{John81, AUTHOR = "Fritz John", TITLE = "Partial Differential Equations", PUBLISHER = "Springer Verlag", YEAR = "1981", EDITION = "Fourth", ABSTRACT = " Location: ref DB 2 Keywords: Partial Differential Equations, First Order Partial Differential Equations, Method of Characteristics, Existence and Uniqueness conditions Comments: This chapter describes the method of characteristics for first order partial differential equations and uses the method to give conditions for the existence and uniqueness of these equations. ", } @BOOK{Jones93, AUTHOR = "Frank Jones", TITLE = "Lebesgue Integration on Euclidean Space", PUBLISHER = "Jones and Bartlett Publishers", ADDRESS = "Boston, MA", YEAR = "1993", } @BOOK{JonesFlynn93, AUTHOR = "Jones and Flynn", TITLE = "Mobile Robots: Inspiration to Implementation", PUBLISHER = "A. K. Peters", YEAR = "1993", NOTE = "ISBN 1-56881-011-3", ABSTRACT = " Location: Keywords: Comments: Chap 7: motors. Chap 8: batteries. ", } @TECHREPORT{Joshi98, AUTHOR = "Sanjay S. Joshi", TITLE = "An Informal Introduction to Sythetic Aperature Imaging", INSTITUTION = "Jet Propulsion Laboratory", YEAR = "1998", TYPE = "Interoffice Memorandum", NUMBER = "3450-98-0004", ADDRESS = "4800 Oak Grove Dr., Pasadena, CA 91109", MONTH = "February", ABSTRACT = " Location: Ref DB 10 Keywords: Synthetic Aperture Imaging, U-V plane, interferometer, mutual coherence function, formation flying Comments: An excellent summary of how to get from fringes to an image. Explains what the U-V plane is. ", } @ARTICLE{JoshiKelkarWen95, AUTHOR = "S. M. Joshi and A. G. Kelkar and J. T.-Y. Wen", TITLE = "Robust Attitude Stabilization of Spacecraft Using Nonlinear Quaternion Feedback", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "10", PAGES = "1800--1803", MONTH = "October", ABSTRACT = " Location: ref DB 10, shelf Keywords: Quaternions Attitude control Spacecraft Model Global Stability Robustness Lyapunov Stability proof Comments: This paper considers the problem of three-axis attitude stabilization of a rigid spacecraft. A nonlinear control law which uses the feedback of the unit quaternion and the measured angular velocities is proposed and is shown to provide global asymptotic stability. The control law does not require the knowledge of the system parameters and is, therefore, robust to modeling errors. The significance of the control law is that it can be used for large-angle maneuvers with guaranteed stability. ", } @ARTICLE{JuditskyEtal95, AUTHOR = "Anatoli Juditsky and Hakan Hjalmarsson and Albert Benveniste and Bernard Delyon and Lennart Ljung and Jonas Sjoberg and Qinghua Zhang", TITLE = "Nonlinear Black-box Models in System Identification: Mathematical Foundations", JOURNAL = "Automatica", YEAR = "1995", VOLUME = "31", NUMBER = "12", PAGES = "1725--1750", MONTH = "December", ABSTRACT = " Location: Ref DB 7 Keywords: System Identification; Non-parametric identification; nonlinear systems; neural networks; wavelet estimators; black-box identification schemes Comments: Mathematical ideas behind nonparametric algorithms of non-linear system identification. An overview of 'classical' methods and some 'modern' approaches. ", } %%K @MISC{Kahan84, AUTHOR = "W. Kahan", TITLE = "Vector Geometry and Algebra", YEAR = "1984", ABSTRACT = " Location: Keywords: Vector Geometry, Quaternions, Kinematics Comments: ", } @BOOK{Kailath80, AUTHOR = "Thomas Kailath", TITLE = "Linear Systems", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1980", } @INPROCEEDINGS{Kalman60, AUTHOR = "R. E. Kalman", TITLE = "On the General Theory of Control System", BOOKTITLE = "Proceedings of the First IFAC Congress on Automatic Control, Moscow", YEAR = "1960", PUBLISHER = "Butterworth, London", VOLUME = "1", PAGES = "481--492", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Controllability, Observability, Duality theorem, Optimal estimation Comments: This note initiates the study of what might be called the pure theory of control. Restricting attention to linear, stationary, single input/single output plants, the new concepts of controllability and observability are introduced and it follows that solutions of the usual problems of control theory exist if and only if the plant is completely controllable and completely observable. The connection between observability and controllability is formalized by the Duality Principle, which shows that the Wiener filtering and prediction problem is a special case of the author's theory of optimization of deterministic control systems, as has been shown earlier by less direct methods. ", } @ARTICLE{Kalman60a, AUTHOR = "R. E. Kalman", TITLE = "A New Approach to Linear Filtering and Prediction Problems", JOURNAL = "Transactions ASME Journal of Basic Engineering", YEAR = "1960", VOLUME = "82", PAGES = "34--35", } @INPROCEEDINGS{Kalman63, AUTHOR = "R. E. Kalman", TITLE = "The Theory of Optimal Control and the Calculus of Variations", BOOKTITLE = "Mathematical Optimization Techniques", YEAR = "1963", EDITOR = "Richard Bellman", PUBLISHER = "The RAND Corporation", PAGES = "309--331", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Calculus of Variations Comments: ", } @INPROCEEDINGS{Kalman63b, AUTHOR = "R. E. Kalman", TITLE = "On a New Characterization of Linear Passive Systems", BOOKTITLE = "Proceedings of the First Allerton Conference on Circuit and System Theory", YEAR = "1963", PAGES = "456--470", } @ARTICLE{Kalman64, AUTHOR = "Kalman, R. E.", TITLE = "When is a Linear Control System Optimal?", JOURNAL = "ASME Journal of Basic Engineering", YEAR = "1964", PAGES = "51--60", MONTH = "March", ABSTRACT = " Location: ref DB 1 Keywords: Inverse Optimal Control, linear quadratic regulator Comments: The purpose of this paper is to formulate, study, and resolve the inverse problem of optimal control theory, which is the following: Given a control law, find all performance indices for which this control law is optimal. Under the assumptions of (a) linear constant plant, (b) linear constant control law, (c) measurable state vvariables, (d) quadratic loss functions with constant coefficients, (e) single control variable, we give a complete analysis of this problem and obtain various explicit conditions for the optimality of a given control law. An interesting feature of the analysis is the central role of frequency-domain concepts, which have been ignored in optimal control theory until very recently. The discussion is presented in rigorous mathematical form. The central conclusion is the following: A stable control law is optimal if and only if the absolute value of the corresponding return difference is at least equal to one at all frequencies. This provides a beautifully simple connecting link between modern control theory and the classical point of view which regards feedback as a means of reducing component variations. ", } @ARTICLE{KalmanBertramI, AUTHOR = "R.E. Kalman and J.E. Bertram", TITLE = "Control System Analysis and Design Via the Second Method of {L}yapunov I: Continuous Time Systems", JOURNAL = "Transactions of the ASME, Journal of Basic Engineering", YEAR = "1960", PAGES = "371--393", MONTH = "June", ABSTRACT = " Location: ref DB 2 Keywords: Nonlinear control, Lyapunov theory, stability Comments: ", } @ARTICLE{KalmanBertramII, AUTHOR = "R.E. Kalman and J.E. Bertram", TITLE = "Control System Analysis and Design Via the Second Method of {L}yapunov II: Discrete Time Systems", JOURNAL = "Transactions of the ASME, Journal of Basic Engineering", YEAR = "1960", PAGES = "394--400", MONTH = "June", ABSTRACT = " Location: ref DB 2 Keywords: Nonlinear Control, Lyapunov Functions, Stability Comments: The second method of Lyapunov is applied to the study of discrete-time systems. With minor variations, the discussion parallels that of the companion paper on continous-time systems. Theorems are stated in full but motivation, proofs, examples, and so on, are given only when they differ materially from their counterparts in the continuous-time case. ", } @ARTICLE{KalmanBucy61, AUTHOR = "R. E. Kalman and R. S. Bucy", TITLE = "New Results in Linear Filtering and Prediction Theory", JOURNAL = "Transaction of the ASME, Journal of Basic Engineering", YEAR = "1961", VOLUME = "83", PAGES = "95--108", } @ARTICLE{Kang95, AUTHOR = "Wei Kang", TITLE = "Nonlinear ${H}_\infty$ Control and Its Application to Rigid Spacecraft", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "7", PAGES = "1281--1285", MONTH = "July", ABSTRACT = " Location: shelf Keywords: nonlinear H-infinity control, rigid spacecraft, attitude control, nonlinear control, example, Comments: This paper develops the nonlinear H-infinity control for general nonlinear system, I.e. not necessarily systems that are affine in the control. The example at the end of the paper uses the perturbation method developed by Albrekht and Lukes to approximate the HJI equations. The paper also extends the necessary conditions given in \cite{BallHeltonWalker93} and the sufficient conditions given in \cite{Isidori93}. This paper applies nonlinear $H_\infty$ control theory to the attitude control problem for rigid spacecraft. Interestingly, the control is a linear feedback control. The results are somewhat uninteresting because the system is guaranteed to have $L_2$ gain less than $\gamma$ for $\gamma>1$. But we are really only interested in the case where $\gamma<1$. ", } @INPROCEEDINGS{KangXiSparks00, AUTHOR = "W. Kang and N. Xi and Andy Sparks", TITLE = "Formation Control of Autonomous Agents in {3D} Workspace", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco, CA", PAGES = "1755--1760", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: formation control coordination variable satellites mobile robots robot manipulators Comments: This paper presents a coordination strategy that is very similar to our coordination variable idea, and also to the notion of a virtual structure. Their `action reference' is equivalent to our `coordination variable'. This paper looks at three different applications: formation control for mobile robots, coordinated control for two robot manipulators moving a box, and formation flying for satellites. ", } @BOOK{KantorovichKrylov58, AUTHOR = "L. V. Kantorovich and V. I. Krylov", TITLE = "Approximate Methods of Higher Analysis", PUBLISHER = "Interscience Publishers, Inc.", ADDRESS = "New York, New York", YEAR = "1958", ABSTRACT = " Location: RPI library Keywords: Galerkin Method, Ritz Method, convergence proof Comments: ", } @ARTICLE{KapilaSparks00, AUTHOR = "Vikram Kapila and Andrew G. Sparks and James M. Buffington and Qiguo Yan", TITLE = "Spacecraft Formation Flying: Dynamics and Control", JOURNAL = "Journal of Guidance, Control, and Dynamics", YEAR = "2000", VOLUME = "23", NUMBER = "3", PAGES = "561--564", MONTH = "May-June", ABSTRACT = " Location: Shelf Keywords: formation flying techSat 21 pulse thrusters Clohessy Wiltshire equations leader following Comments: This paper describes a leader following control law for two spacecraft in a circular orbit about the earth. The thrust is assumed to be able to take on continuous amplitudes over short thurst periods. This paper shows that by thrusting for two minutes every 1h in the out-of-plane direction and every 4h in the in-plane direction, the relative formation keeping can be maintained for a two spacecraft leader-following configuration. ", } @ARTICLE{Karanam83, AUTHOR = "V. R. Karanam", TITLE = "A Note on Eigenvalue Bounds in Algebraic {R}iccati Equation", JOURNAL = TAC, YEAR = "1983", VOLUME = "28", NUMBER = "1", PAGES = "109--111", MONTH = "January", ABSTRACT = " Location: Ref DB 2 Keywords: ARE, Riccati and Lyapunov Equations, Bounds, Eigenvalue bounds Comments: In this note, an upper bound on the maximum eigenvalue of the solution matrix $K$ of the algebraic Riccati equation is established. The approach outlined also results in several lower bounds, which are more general than those derived in [1], for some of the largest eigenvalues of $K$. ", } @INPROCEEDINGS{Kasdin00, AUTHOR = "N. Jeremy Kaskin", TITLE = "The Two-Step Optimal Estimator and Example Applications", BOOKTITLE = "23rd Annual {AAS} Guidance and Control Conference", YEAR = "2000", ORGANIZATION = "American Astronautical Society", ADDRESS = "Breckenridge, CO", PAGES = "AAS 00-002", MONTH = "February", ABSTRACT = " Location: Ref DB 13 /grad1/users/beard/www_docs/papers/others Keywords: Extended Kalman Filter Nonlinear filtering nonlinear estimation two-step estimator Comments: This paper develops a nonlinear filter that is relatively similar to the extended Kalman filter but replaces the linearization step of an (EKF) with a two step process, where one of the processes is an optimization problem to map the state to the estimate. The ideas are clever and appear to be a good approach particularly when the measurement is nonlinear as is the case for range measurements. ", } @BOOK{KashinSaakyan89, AUTHOR = "B. S. Kashin and A. A. Saakyan", TITLE = "Orthogonal Series", PUBLISHER = "American Mathmatical Society", YEAR = "1989", VOLUME = "75", SERIES = "Translations of Mathematical Monographs", ADDRESS = "Providence, RI", ABSTRACT = " Location: BYU Library Keywords: Orthogonal Series, General Orthogonal Expansions Convergence proofs a.e. convergence Comments: ", } @ARTICLE{KeelBhattacharyya97, AUTHOR = "L. H. Keel and S. P. Bhattacharyya", TITLE = "Robust, Fragile, or Optimal?", JOURNAL = TAC, YEAR = "1997", VOLUME = "42", NUMBER = "8", PAGES = "1098--1105", MONTH = "August", ABSTRACT = " Location: Shelf, Keywords: Robust control, parameter uncertainty, controller sensitivity Comments: This paper shows six examples of H_2 and H_\infty designs that result in extremely fragile controllers. The paper is somewhat controversial, but it demonstrates the need to be careful about blindly applying optimal and robust control designs. ", } @ARTICLE{KelkarJoshiAlberts95, AUTHOR = "Atul G. Kelkar and Suresh M. Joshi and Thomas e. Alberts", TITLE = "Passivity-Based Control of Nonlinear Flexible Multibody Systems", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "5", PAGES = "910--914", MONTH = "May", } @INPROCEEDINGS{KenneySterlingBeard98, AUTHOR = "John D. Kenney and Wynn Sterling and Randal Beard", TITLE = "Set-Valued Nonlinear Estimation Using the Galerkin Approximation", BOOKTITLE = ACC, YEAR = "1998", ADDRESS = "Philadelphia, PA", PAGES = "3580--3584", MONTH = "June", ABSTRACT = " Location: Keywords: Comments: ", } @BOOK{Khalil92, AUTHOR = "Hassan K. Khalil", TITLE = "Nonlinear Systems", PUBLISHER = "Macmillan Publishing Company", YEAR = "1992", ADDRESS = "New York, New York", } @BOOK{Khalil96, AUTHOR = "Hassan K. Khalil", TITLE = "Nonlinear Systems", PUBLISHER = "Prentice Hall", YEAR = "1996", ADDRESS = "Upper Saddle River, NJ", EDITION = "2nd", ABSTRACT = " Location: Shelf Keywords: Nonlinear control, Comments: ", } @ARTICLE{KimBien92, AUTHOR = "Jin-Hoon Kim and Zeungnam Bien", TITLE = "Some Bounds of the Solution of the Algebraic {R}iccati Equation", JOURNAL = TAC, YEAR = "1992", VOLUME = "37", NUMBER = "8", PAGES = "1209--1210", MONTH = "August", ABSTRACT = " Location: Ref DB 2 Keywords: ARE, Algebraia Riccati equation, Bounds, Bounds on the eigenvalues, bounds on the trace of the solution, Comments: Bounds on extremal eigenvalues, and lower and upper bounds of the trace for the solution of the algebraic Riccati equation are presented. Through two examples, it is shown that, in some special cases, the presented bounds can be better than the results published lately. ", } @ARTICLE{KingChapmanIlic94, AUTHOR = "C. A. King and J. W. Chapman and M. D. Ilic", TITLE = "Feedback Linearizing Excitation Control on a Full-Scale Power System Model", JOURNAL = "IEEE Transactions on Power Systems", YEAR = "1994", VOLUME = "9", NUMBER = "2", PAGES = "1102--1109", MONTH = "May", ABSTRACT = " Location: ref DB 2 Keywords: power systems, nonlinear control, voltage regulator, feedback linearization Comments: ", } @BOOK{Kirk70, AUTHOR = "Donald E. Kirk", TITLE = "Optimal Control Theory", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1970", } @ARTICLE{Kleinman68, AUTHOR = "David L. Kleinman", TITLE = "On an Iterative Technique for {R}iccati Equation Computations", JOURNAL = TAC, YEAR = "1968", VOLUME = "13", PAGES = "114--115", MONTH = "February", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Riccati Equation, Iterative Solution, Approximation Theory, Linear Systems, Newton's Method Comments: At Iterative technique for solving the linear regulator problem with infinite terminal time. ", } @ARTICLE{Kleinman70, AUTHOR = "David L. Kleinman", TITLE = "An Easy Way to Stabilize a Linear Constant System", JOURNAL = TAC, YEAR = "1970", VOLUME = "15", PAGES = "692", MONTH = "December", ABSTRACT = " Location: Ref DB 1 Keywords: Optimal Control, Riccati Equation, Iterative Solution, Linear Time-Invarient System, Stability, Newton's Method Comments: A constructive proof is given for finding constant feedback gains that stabilize a linear time-invariant controllable system. It is not necessary to transform variables or to specify pole locations. ", } @ARTICLE{Kokotovic92, AUTHOR = "Petar V. Kokotovic", TITLE = "The Joy of Feedback: Nonlinear and Adaptive", JOURNAL = "Control Systems Magazine", YEAR = "1992", VOLUME = "12", NUMBER = "3", PAGES = "7--17", MONTH = "June", ABSTRACT = " Location: Shelf Keywords: Feedback, Peaking, ball and beam, backstepping, Bode Prize Lecture Comments: ", } @ARTICLE{KolmanovskyMcClamrock95, AUTHOR = "Ilya Kolmanovsky and N. Harris McClamrock", TITLE = "Developments in Nonholonomic Control Problems", JOURNAL = "Control Systems Magazine", YEAR = "1995", VOLUME = "15", NUMBER = "6", PAGES = "20--36", MONTH = "December", ABSTRACT = " Location: Shelf, Ref DB 11 Keywords: Nonholonomic control, Mobile robots, Overview, Literature Survey, Comments: This paper gives an overview of the nonholonomic control problem and an excellent survey of literature as of 1995. ", } @ARTICLE{Komaroff94, AUTHOR = "N. Komaroff", TITLE = "Iterative Matrix Bounds and Computational Solutions to the Discrete Algebraic {R}iccati Equation", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "8", PAGES = "1676--1678", MONTH = "August", ABSTRACT = " Location: Shelf Keywords: Discrete algebraic Riccati equation, upper bound, lower bound, iterative solution, linear convergence Comments: Bilatera matrix bounds for the solution of the discrete algebraic Riccati equation are presented. They are new or tighter than the existing bounds. Computational algorithms to solve the DARE follow. ", } %%KR @ARTICLE{KrauseKhargonekar92, AUTHOR = "James M. Krause and Pramod P. Khargonekar", TITLE = "A Comparison of Classical Stochastic Estimation and Deterministic Robust Estimation", JOURNAL = TAC, YEAR = "1992", VOLUME = "37", NUMBER = "7", PAGES = "994--1000", MONTH = "July", ABSTRACT = " Location: shelf Keywords: Kalman filter, H-infinity filter, robust estimation, set-valued estimation, Comments: This paper describes the differences between Kalman filtering and the H-infinity filter. The main difference is that the Kalman filter propagates an average least squares estimate of the average whereas the H-infinity filter propagates the intersection of possibility sets. ", } @BOOK{Kreyszig78, AUTHOR = "Erwin Kreyszig", TITLE = "Introductory Functional Analysis", PUBLISHER = "John Wiley \& Sons, Inc.", YEAR = "1978", ADDRESS = "New York", } @BOOK{KrsticDeng98, AUTHOR = "Miroslav Krsti\'{c} and Hua Deng", TITLE = "Stabilization of Nonlinear Uncertain Systems", PUBLISHER = "Springer", YEAR = "1998", SERIES = "Communication and Control Engineering", ADDRESS = "London", ABSTRACT = " Location: BYU Library Keywords: nonlinear uncertain systems nonlinear stochastic clf Comments: I used the arguments in Chapter one of this book showing the continuity of Sontag's formula to show the continuity of satisficing control laws. ", } @BOOK{KrsticEtAl95, AUTHOR = "Krsti\'{c} and Kanellakopaulis and Kokotovic", TITLE = "Nonlinear and Adaptive Control Design", PUBLISHER = "Wiley", YEAR = "1995", } @ARTICLE{KrsticTsiotras99, AUTHOR = "Miroslav Krsti\'{c} and Panagiotis Tsiotras", TITLE = "Inverse Optimal Stabilization of a Rigid Spacecraft", JOURNAL = TAC, YEAR = "1999", VOLUME = "44", NUMBER = "5", PAGES = "1042--1049", MONTH = "May", ABSTRACT = " Location: Shelf Keywords: Attitude control, spacecraft, inverse optimality, Hamilton-Jacobi-Bellman equation, backstepping, regularization Comments: This paper uses derives an inverse optimal control law for attitude stabilization of rigid body spacecraft. A control Lyapunov function is constructed and backstepping is used to construct a control that satisfies a certain Hamilton-Jacobi-Bellman equation. The authors argue that the cost function is meaningful because it contains a penalty on both the attitude states and the angular velocity states. It would be interesting to compare these results with the SGA approach. ", } @ARTICLE{KugiSchlacher99, AUTHOR = "Andreas Kugi and Kurt Schlacher", TITLE = "Nonlinear $H_\infty$-Controller Design for a {DC-to-DC} Power Converter ", JOURNAL = "IEEE Transactions on Control Systems Technology", YEAR = "1999", VOLUME = "7", NUMBER = "2", PAGES = "230--237", MONTH = "March", ABSTRACT = " Location: Shelf Keywords: nonlinear H-infinity control, Hamilton-Jacobi-Issacs inequality, passivity, dissipativity, DC-to-DC converter, Comments: This paper demonstrates another example of being able to design a nonlinear H-infinity controller using basic energy ideas to construct a closed form solution to the Hamilton-Jacobi-Isaacs inequality. The control will, of course, be suboptimal, with no real indication of optimality. Simulation results presented in this paper are very nice and show that nonlinear H-infinity control has merit. The synthesized control law also turns out to be linear. It would be interesting to use our software to see if better results can be obtained using some nonlinear terms and performing an optimization on $\gamma$. In addition, it would be fairly simple to get experimental results. ", } @BOOK{Kuo95, AUTHOR = "Benjamin C. Kuo", TITLE = "Automatic Control Systems", PUBLISHER = "Prentice Hall", YEAR = "195", ADDRESS = "Upper Saddle River, New Jersey", EDITION = "Seventh", ABSTRACT = " Location: Keywords: Comments: p. 171-183 gives a nice overview of DC motors. ", } @ARTICLE{Kushner67a, AUTHOR = "H. J. Kushner", TITLE = "Dyanamical Equations for Optimal Nonlinear Filter", JOURNAL = "Journal of Differential Equations", YEAR = "1967", PAGES = "179--190", } @ARTICLE{Kushner67b, AUTHOR = "H. J. Kushner", TITLE = "Nonlinear Filtering: The Exact Dynamical Equations Satisfied by the Conditional Mode", JOURNAL = "IEEE Transactions on Automatic Control", YEAR = "1967", VOLUME = "12", PAGES = "262--267", } @ARTICLE{Kushner90, AUTHOR = "Harold J. Kushner", TITLE = "Numerical Methods for Stochastic Control Problems in Continuous Time", JOURNAL = SIAM, YEAR = "1990", VOLUME = "28", NUMBER = "5", PAGES = "999--1048", MONTH = "September", ABSTRACT = " Location: Ref DB 7 Keywords: Stochatic Control Hamilton Jacobi Bellman equation Finite Difference Scheme Finite Element Scheme Viscosity solutions Markov chains diffusion processes Comments: ", } %%L @ARTICLE{LamirauxLaumond00, AUTHOR = "Florent Lamiraux and Jean-Paul Laumond", TITLE = "Flatness and Small-Time Controllability of Multibody Mobile Robots: Application to Motion Planning", JOURNAL = TAC, YEAR = "2000", VOLUME = "45", NUMBER = "10", PAGES = "1878--1881", MONTH = "October", ABSTRACT = " Location: Shelf Keywords: Nonholonomic mobile robots differential flatness small time contollability trailer path planning obsticle avoidance Comments: This paper is poorly written with many typos and and difficult to unravel exactly what they are doing. The basic idea seems to be to construct a smooth path form one configuration to another, via differential flatness, and then to use the small-time controllability of the system to make the paths feasible. ", } @ARTICLE{LamirauxSekhavatLaumond99, AUTHOR = "Florent Lamiraux and Sepanta Sekhavat and Jean-Paul Laumond", TITLE = "Motion Planning and Control for {H}ilare Pulling a Trailer", JOURNAL = TRA, YEAR = "1999", VOLUME = "15", NUMBER = "4", PAGES = "640--652", MONTH = "August", ABSTRACT = " Location: Shelf Keywords: Mobile robots, trailer, Hilare, nonholonomic control, differential flatness, motion planning, trajectory tracking Comments: This paper presents a complete system for planning the path and following that path for differentially driven mobile robots pulling a tractor. The paper is divided into three parts. Motion planning, trajectory generation, and motion control. Motion planning is based on differential flatness. The paper analyzes two robot configurations namely, a robot pulling trailer from the center, and also from the rear. Very nice paper. ", } @BOOK{LancasterTismenetsky85, AUTHOR = "Peter Lancaster and Miron Tismenetsky", TITLE = "The Theory of Matrices", PUBLISHER = "Academic Press", YEAR = "1985", ADDRESS = "San Diego, CA", EDITION = "2nd", ABSTRACT = " Location: Shelf Keywords: Comments: ", } @ARTICLE{Larson67, AUTHOR = "Robert E. Larson", TITLE = "A Survey of Dynamic Programming Computational Procedures", JOURNAL = TAC, YEAR = "1967", VOLUME = "12", PAGES = "767--774", MONTH = "December", ABSTRACT = " Location: Ref DB 4 Keywords: dynamic programming, computational methods, optimal control, discrete time, successive approximation Comments: Although dynamic programing has long provided a powerful approach to optimization problems, its applicability has been somewhat limited because of the large computational requirements of the standard computational algorithm. In recent years a number of new procedures with greatly reduced computational requirements have been developed. The purpose of this paper is to survey a number of the more promising of those techniques. A review of the theory of dynamic programming and the standard computational algorithm is included. Several applications of the new techniques are discussed. ", } @ARTICLE{LaSalle60a, AUTHOR = "LaSalle, J. P.", TITLE = "Some Extensions of Liapunov's Second Method", JOURNAL = "I.R.E. Transactions on Circuit Theory", YEAR = "1960", VOLUME = "CT-7", NUMBER = "4", PAGES = "520--527", ABSTRACT = " Location: Ref DB 2 Keywords: Lyapunov theory, nonlinear, stability, invariance principle Comments: ", } @INPROCEEDINGS{LaSalle60b, AUTHOR = "J. P. LaSalle", TITLE = "The Time Optimal Control Problem", PAGES = "1--24", PUBLISHER = "Princeton University Press", BOOKTITLE = "Contrabutions to Differential Equations", YEAR = "1960", ADDRESS = "Princeton, N.J.", ABSTRACT = " Location: Ref DB 1 Keywords: time optimal control Comments: ", } @MANUAL{LaTeX2HTML, TITLE = "The LaTeX2HTML Translator", AUTHOR = "Nikos Drakos", ORGANIZATION = "Computer Based Learning Unit, University of Leeds", YEAR = "1994", ABSTRACT = " Location: Ref DB 7 Keywords: Latex, html, world wide web, translator Comments: ", } @UNPUBLISHED{Lau??, AUTHOR = "Kenneth Lau and Mark Colavita and Michael Shao", TITLE = "The New Millennium Separated Spacecraft Interferometer", NOTE = "http://www.spacebase.jpl.nasa.gov", ABSTRACT = " Location: Ref DB 10 Keywords: DS3, formation flying, Comments: Another discussion of DS3 and the related technologies. Discusses the propulsion system. The control tolerances, the laser metrology systems, the KOG, etc.. ", } @INPROCEEDINGS{Lau96, AUTHOR = "Kenneth Lau and Stephen Lichten and Lawrence Young and Bruce Haines", TITLE = "An Innovative Deep Space Application of {GPS} Technology for Formation Flying Spacecraft", BOOKTITLE = "American Institute of Aeronautics and Astronautics, Guidance, Navigation and Control Conference", YEAR = "1996", PAGES = "96-381", MONTH = "July", ABSTRACT = " Location: Ref DB 10 Keywords: Formation Flying, DS 3, GPS, AFF (Autonomous Formation Flying), Comments: An excellent overview of the DS3 mission with its limitations and requirements. Detailed discussion of the AFF, the GPS like sensor that gives relative postion and attitude. ", } @INPROCEEDINGS{Laub91, AUTHOR = "Alan J. Laub", TITLE = "Invariant Subspace Methods for the Numerical Solution of {R}iccati Equations", BOOKTITLE = "The {R}iccati Equation", YEAR = "1991", EDITOR = "Bittanti, Laub, Willems", PUBLISHER = "Springer Verlag", ADDRESS = "New York, New York", PAGES = "163--196", ABSTRACT = " Location: Ref DB 1 Keywords: Riccati Equation, Iterative Solution, Newton's Method Comments: ", } @ARTICLE{LaubBailey76, AUTHOR = "A. J. Laub and F. N. Bailey", TITLE = "Suboptimality Bounds and Stability in the Control of Nonlinear Dynamic Systems", JOURNAL = TAC, YEAR = "1976", VOLUME = "21", PAGES = "396--399", MONTH = "June", ABSTRACT = " Location: ref DB 4 Keywords: Nonlinear, Regulator, weakly perturbed, suboptimal, bounds Comments: Certain results paralleling those of Bailey and Ramapriyan [1] for linear dynamic systems are presented for nonlinear systems. For `weakly perturbed' systems certain suboptimal control are shown to be stabilizing and upper and lower bounds on the suboptimality are investigated. ", } @UNPUBLISHED{Lawton99, AUTHOR = "Jonathan Lawton", TITLE = "Multiple Spacecraft Elementary Formation Maneuvers", NOTE = "PhD Prospectus, Available from the Electrical and Computer Engineering Department, Brigham Young University, Provo, Utah 84602", MONTH = "November", YEAR = "1999", ABSTRACT = " Location: Keywords: Comments: ", } @PHDTHESIS{Lawton00, AUTHOR = "Jonathan Lawton", TITLE = "Multiple Spacecraft Elementary Formation Maneuvers", SCHOOL = "Brigham Young University", YEAR = "2000", ADDRESS = "Provo, UT 84602", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{LawtonBeard00, AUTHOR = "Jonathan Lawton and Randal Beard", TITLE = "A Projection Approach to Spacecraft Formation Attitude Control", BOOKTITLE = "23rd Annual {AAS} Guidance and Control Conference", YEAR = "2000", ADDRESS = "Breckenridge, Colorado", MONTH = "February", NOTE = "Paper no. AAS 00-011", ABSTRACT = " Location: Keywords: Comments: Jonathans ideas on elementary formation maneuvers, but with reduced coordination variable. The basic idea is to project the motion of the spacecraft only along the directions that need to be coordinated and then use local control loops to handle the rest. ", } @ARTICLE{LawtonBeard00a, AUTHOR = "Jonathan Lawton and Randal Beard", TITLE = "Model Independent Approximate Eigenaxis Rotations via Quaternion Feedback", JOURNAL = "AIAA Journal of Guidance, Control, and Dynamics", YEAR = "2000", NOTE = "In Review", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{LawtonBeard00b, AUTHOR = "Jonathan Lawton and Randal W. Beard", TITLE = "Synchronized Multiple Spacecraft Rotations", JOURNAL = "Automatica", YEAR = "2000", NOTE = "In Review.", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{LawtonBeard01, AUTHOR = "Jonathan Lawton and Randal Beard", TITLE = "Model Independent Approximate Eigenaxis Rotations via Quaternion Feedback", BOOKTITLE = ACC, YEAR = "2001", ADDRESS = "Arlington, VA", MONTH = "June", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{LawtonBeard98, AUTHOR = "Jonathon Lawton and Randy Beard", TITLE = "Numerically Efficient Approximations to the {H}amilton-{J}acobi-{B}ellman Equation", BOOKTITLE = ACC, YEAR = "1998", ADDRESS = "Philadelphia, PA", } @InProceedings{LawtonBeardHadaegh98, author = {Jonathan Lawton and Randal W. Beard and Fred Y. Hadaegh}, title = {Multiple Spacecraft Fixed Formation Control For Large Baseline Interferometry}, booktitle = {Rocky Mountain NASA Space Grant Consortium 1998 Fellowship Symposium}, year = {1998}, month = {June}, } @INPROCEEDINGS{LawtonBeardHadaegh00, AUTHOR = "Jonathan Lawton and Randal Beard and Fred Hadaegh", TITLE = "Elementary Attitude Formation Maneuvers via Behavior-Based Control", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation and Control Conference", YEAR = "2000", ADDRESS = "Denver, CO", MONTH = "August", NOTE = "AIAA Paper No. AIAA-2000-4442", ABSTRACT = " Location: Keywords: formation flying, behavior based control attitude formation flying Comments: This paper defines the attitude formation control problem and introduces both leader-following and behavior based strategies to solve this problem. An analytic proof for bahavior based control is presented. ", } @INPROCEEDINGS{LawtonBeardHadaegh99, AUTHOR = "Jonathan Lawton and Randal W. Beard and Fred Y. Hadaegh", TITLE = "An Adaptive Control Approach to Satellite Formation Flying with Relative Distance Constraints", BOOKTITLE = ACC, YEAR = "1999", ADDRESS = "San Diego, CA", PAGES = "1545--1549", MONTH = "June", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{LawtonBeardMcLain99, AUTHOR = "Jonathan Lawton and Randal Beard and Timothy McLain", TITLE = "Successive Galerkin Approximation of Nonlinear Optimal Attitude Control", BOOKTITLE = ACC, YEAR = "1999", ADDRESS = "San Diego, CA", PAGES = "4373--4377", MONTH = "June", ABSTRACT = " Location: WEB Keywords: SGA attitude control Comments: ", } @INPROCEEDINGS{LawtonYoungBeard00, AUTHOR = "Jonathan Lawton and Brett Young and Randal Beard", TITLE = "A Decentralized Approach To Elementary Formation Maneuvers", BOOKTITLE = "IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Fransico, CA", MONTH = "April", ABSTRACT = " Location: Keywords: Comments: Conference version of \cite{LawtonYoungBeard00a}. ", } @ARTICLE{LawtonYoungBeard00a, AUTHOR = "Jonathan Lawton and Brett Young and Randal Beard", TITLE = "A Decentralized Approach To Elementary Formation Maneuvers", JOURNAL = "IEEE Transactions on Robotics and Automation", YEAR = "To Appear", ABSTRACT = " Location: Keywords: Comments: ", } %%LE @ARTICLE{LeakeLiu67, AUTHOR = "R. J. Leake and Ruey-Wen Liu", TITLE = "Construction of Suboptimal Control Sequences", JOURNAL = SIAM, YEAR = "1967", VOLUME = "5", NUMBER = "1", PAGES = "54-63", ABSTRACT = " Location: Ref DB 4 Keywords: Suboptimal, nonlinear, Hamilton Jacobi Bellman equation, optimal, Hamiltonian Comments: As an alternative to a direct solution of the Hamilton-Jacobi equation, results are presented for the determination and improvement of suboptimal controls and for obtaining bounds on the optimal value of the performance index. Treatment is restricted to the class of problems included in the well-known work of Kalman[1]. ", } @INPROCEEDINGS{LeeChen83, AUTHOR = "C. S. G. Lee and M. H. Chen", TITLE = "A Suboptimal Control Design for Mechanical Manipulators", BOOKTITLE = ACC, YEAR = "1983", ADDRESS = "Sheraton-Palace Hotel, San Fransico, CA", PAGES = "1056--1061", ABSTRACT = " Location: Ref DB 4 Keywords: suboptimal, nonlinear, robotic manipulator, switching function Comments: This paper presents the development of a closed loop suboptimal control with nonlinear feedback component for the control of mechanical manipulators. The feedback control law is composed of a nonlinear feedback for quasi-linearization and a linear quadratic control law with switching function. The switching function is used for stabilizing the quasi-linear system. The total computational time for the proposed control law is of order O(n^3) where n is the number of degree of freedom of the manipulator. ", } @ARTICLE{LeeSong01, AUTHOR = "Se-Han Lee and Jae-Bok Song", TITLE = "Acceleration Estimator for Low-Velocity and Low-Acceleration Regions Based on Encoder Position Data", JOURNAL = "IEEE/ASME Transactions on Mechatronics", YEAR = "2001", VOLUME = "6", NUMBER = "1", PAGES = "58--64", MONTH = "March", ABSTRACT = " Location: Shelf /grad1/users/beard/www_docs/papers/others Keywords: numerical differentiation encoder data velocity sensor acceleration sensor friction compensation Comments: This paper explains some of the difficulties with numerical differentiation using optical encoders. The primary difficulty is for approximating velocity in the low-velocity range, and for approximating acceleration in both the low-velocity range and the low acceleration range. A simple low-acceleration estimator is proposed that fixes the problems. The estimator is bandlimited and must therefore be combined with numerical differentiation in outside the low-velocity and low-acceleration ranges. The estimator is used in a friction compensation loop. ", } @ARTICLE{LeeSongLeeTeng01, AUTHOR = "Ti-Chung Lee and Kai-Tai Song and Ching-Hung Lee and Ching-Cheng Teng", TITLE = "Tracking Control of Unicycle-Modeled Mobile Robots Using a Saturation Feedback Controller", JOURNAL = TRA, YEAR = "2001", VOLUME = "9", NUMBER = "2", PAGES = "305--318", MONTH = "March", ABSTRACT = " Location: Shelf /grad1/users/beard/www_docs/papers/others Keywords: tracking control mobile robot nonholonomic backstepping regulation knife edge saturation kinematic Comments: This paper uses backstepping to derive a control law for kinematic mobile robots that solves both the regulation and the tracking control problem. Furthermore, the controller explicitly accounts for saturation in the velocity commands. The paper is nicely written and easy to follow. The effectiveness of the controller was demonstrated on two different trajectories: a circle trajectory and a parallel parking trajectory. The paper assumes that the commanded trajectory is feasible within the velocity constraints. Tracking errors converge to zero exponentially, but regulation errors decay more slowly. ", } @INPROCEEDINGS{LeonardFiorelli01, AUTHOR = "Naomi Ehrich Leonard and Edward Fiorelli", TITLE = "Virtual Leaders, Artificial Potentials and Coordinated Control of Groups", BOOKTITLE = CDC, YEAR = "2001", ADDRESS = "Orlando, Florida", PAGES = "2968--2973", MONTH = "December", ABSTRACT = " Location: Ref DB 14 www_docs/papers/others/LeonardFiorelli01.pdf Keywords: formation control coordination virtual leaders behavioral approach artificial potential Lyapunov stability flocking schooling Comments: This paper analyzes the formation control problem using a behavioral approach. The behavior of the group is influenced by the presence of virtual leaders which can be used to shape the final formations. It is shown how to get triangle, line, and circle formations. Schooling and flocking behaviors are analyzed. A schooling maneuver is defined as 'a steady group translation, e.g., where the center of mass of the group translates.' A flocking maneuver is defined as 'a motion in which the vehicles circle a stationary point such that the center of mass of the group is stationary. Lyapunov analysis is used to guarantee stability of these maneuvers. A nice paper. ", } @INPROCEEDINGS{LeroyLaumondSimeon99, AUTHOR = "S. Leroy and J. P. Laumond and T. Simeon", TITLE = "Multiple Path Coordination for Mobile Robots: A Geometric Algorithms", BOOKTITLE = "International Joint Conference on Artificial Intelligence", YEAR = "1999", ADDRESS = "Stockholm, Sweden", PAGES = "1118-1123", ABSTRACT = " Location: Ref DB 14 /www_docs/papers/others/ Keywords: coordination path planning deconfliction SA paths Comments: This paper considers the problem of coordinating the path execution of hundreds of robots moving in a confined area. The paths are assumed to be known and parameterized as $\gamma(s)$, where $s\in[0,1]$. The paths are also assumed to be of type SA, which means that they consist of sequences of straight line segments and arcs of a circle. When the $i$th and $j$th paths collide, the problem is the schedule $s_i$ and $s_j$ so that collision is avoided. The algorithm is argued to be complete for certain cases. A number of the references need to be explored. ", } @BOOK{Lewis86, AUTHOR = "Frank L. Lewis", TITLE = "Optimal Control", PUBLISHER = "John Wiley and Sons", YEAR = "1986", ADDRESS = "New York", } @BOOK{Lewis86a, AUTHOR = "Frank L. Lewis", TITLE = "Optimal Estimation: With an Introduction to Stochastic Control Theory", PUBLISHER = "John Wiley \& Sons", YEAR = "1986", ADDRESS = "New York, New York", } @BOOK{LewisAbdallahDawson93, AUTHOR = "F. L. Lewis and C. T. Abdallah and D. M. Dawson", TITLE = "Control of Robot Manipulators", PUBLISHER = "Macmillan Publishing Co.", YEAR = "1993", ADDRESS = "New York, New York", ABSTRACT = " Location: BYU Library Keywords: Robot, Robotics, Manipulators, Nonlinear control Comments: ", } @ARTICLE{LewisTan97, AUTHOR = "M. Anthony Lewis and Kar-Han Tan ", TITLE = "High Precision Formation Control of Mobile Robots using Virtual Structures", JOURNAL = "Autonomous Robots", YEAR = "1997", VOLUME = "4", PAGES = "387-403", ABSTRACT = " Location: Ref DB 11 Keywords: formation control virtual structures mobile robots coordination nonholonomic robots reachability graphs Comments: This is a nice paper on using virtual structures for formation control. The basic idea is to treat the formation as a virtual structure, with the desired positions of the robots as points within the virtual structure. A formal definition of a virtual structure is given. The control algorithm operates by first moving the virtual structure (VS), then moving the robots to conform the the VS, and finally least square fitting the virtual structure to the final robot positions. Feedback to the formation is thereby explicitly encoded into the algorithm. Another clever idea presented in the paper is that of reachability graphs for mobile robots. The nodes of possible VS positions are constrained to lie within the reachability graphs of each, thereby ensuring that the required motion of each robot is feasible. Several simulation and experimental scenarios are described including translation, rotation, robot failure and docking. Formation errors on the order of 1cm are obtained. The paper also contains a nice literature survey, and a summary of the advantages of the virtual structure approach. ", } %%LI @ARTICLE{Li99, AUTHOR = "Victor O. K. Li", TITLE = "Hints on Writing Technical Papers and Making Presentations", JOURNAL = "IEEE Transactions on Education", YEAR = "1999", VOLUME = "42", NUMBER = "2", PAGES = "134--137", MONTH = "May", ABSTRACT = " Location: Shelf, /grad1/users/beard/www_docs/papers/others Keywords: Graduate students, writing, presentation skills, Comments: This paper gives a number of good hints for writing technical papers and making good presentations. Should be given to all graduate students. ", } @INPROCEEDINGS{LiEtAl02, AUTHOR = "Sai-Ming Li and Jovan D. Boskovic and Sanjeev Seereeram and Ravi Prasanth and Jayesh Amin and Raman K. Mehra and Randal Beard", TITLE = "Autonomous Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs)", BOOKTITLE = ACC, YEAR = "2002", ADDRESS = "Anchorage, Alaska", MONTH = "May", ABSTRACT = " Location: disk Keywords: UAVs path planning trajectory generation Comments: ", } @TECHREPORT{LimBea92, AUTHOR = "Pedro Lima and Randal Beard", TITLE = "Using Neural Networks and {D}yna Algorithm for Integrated Planning, Reacting and Learning in Systems", INSTITUTION = "Center for Intelligent Robotic Systems for Space Exploration (CIRSSE), Rensselaer Polytechnic Institute", ADDRESS = "Troy, New York", NUMBER = "CIRSSE-122", YEAR = "1992", ABSTRACT = " Location: shelf Keywords: Neural Networks, Dyna, Planning, Reacting, Learning, Automata Comments: ", } @BOOK{Lin97, AUTHOR = "Feng Lin", TITLE = "Robust Control Design: An Optimal Control Approach", PUBLISHER = "AFI Press", YEAR = "1997", ADDRESS = "Copies available at http://www.ece.eng.wayne.edu/\~flin", } @Article{LingWu87, author = {F.~H.~Ling and X.~X.~Wu}, title = {Fast {G}alerkin Method And Its Application To Determine Periodic Solutions Of Non-Linear Oscillators}, journal = {International Journal of Non-Linear Mechanics}, year = 1987, volume = 22, number = 2, pages = {89-98} } @ARTICLE{LinSontag95, AUTHOR = "Y. Lin and E.D. Sontag", TITLE = "Control-Lyapunov Universal Formulas for Restricted Inputs", JOURNAL = "Control-Theory and Advanced Technology", YEAR = "1995", VOLUME = "10", NUMBER = "4", PAGES = "1981--2004", MONTH = "December", ABSTRACT = " Location: Ref DB 13 Keywords: CLF control Lyapunov function universal formula robust stabilization Comments: This paper defines a universal formula and then derives universal formulas for systems when the inputs are restricted to either $U_1 = (0,1)$ or $U_2=(0,\infty)$. The universal formulas hold for any size of the state space. The problem of finding a CLF is not addressed. In addition, the authors extend the ideas to universal formulas for set stabilization, i.e., stabilization to a set and robust stabilization in the face of multiplicative disturbances. ", } @Article{LiPardalosResende94, author = {Yong Li and P. M. Pardalos and M. G. C. Resende}, title = {A Greedy Randomized Adaptive Search Procedure for the Quadratic Assignment Problem}, journal = {DIMACS Series on Discrete Mathematics and Theoretical Computer Science}, year = 1994, editor = {P.M. Pardalos and H. Wolkowicz}, volume = 16, pages = {237-261} } @Article{LizarraldeWen96, author = "Fernando Lizarralde and John Wen", title = "Attitude Control Without Angular Velocity Measurement: A Passivity Approach", journal = TAC, year = {1996}, volume = {41}, number = {3}, pages = {468-472}, month = {March}, } @ARTICLE{Ljung79, AUTHOR = "L. Ljung", TITLE = "Asymptotic Behavior of the Extended {K}alman Filter using Filtered State Estimates", JOURNAL = TAC, YEAR = "1979", VOLUME = "24", } @ARTICLE{LoparoBlankenship78, AUTHOR = "Kenneth A. Loparo and Gilmer L. Blankenship", TITLE = "Estimating the Domain of Attraction of Nonlinear Feedback Systems", JOURNAL = TAC, YEAR = "1978", VOLUME = "23", NUMBER = "4", PAGES = "602--608", MONTH = "August", ABSTRACT = " Location: Ref DB 7 Keywords: Stability region, nonlinear control, domain of attraction Comments: An iterative procedure is developed for estimating the domain of attraction of a class of nonlinear systems. the procedure uses an approximation of the system by a Carleman linearization and is suitable for automatic computations. the algorithm is applied to the transient stability problem in electrical power systems and a favorable comparison with previous criteria is obtained. ", } @ARTICLE{LoriaKellyOrtegaSantibanez97, AUTHOR = "Antonio Loria and Rafael Kelly and Romea Ortega and Victor Santibanez", TITLE = "On Global Output Feedback Regulation of Euler-Lagrange Systems with Bounded Inputs", JOURNAL = TAC, YEAR = "1997", VOLUME = "42", NUMBER = "8", PAGES = "1138--1143", MONTH = "August", ABSTRACT = " Location: Shelf Keywords: Euler-Lagrange Systems, Passivity Based Control, Bounded inputs, nonlinear control Comments: This paper extends the passivity-based control for Euler-Lagrange systems developed in ~\cite{OrtegaLoriaKellyPraly95} and elsewhere, to the case where the actuators are constrained, or saturated. Stability is proved for the case of input saturation. ", } @ARTICLE{Lu93, AUTHOR = "P. Lu", TITLE = "A New Nonlinear Optimal Feedback Control Law", JOURNAL = "Control Theory and Advanced Technology", YEAR = "1993", VOLUME = "9", NUMBER = "4", PAGES = "947-954", MONTH = "December", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Nonlinear Control, Feedback Control, Riccati, Minimum Energy, Robot Manipulator, Robust Control Comments: A new minimum-energy nonlinear feedback control law for a class of systems is obtained. The structure of the optimal control can lead to a better design of a robust feedback control system. Supporting examples are presented. ", } @ARTICLE{LuDoyle94, AUTHOR = "Wei-Min Lu and John C. Doyle", TITLE = "${H}_\infty$ Control of Nonlinear Systems via Output Feedback: Controller Parameterization", JOURNAL = TAC, YEAR = "1994", VOLUME = "39", NUMBER = "12", PAGES = "2517--2521", MONTH = "December", ABSTRACT = " Location: shelf Keywords: nonlinear H-infinity, nonlinear estimation, Hamilton-Jacobi inequality, output feedback, Comments: The standard state space solutions to the $\Hinf$ control problem for linear time imvariant systems are generalized to nonlinear time-invariant systems. A class of local nonlinear (output feedback) $\Hinf$-controllers are parameterized as nonlinear fractional transformations on contractive, stable nonlinear parameters. As in the linear case, the $\Hinf$ control problem is solved by its reduction to state feedback and output estimation problems, together with a separation argument. Sufficient conditions for $\Hinf$-control problem to be locally solved are also derived with this machinery. ", } @ARTICLE{LuDoyle95, AUTHOR = "Wei-Min Lu and John C. Doyle", TITLE = "${H}_\infty$ Control of Nonlinear Systems: A Convex Characterization", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "9", PAGES = "1668--1675", MONTH = "September", ABSTRACT = " Location: Shelf Keywords: nonlinear H-infinity control, Linear Matrix inequalities, computation, nonlinear control, Comments: The nonlinear H-infinity control problem is considered with an emphasis on developing machinery with promising computational properties. The solutions to H-infinity control problems for a class of nonlinear systems are characterized in terms of nonnnnlinear matrix inequalities which result in convex problems. the computational implications for the characterizations are discussed. The systems are described by $\dot{x} = A(x)x + B(x)w$ LMI's are developed in this context. No examples are given. ", } @BOOK{Luenberger69, AUTHOR = "David G. Luenberger", TITLE = "Optimization by Vector Space Methods", PUBLISHER = "John Wiley \& Sons, Inc", YEAR = "1969", ADDRESS = "New York", } @ARTICLE{Luenberger71, AUTHOR = "David G. Luenberger", TITLE = "An Introduction to Observers", JOURNAL = TAC, YEAR = "1971", VOLUME = "16", NUMBER = "6", PAGES = "596--602", MONTH = "December", ABSTRACT = " Location: ref DB 7 Keywords: Observers, Linear Systems Comments: Observers which approximately reconstruct missing state-variable information necessary for control are presented in an introductory manner. The special topics of the identity observer, a reduced-order observer, linear functional observers, stability properties, and dual observers are discussed. ", } @ARTICLE{Lukes69, AUTHOR = "D. L. Lukes", TITLE = "Optimal Regulation of Nonlinear Dynamical Systems", JOURNAL = SIAM, YEAR = "1969", VOLUME = "7", NUMBER = "1", PAGES = "75--100", MONTH = "February", ABSTRACT = " Location: ref DB 7 Keywords: nonlinear, regulator, analytic systems, power series, perturbation method Comments: ", } @ARTICLE{LumerPhillips61, AUTHOR = "G. Lumer and R. S. Phillips", TITLE = "Dissipative Operators in a Banach Space", JOURNAL = "Pacific Journal of Mathematics", YEAR = "1961", PAGES = "679--698", } @ARTICLE{LuoSaridis85, AUTHOR = "G. L. Luo and G. N. Saridis", TITLE = "{L}-{Q} Design of {P}{I}{D} Controllers for Robot Arms", JOURNAL = TRA, YEAR = "1985", VOLUME = "RA-1", NUMBER = "3", PAGES = "152--159", MONTH = "September", ABSTRACT = " Location: Ref DB 1 Keywords: Linear, Quadratic, Optimal, PID, Robot Comments: An explicit solution for the robot arm controller, optimal in the linear quadratic sense, is obtained. Based on this formulation, a PID controller with acceleration feedback is proposed which is computationally efficient and robust relative to variations in the dynamic model and external disturbances. ", } %%M @BOOK{Maciejowski89, AUTHOR = "J. M. Maciejowski", TITLE = "Multivariable Feedback Design", PUBLISHER = "Addison-Wesley", YEAR = "1989", ABSTRACT = " Location: Library, Keywords: Multivariable control, Feedback, Robust, H-infinity Comments: ", } @ARTICLE{MagniNijmeijerVanDerSchaft, AUTHOR = "L. Magni and H. Nijmeijer and A. J. {van der Schaft}", TITLE = "A Receding-Horizon Approach to the Nonlinear ${H}_\infty$ Control Problem ", JOURNAL = "Automatica", YEAR = "2001", VOLUME = "37", PAGES = "429--435", ABSTRACT = " Location: Ref DB 14 Keywords: Receding horizon nonlinear control Hamilton Jacobi Isaacs equation Fake Riccati equation H-infinity control Comments: This paper develops a receding horizon approach to the nonlinear H-infinity control problem. The result is a suboptimal solution. Also, it does not appear that the result is practically implementable. ", } @ARTICLE{Mageirou77, AUTHOR = "E. F. Mageirou", TITLE = "Iterative Techniques for {R}iccati Game Equations", JOURNAL = JOTA, YEAR = "1977", VOLUME = "22", NUMBER = "1", PAGES = "51--61", MONTH = "May", ABSTRACT = " Location: Ref DB 4 Keywords: Riccati, Game theory, Successive approximation, Kleinman algorithm, non-positive definite Q, maximal and minimal solutions to the Riccati equation Comments: We present a monotone iterative technique for the computation of a solution of a Riccati-type equation relevant to the theory of differential games. For this purpose, we show that the Kleinman algorithm for Riccati equation computations converges under extremely general conditions. ", } @MANUAL{MaplePrimer, TITLE = "Using MAPLE in Electrical, Computer, and Systems Engineering", } @ARTICLE{MargaliotLangholz01, AUTHOR = "Michael Margaliot and Gideon Langholz", TITLE = "Some nonlinear optimal control problems with closed-form solutions", JOURNAL = "International Journal of Robust and Nonlinear Control", YEAR = "2001", VOLUME = "11", PAGES = "1365--1374", ABSTRACT = " Location: Disk, Ref DB 14 Keywords: optimal control HJB Hamilton-Jacobi-Bellman Young's inequality closed-form solutions Comments: This paper addresses the problem of finding $q(x)$ and $r(u,x)$ such that the optimal control problem $\int_0^\infty(q(x)+r(u,x))dx$ can be solved explicitly. The main tool that is used is Young's inequality. Th explanation of Young's inequality is the best that I have seen, and the paper is useful for that result alone. Conditions on $q$ and $r$ are stated in terms of a class $\mathcal{K}$ function $f$. In addition, a robustness result is obtained which is a generalization of \cite{Glad84,Glad85,Glad87}. ", } @ARTICLE{Marino84, AUTHOR = "Riccardo Marino", TITLE = "An Example of a Nonlinear Regulator", JOURNAL = TAC, YEAR = "1984", VOLUME = "29", NUMBER = "3", PAGES = "276--279", MONTH = "March", ABSTRACT = " Location: ref DB 2 Keywords: nonlinear control, geometric theory, feedback linearization, power, voltage regulator, synchronous generator Comments: The purpose of this note is to use the concept of feedback equivalence to linear controllable systems in order to design a nonlinear regulator for asynchronous generator connected to an infinite bus. The design of the regulator will show how recently developed theorems in the area of geometric nonlinear control theory approach a power system problem, offering an interesting solution. ", } @INPROCEEDINGS{Marino86, AUTHOR = "R. Marino", TITLE = "{H}amiltonian Techniques in Control of Robot Arms and Power Systems", BOOKTITLE = "Theory and Applications of Nonlinear Control Systems", YEAR = "1986", EDITOR = "C. I. Byrnes and A. Lindquist", PUBLISHER = "Elsevier Science Publishers B.V.", ADDRESS = "North-Holland", PAGES = "65--73", ABSTRACT = " Location: Ref DB 7 Keywords: Hamiltonian technique, robotics, robot arms, power systems, feedback linearization, negative result Comments: Control techniques which take advantage of the Hamiltonian structure of dynamical systems are applied to robot arm models and electric power system models. Efficient control laws are obtained for ideal situations (no flexibility, no losses). However, examples show that those techniques no longer apply if the Hamiltonian function is slightly perturbed by a small amount of flexibility at joints. Examples from powe systems show that the Hamiltonian structure is destroyed by non integrable forces and that the result obtained in the ideal case can be hardly used. ", } @BOOK{MarinoTomei95, AUTHOR = "Riccardo Marino and Patrizio Tomei", TITLE = "Nonlinear Control Design", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1995", } @MANUAL{MatlabOdeSuite, TITLE = "The Matlab ODE Suite", AUTHOR = "Lawrence F. Shampine and Mark W. Reichelt", ADDRESS = "ftp.mathworks.com", YEAR = "1995", ABSTRACT = " Location: Ref DB 4 Keywords: Matlab, ode, ordinary differential equations, stiff, BDF, Gear method, Rosenbrock method, non-stiff, Runge-Kutta, Adams method, Comments: This paper describes mathematical and software development for a suite of programs for solving ordinary differential equations in Matlab. Journal version is contained in \cite{ShampineReichelt97}. ", } @MANUAL{MatlabOptimizationToolbox, TITLE = "Matlab Optimization Toolbox", ORGANIZATION = "The Math Works", ADDRESS = "Natick, Massachusetts", YEAR = "1994", } @MANUAL{MatlabPowerPrimer, TITLE = "Loadflow Tutorial and Functions", ORGANIZATION = "Cherry Tree Scientific Software", ADDRESS = "RR#5 Colborne, Ontario K0K 1S0, Canada", YEAR = "1995", ABSTRACT = " Location: ref DB 7 Keywords: power systems, matlab, primer, Joe Chow, Glauco Comments: ", } %%MC @ARTICLE{McInnes95, AUTHOR = "Colin R. McInnes", TITLE = "Autonomous Ring Formation for a Planar Constellation of Satellites", JOURNAL = "Journal of Guidance, Control and Dynamics", YEAR = "1995", VOLUME = "18", NUMBER = "5", PAGES = "1215--1217", ABSTRACT = " Location: Ref DB 10 Keywords: Satellite control, formation flying, Planar constellation, N-satellite rign, Lyapunov method, JPL, behavior based method Comments: Describes the problem of maintaining a constellation of satellites in an equally distributed ring formation. Simple Lyapunov control functions are used to maintain distance and avoid collisions. ", } @INPROCEEDINGS{McLainBeard97, AUTHOR = "Timothy W. McLain and Randal W. Beard", TITLE = "Nonlinear Optimal Control of a Hydraulically Actuated Positioning System", BOOKTITLE = "Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Fluid Power Systems and Technology Division", ADDRESS = "Dallas, TX", MONTH = "November", YEAR = "1997", PAGES = "163--168", VOLUME = "4", organization = "Fluid Power Systems and Technology Division", } @INPROCEEDINGS{McLainBeard98a, AUTHOR = "Timothy W. McLain and Randal W. Beard", TITLE = "Nonlinear Optimal Control Design of a Missile Autopilot", BOOKTITLE = "AIAA Guidance, Navigation and Control Conference", ADDRESS = "Boston, MA", YEAR = "1998", } @INPROCEEDINGS{McLainBeard98b, AUTHOR = "Timothy W. McLain and Randal W. Beard", TITLE = "Nonlinear Optimal Control of an Underwater Robotic Vehicle", BOOKTITLE = "International Conference on Robotics and Automation", YEAR = "1998", ADDRESS = "Leuven, Belgium", } @INPROCEEDINGS{McLainBeard98c, AUTHOR = "Timothy W. McLain and Randal W. Beard", TITLE = "Nonlinear Robust Control of an Electro-hydraulic Positioning System", BOOKTITLE = "Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Fluid Power Systems and Technology Division", ADDRESS = "Anaheim, CA", YEAR = "1998", } @INPROCEEDINGS{McLainBaileyBeard99, AUTHOR = "Timothy W. McLain and Christopher A. Bailey and Randal W. Beard", TITLE = "Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller", BOOKTITLE = ACC, YEAR = "1999", ADDRESS = "San, Diego, CA", } @INPROCEEDINGS{McLainBeard99, AUTHOR = "Timothy McLain and Randal Beard", TITLE = "Nonlinear Robust Missile Autopilot Design Using Successive Galerkin Approximation", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation and Control Conference", YEAR = "1999", ADDRESS = "Portland, OR", PAGES = "384--391", MONTH = "August", NOTE = "Paper no. {AIAA}-99-3997", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{McLainBeard00, AUTHOR = "Timothy McLain and Randal Beard", TITLE = "Cooperative Rendezvous of Multiple Unmanned Air Vehicles", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation and Control Conference", YEAR = "2000", ADDRESS = "Denver, CO", PAGES = "", MONTH = "August", NOTE = "Paper no. {AIAA}-2000-4369", ABSTRACT = " Location: Keywords: path planning coordinated rendezvous Comments: ", } @INPROCEEDINGS{McLainCRP01, AUTHOR = "T. McLain and P. Chandler and S. Rasmussen and M. Pachter", TITLE = "Cooperative Control of {UAV} Rendezvous", BOOKTITLE = "Proc. of the {ACC}", YEAR = "2001", editor = "", pages = "", organization = "", publisher = "", address = "", month = "June", unprintednote = "2309--2314"} %%ME @INPROCEEDINGS{MehraRouhaniEterno81, AUTHOR = "Raman K. Mehra and Ramine Rouhani and John Eterno and J. Richalet and A. Rault", TITLE = "Model Algorithmic Control (MAC); Review and Recent Developments", BOOKTITLE = "Chemical Process Control 2, Proc. of the Engineering Foundation Conference", YEAR = "1981", ADDRESS = "Georgia", PAGES = "287--309", ABSTRACT = " Location: Ref DB 10 Keywords: Model Algorithmic Control, Model predictive control, scientific systems, Comments: A brief overview of early developments in model predictive control. Only a loose discussion of the ideas. TEchnical details are not provided. Several applications are discussed. ", } @INPROCEEDINGS{MehraSeereeram98, AUTHOR = "R. K. Mehra and S. Seereeram and John T. Wen and David S. Bayard", TITLE = "Nonlinear Predictive Control for Spacecraft Trajectory Guidance, Navagation and Control", BOOKTITLE = "Space Technology and Applications; International Forum", YEAR = "1998", ABSTRACT = " Location: ref DB 10 Keywords: Nonlinear Model Predictive Control Spacecraft Attitude Control John Wen's Algorithm Comments: ", } @BOOK{Merriam64, AUTHOR = "C. W. {Merriam III}", TITLE = "Optimization Theory and the Design of Feedback Control Systems", PUBLISHER = "McGraw-Hill", ADDRESS = "New York, New York", YEAR = "1964", ABSTRACT = " Location: ref DB 4 Keywords: nonlinear optimal control, numerical methods, linearization around a path, two-point boundary value problems, large and small regions of state space. Comments: ", } @INPROCEEDINGS{MesbahiHadaegh99, AUTHOR = "Mehran Mesbahi and Fred Y. Hadaegh", TITLE = "Graphs, Matrix Inequalities, and Switching for the Formation Flying Control of Multiple Spacecraft", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1999", ADDRESS = "San Diego, California", PAGES = "4148--4152", MONTH = "June", ABSTRACT = " Location: Ref DB 12 Keywords: Formation flying leader-following graph theoretic LMI hybrid control Comments: This paper presents a nice formulation for leader-following for spacecraft formation control. Control laws are derived using the LMI approach. Also hybrid control laws are used to reconfigure the formation. ", } @ARTICLE{MesbahiHadaegh00, AUTHOR = "Mehran Mesbahi and Fred Y. Hadaegh", TITLE = "Formation Flying Control of Multiple Spacecraft via Graphs, Matrix Inequalities, and Switching", JOURNAL = "AIAA Journal of Guidance, Control, and Dynamics", YEAR = "2000", VOLUME = "24", NUMBER = "2", PAGES = "369--377", MONTH = "March-April", ABSTRACT = " Location: Ref DB 12 shelf Keywords: formation flying spacecraft interferometry leader following hybrid control switching linear matrix inequalities LMI Comments: This paper presents some clever results for multiple spacecraft formation flying. The main contributions of the paper are as follows: - A clean mathematical notation for leader-following, including a nice application of graph theoretic results, - New control laws for formation flying control based in LMI's, - A stability analysis for leader reassignment, - New hybrid control laws for formation control that avoid control saturation. The notation introduced by the author is very clean and will probably set a standard for future papers in formation control. The new control laws based on LMI's are only a small contribution, and do not add much to the understanding of formation control. Leader reassignment is a big issue in formation control. If a leader-following architecture is used, then failure of the leader could compromise the entire mission. Robustness demands the possibility of leader reassignment. The discussion in the current paper is good, however I wonder about the usefulness of the example presented in Figure~6, where the follower is circling the leader. Suppose that we desire spacecraft \#2 to circle spacecraft \#1 independent of who is currently assigned as the leader. It is unclear whether the method proposed by the authors is applicable to this case. One of the major disadvantages to leader-following control is that the acceleration of the leader is used in the control law of the followers. As a result, acceleration of the leader may cause saturation of the followers controls. This paper presents a nice solution to this problem, based on switching and LMI's. While stability of the overall hybrid scheme is addressed, it is unclear how the resulting scheme affects the ability of the followers to maintain formation. Intuitively, the switching mechanism must reduce the gain of the followers control, which will reduce the achievable performance of the controls. One criticism of the presentation is that the authors do not offer any intuition about the action of the control. I would suggest adding a few (non-mathematical) digressions to give the reader a feel for how the proposed control laws address the saturation problem. ", } @INPROCEEDINGS{mh:99a, AUTHOR = "M. Mesbahi and F. Y. Hadaegh", TITLE = "A robust control approach for the formation flying of multiple spacecraft", BOOKTITLE = "European Control Conference", YEAR = "1999", ADDRESS = "Karlsruhe, Germany", MONTH = "September", } @ARTICLE{mh99b, AUTHOR = "M. Mesbahi and F. Y. Hadaegh", TITLE = "Graphs, Matrix Inequalities, and Switching for the Formation Flying Control of Multiple Spacecraft", JOURNAL = "Journal of Guidance, Navigation, and Control", YEAR = "submitted", } @INCOLLECTION{msp:98, AUTHOR = "M. Mesbahi and M. G. Safonov and G. P. Papavassilopoulos", TITLE = "Bilinearity and complementarity in robust control", BOOKTITLE = "Recent Advances on {LMI} Approach in Control", PUBLISHER = "SIAM", YEAR = "1999", } %%MI @BOOK{Mikhlin64, AUTHOR = "S. G. Mikhlin", TITLE = "Variational Methods in Mathematical Physics", PUBLISHER = "MacMillan Company", YEAR = "1964", ADDRESS = "New York, New York", ABSTRACT = " Location: RPI Library Keywords: Ritz, Galerkin, Energy convergence, energy method, partial differential equations, convergence proofs Comments: ", } @BOOK{MikhlinSmolitskiy67, AUTHOR = "S. G. Mikhlin and K. L. Smolitskiy", TITLE = "Approximate Methods for Solution of Differential and Integral Equations", PUBLISHER = "American Elsevier Publishing Company", YEAR = "1967", ADDRESS = "New York, New York", } @INPROCEEDINGS{MilamMushambiMurray00, AUTHOR = "Mark B. Milam and Kudah Mushambi and Richard M. Murray", TITLE = "A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems", BOOKTITLE = "{IEEE} Conference on Decision and Control", YEAR = "2000", ADDRESS = "Sydney, Australia", ABSTRACT = " Location: Ref DB 14 Keywords: differential flatness, path planning, trajectory generation, B-splines Comments: This paper derives a so-called real-time trajectory planning algorithm that could be used in a two step control architectures. The derivation depends upon the differential flatness of the nonlinear system and then parameterizes the desired path for the flat output in terms of coefficients that characterize a B-spline. A nonlinear programming problem is then solved for the spline coefficients that guarantees that the state and control variables satisfy certain constraints. The paper is poorly written. ", } @BOOK{MillerSuttonWerbos91, EDITOR = "W. Thomas Miller and Richard S. Sutton and Paul J. Werbos", TITLE = "Neural Networks for Control", PUBLISHER = "The {MIT} Press", YEAR = "1990", ADDRESS = "Cambridge, Massachusetts", ABSTRACT = " Location: Shelf Keywords: Neural networks, Q-learning, Comments: ", } @ARTICLE{Milne65, AUTHOR = "R. D. Milne", TITLE = "The Analysis of Weakly Coupled Dynamical Systems", JOURNAL = "International Journal of Control", YEAR = "1965", VOLUME = "2", PAGES = "171--199", MONTH = "August", } @ARTICLE{Milshtein64, AUTHOR = "G. N. {Mil'shtein}", TITLE = "Successive Approximations for Solution of One Optimal Problem", JOURNAL = ARC, YEAR = "1964", VOLUME = "25", PAGES = "298--306", ABSTRACT = " Location: Ref DB 4 Keywords: Successive approximation, nonlinear control, Hamilton-Jacobi-Bellman eqution, optimal control, uniform convergence, Lyapunov functions, dynamic programming Comments: The author discusses convergence of a sequence of successive approximations to an optimal control. It is shown that an approximation of an optimal control may be assumed to be optimal relative to some functional. The method of Lyapunov functions and the theory of dynamic programming are used. ", } @ARTICLE{MisawaHedrick89, AUTHOR = "E. A. Misawa and J. K. Hedrick", TITLE = "Nonlinear Observers -- State-of-the-art Survey", JOURNAL = "Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control", YEAR = "1989", VOLUME = "111", MONTH = "September", PAGES = "344--352", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear Observers, Nonlinear Estimation, Extended Kalman Filter, Constant Gain Extended Kalman Filter, Statistically Linearized Filter, Feedback linearization, Gain Scheduling, Comments: The state-of-the-art of noninear state estimators or `observers' is reviewed. The use of these observers in real time nonlinear compensators is evaluated in terms of their on-line computational requirements. Their robustness properties are evaluated in terms of the extend to which the design requires a `perfect' model. ", } @INPROCEEDINGS{MiyataOta00, AUTHOR = "Natsuki Miyata and Jun Ota and Yasumichi Aiyama and Hajime Asama and Tamio Arai", TITLE = "Cooperative Transport in Unknown Environment: Application of Real-time Task Assignment", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco, CA", PAGES = "3176--3182", MONTH = "April", ABSTRACT = " Location: Ref DB 13 Keywords: cooperation, obsticle transport real time dynamic task assignment Comments: The paper considers the problem of assigning multiple robots to objects in such a way that a group of objects get transported by the robots. Each robot can handle a single object at a time. Therefore the problem becomes one of scheduling and not dynamic coordination. The approach presented in heuristic and no analytic bounds or proofs are provided. ", } %%MO @BOOK{Mohler91, AUTHOR = "Ronald R. Mohler", TITLE = "Nonlinear Systems: Applications to Bilinear Control", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1991", VOLUME = "2", } @BOOK{MoonStirling00, AUTHOR = "Todd K. Moon and Wynn C. Stirling", TITLE = "Mathematical Methods and Algorithms", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "2000", } @ARTICLE{MoonenVandewalle90, AUTHOR = "Marc Moonen and Joos Vandewalle", TITLE = "{QSVD} Approach to On and Off Line State-Space Identification", JOURNAL = "International Journal of Control", YEAR = "1990", VOLUME = "51", NUMBER = "5", PAGES = "1133--1146", ABSTRACT = " Location: Ref DB 14 Keywords: singular value decomposition, system identification, total least squares, ee582 Comments: This paper solves the system identification problem for systems modeled in state space, using the singular value decomposition. The essential idea is that they reduce the problem to a total least squares problem that can be updated recursively. ", } @ARTICLE{Morelli00, AUTHOR = "Eugene A. Morelli", TITLE = "Real-Time Parameter Estimation in the Frequency Domain", JOURNAL = "Journal of Guidance, Control, and Dynamics", YEAR = "2000", VOLUME = "23", NUMBER = "5", PAGES = "812--818", MONTH = "September-October", ABSTRACT = " Location: shelf Keywords: system identification real time parameter estimation airplane frequency domain technique Comments: This paper describes a real time parameter estimation solution for estimating stability derivates for aircraft. The techniques converts the system equations to the frequency domain and then discretizes in the frequency domain to obtain frequency domain samples. Using the frequency domain samples, the problem is then cast in a least squares framework where closed form solutions for the parameters can be obtained. The resulting algorithm is numerically efficient, and appears to do a good job estimating the parameters on-line. ", } @ARTICLE{Mori79, AUTHOR = "T. Mori", TITLE = "A note on bounds for the solution to the algebraic matrix {R}iccati and {L}yapunov equations", JOURNAL = "Transactions IEE J.", YEAR = "1979", VOLUME = "62-A", PAGES = "760--761", } @ARTICLE{Mori85, AUTHOR = "Takehiro Mori", TITLE = "On Some Bounds in the Algebraic {R}iccati and {L}yapunov Equations", JOURNAL = TAC, YEAR = "1985", VOLUME = "30", NUMBER = "2", PAGES = "162--164", MONTH = "February", ABSTRACT = " Location: Ref DB 2 Keywords: ARE, Riccati and Lyapunov Equations, Bounds, trace bounds and determinate bounds on the solutions of Riccati and Lyapunov Equations. Comments: Some bounds for the trace and determinant of the solution to the algebraic Riccati and Lyapunov matrix equation are presented. These bounds give information on ``mean size'' of the solution to the equations in a simple way. The obtained determinant bound for the Lyapunov equation shows the improvement over the previously reported one. ", } @ARTICLE{MoriDerese84, AUTHOR = "T. Mori and I. A. Derese", TITLE = "A Brief Summary of the bounds on the solution of the Algebraic Matrix Equations in Control Theory", JOURNAL = "International Journal of Control", YEAR = "1984", VOLUME = "39", NUMBER = "2", PAGES = "247--256", ABSTRACT = " Location: Ref DB 2 Keywords: ARE, Algebraic Riccati Equation, bounds, norm bounds, eigenvalue bounds, trace bounds, determinant bounds, Conditions for solution of Riccati and Lyapunov Equations, Lyapunov Comments: In recent years, several bounds have been reported for different measures of the 'extent' or 'size' of the solution of the algebraic matrix equations arising in control theory, such as the Riccati equation and the Lyapunov equation. This paper collects the bounds that have been presented up to now and summarizes them in an unified form. This will prove particularly convenient for those wishing to get a ready estimate of the solution while solving the equations numerically or to develop theoretical results that rely on these bounds. ", } @ARTICLE{MoylanAnderson73, AUTHOR = "Peter J. Moylan and Brian D. O. Anderson", TITLE = "Nonlinear Regulator Theory and an Inverse Optimal Control Problem", JOURNAL = TAC, YEAR = "1973", VOLUME = "18", NUMBER = "5", PAGES = "460--465", MONTH = "October", ABSTRACT = " Location: Ref DB 1 Keywords: Inverse Optimal Control, Nonlinear Systems, Regulator, return difference condition, passivity Comments: Nonlinear optimal regulators are discussed, and some useful properties are isolated. An inverse problem of nonlinear regulator design is posed and solved. ", } %%MU @INPROCEEDINGS{Mueller97, AUTHOR = "Juergen Mueller", TITLE = "Thruster Options for Microspacecraft: A Review and Evaluation of Existing Hardware and Emerging Technologies", BOOKTITLE = "Proceedings of the 33rd AIAA/ASME/ASE/ASEE Joint Propulsion Conference and Exhibit", YEAR = "1997", ADDRESS = "Seattle, WA", PAGES = "1--29", MONTH = "July", NOTE = "AIAA Paper no. 97-3058", ABSTRACT = " Location: Ref DB 12 Keywords: Thrusters, Microspacecraft, formation flying, PPT cold gas Comments: This paper presents an excellent overview of the currently (as of 1997) thruster technologies that are possibilities for micro spacecraft missions, including formation flying. The conclusion is that all current thrusters, which were designed for much larger spacecraft are not currently suitable for microspacecraft applications. The specific impluse and thrust capabilites of available thrusters are listed. New emerging technologies are discuss. An excellent (although wordy) introduction to thruster technologies. ", } @INPROCEEDINGS{MurrayRathinamSluis95, AUTHOR = "Richard M. Murray and Muruhan Rathinam and Willem Sluis", TITLE = "Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems", BOOKTITLE = "{ASME} International Mechanical Engineering Control and Expo", YEAR = "1995", ADDRESS = "San Francisco, CA", MONTH = "November", ABSTRACT = " Location: Ref DB 13 Keywords: differential flatness, mechanical systems, Comments: This paper gives a catalog of mechanical systems that are known to be differentially flat, and references to papers that discuss particular applications. ", } @ARTICLE{MurraySastry93, AUTHOR = "Richard M. Murray and S. Shankar Sastry", TITLE = "Nonholonomic Motion Planning: Steering Using Sinusoids", JOURNAL = TAC, YEAR = "1993", VOLUME = "38", NUMBER = "5", PAGES = "700--716", MONTH = "May", } %%N @ARTICLE{NakamuraSekiguchi01, AUTHOR = "Yoshihiko Nakamura and Akinori Sekiguchi", TITLE = "The Chaotic Mobile Robot", JOURNAL = TRA, YEAR = "2001", VOLUME = "17", NUMBER = "6", PAGES = "898--904", MONTH = "December", ABSTRACT = " Location: Disk Keywords: Chaos mobile robot random walk covering algorithms Arnolds equation Comments: The objective of this paper is to impart chaotic motion on a mobile robot. The robot controller is derived such that the overall motion of the robot is the projection of a 3D chaotic motion on the 2D robot workspace. A variety of simulations are run showing that the chaotic motion of the robot covers the space faster than a random walk. The paper does not offer any analytical techniques for assessing the effectiveness of the controller. ", } %%NE @BOOK{Nelson98, AUTHOR = "Robert C. Nelson", TITLE = "Flight Stability and Automatic Control", PUBLISHER = "McGraw-Hill", YEAR = "1998", ADDRESS = "Boston, Massachusetts", EDITION = "2nd", ABSTRACT = " Location: Shelf Keywords: Autopilot Aircraft Comments: Book used in ME595R Summer 2001. ", } @BOOK{Nemhauser88, AUTHOR = "George L. Nemhauser and Laurence A. Wolsey", TITLE = "Integer and Combinatorial Optimization", PUBLISHER = "John Wiley \& Sons, Inc", YEAR = "1988", SERIES = "Descrete Mathematics and Optimization", } @INPROCEEDINGS{NesicTeel01, AUTHOR = "D. Ne\v{s}i\'{c} and A. R. Teel", TITLE = "Backstepping on the {E}uler approximate model for stabilization of sampled-data nonlinear systems", BOOKTITLE = CDC, YEAR = "2001", ADDRESS = "Orlando, Florida", PAGES = "1737--1742", MONTH = "December", ABSTRACT = " Location: Ref DB 14 disk Keywords: nonlinear systems sampled data systems backstepping Euler approximation Comments: This paper presents several control designs for sampled data systems where the Euler approximation of the discrete-time model is used. This paper does not include any proofs of the results. In addition, the paper cites another result that states that is a controller is designed that semiglobally practically stabilizes an approximation of the discrete-time system, then it semiglobally practically stabilizes the exact discrete-time system. ", } @ARTICLE{Nguang96, AUTHOR = "Sing Kiong Nguang", TITLE = "Robust Nonlinear ${H}_\infty$-Output Feedback Control", JOURNAL = TAC, YEAR = "1996", VOLUME = "41", NUMBER = "7", PAGES = "1003--1007", MONTH = "July", ABSTRACT = " Location: shelf Keywords: nonlinear H-infinity, output feedback, Hamilton-Jacobi-Isaacs equation, S-procedure for nonlinear systems, Comments: This paper investigates the problem of robust H-infinity output feedback control for nonlinear systems with time-varying parameter uncertainty satisfying some integral functional constrains. We address the problem of designing a compensator such that the L2-gain of the mapping from the exogenous input noise to the penalty output is minimized or guaranteed to be less than or equal to a prescribed value. We establish the interconnection between the robust nonlinear H-infinity control problem and the nonlinear H-infinity control problem. Based on this connection, a sufficient condition for the existence of a solution to the robust nonlinear H-infinity output feedback control problem is derived in terms of a scaled Hamilton-Jacobi inequality. This paper extends the standard nonlinear $H_\infty$ result to systems with structured uncertainty in the model. The result is that the standard HJI equation is modified into another HJI equation that reflects the uncertainty. ", } %%NI @ARTICLE{NieuwstadtMurray98, AUTHOR = "Michiel J. {Van Nieuwstadt} and Richard M. Murray", TITLE = "Real Time Trajectory Generation for Differentially Flat Systems", JOURNAL = "International Journal of Robust and Nonlinear Control", YEAR = "1998", VOLUME = "8", NUMBER = "11", PAGES = "995--1020", ABSTRACT = " Location: Ref DB 13 Keywords: Differential Flatness, trajectory generation, ducted fan, two degree of freedom controllers, Comments: This paper gives an excellent, and very readable, introduction to differential flatness. In addition, it presents two algorithms which can be used for real-time trajectory generation based on the flat structure of the algorithm. They also show that Hilare-type mobile robots are differentially flat. The second algorithm proposed in the paper uses a trajectory optimization scheme that is similar to the scheme that we proposed for finding trajectories for UAVs (but haven't published yet because it didn't seem very practical. ", } @BOOK{Nijmeijer90, AUTHOR = "H. Nijmeijer and A. J. {van der Schaft}", TITLE = "Nonlinear Dynamical Control Systems", PUBLISHER = "Springer Verlag", YEAR = "1990", ADDRESS = "New York, New York", } @BOOK{Nilsson80, AUTHOR = "Nils J. Nilsson", TITLE = "Priniciples of Artificial Intelligence", PUBLISHER = "Morgan Kaufmann Publishers", YEAR = "1980", ADDRESS = "95 First St., Los Altos, CA", } @ARTICLE{Nishikawa71, AUTHOR = "Y. Nishikawa and N. Sannomiya and H. Itakura", TITLE = "A Method for Suboptimal Design of Nonlinear Feedback Systems", JOURNAL = "Automatica", YEAR = "1971", VOLUME = "7", PAGES = "703--712", ABSTRACT = " Location: ref DB 4 Keywords: nonlinear, suboptimal, approximation, Pontryagin's maximum principle Comments: An approximation method is presented to construct an optimal state regulator for a nonlinear system with quadratic performance index. The nonlinearity is taken to be a perturbation to the system, and a parameter $\epsilon$ is introduced to stand for it. By making use of a power-series expansion in $\epsilon$, a sequence of partial differential equations is derived whose solutions form a subopimal feedback law. Given a polynomial nonlinearity, the partial differential equations are reduced to ordinary differential equations by separation of variables. The zero-order terms yield a well known Riccati equation. Higher-order equations are transformed into conventional type linear equations, owing to a lemma regarding an extended Liapunov equation. It is demonstrated that the $l$-th order approximation for the feedback law results in the $(2l+1)$th order approximation to the optimal performance. The procedure developed has a wide variety of applications. As one of the straightforward applications, the synthesis of a suboptimal control is discussed for a large-scale system as composed of several subsystems of lower dimensions. Three examples attached illustrate several features of the method. ", } %%NO @ARTICLE{Normey-RicoEtAl99, AUTHOR = "Julio E. Normey-Rico and Juan Gomez-Ortega and Eduardo F. Camacho", TITLE = "A {S}mith-Predictor-Based Generalised Predictive Controller for Mobile Robot Path-Tracking", JOURNAL = "Control Engineering Practice", YEAR = "1999", VOLUME = "7", PAGES = "729--740", ABSTRACT = " Location: Ref DB 11 Keywords: Mobile robots predictive control Smith predictor path tracking linearized kinematic model Comments: This paper considers the problem of following a predefined trajectory for differential drive mobile robots. The kinematic model for the robots is linearized assuming constant velocity where the input command is the curviture of the robot. The main result of the paper is to show that is the optimal predictor in the model predictive scheme is replaced by a smith predictor, then the robustness of the system is improved. Experimental results are given. ", } %%O @ARTICLE{Ogorzalek93, AUTHOR = "Maciej J. Ogorzalek", TITLE = "Taming Chaos--Part I: Synchronization", JOURNAL = "{IEEE} Transactions on Circuits and Systems--I: Fundamental Theory and Applications", YEAR = "1993", VOLUME = "40", NUMBER = "10", PAGES = "693--699", MONTH = "October", ABSTRACT = " Location: disk Keywords: chaos synchronization Chua's circuit nonlinear dynamics Comments: This paper gives an overview of techniques used to synchronize chaotic circuits. In particular Chua's circuit is discussed. Applications of the techniques to secure communication are discussed at a high level. ", } @ARTICLE{Ogorzalek93b, AUTHOR = "Maciej J. Ogorzalek", TITLE = "Taming Chaos--Part II: Control", JOURNAL = "{IEEE} Transactions on Circuits and Systems--I: Fundamental Theory and Applications", YEAR = "1993", VOLUME = "40", NUMBER = "10", PAGES = "700--706", MONTH = "October", ABSTRACT = " Location: disk Keywords: chaos synchronization Chua's circuit nonlinear dynamics Comments: This paper gives an overview of techniques used to control chaotic circuits. In particular Chua's circuit is discussed. ", } @INPROCEEDINGS{OgrenEgerstedtHu01, AUTHOR = "Petter Ogren and Magnus Egerstedt and Xiaoming Hu", TITLE = "A Control Lyapunov Function Approach to Multi-Agent Coordination", BOOKTITLE = CDC, YEAR = "2001", ADDRESS = "Orlando, Florida", PAGES = "1150--1155", MONTH = "December", ABSTRACT = " Location: www_docs/papers/others/Ogren01.pdf Keywords: clf formation control bounded formation error Comments: This paper uses a clf foundation to state some simple theorems about formation keeping. An interesting paper. ", } @Article{OhapStubberud65, author = {R.~F.~Ohap and A.~R.~Stubberud}, title = {A Technique for Estimating the State of a Nonlinear System}, journal = {IEEE Transactions on Automatic Control}, year = 1965, month = {April}, pages = {150-155} } @INPROCEEDINGS{OrtegaLoriaKellyPraly94, AUTHOR = "Romeo Ortega and Anonio Loria and Rafael Kelly and Laurent Praly", TITLE = "On Passivity-Based Ouput Feedback Global Stabilization of Euler-Lagrange Systems", BOOKTITLE = "Proceedings of the 33rd Conference on Decision and Control", YEAR = "1994", ADDRESS = "Lake Buena Vista, FL", PAGES = "381--386", MONTH = "December", ABSTRACT = " Location: Ref DB 13 Keywords: Euler-Lagrange Systems, Nonlinear Control, Passivity-based control, output feedback, dirty derivative, Comments: In my oppinion, this is a very substantial paper. The basic idea is to cascade an Euler-Lagrange system (control) with the plant, also modelled as an EL system, to obtain a larger EL system. EL systems are passive systems, and so if you make the controller dissipative, the closed loop system will be globally asymptotically stable. There are many advantages, including the fact that only output feedback is required. Also, there are extensions to input saturation constraints. This is the conference version of \cite{OrtegaLoriaKellyPraly95}. ", } @ARTICLE{OrtegaLoriaKellyPraly95, AUTHOR = "Romeo Ortega and Antonio Loria and Rafael Kelly and Laurent Praly", TITLE = "On Passivity-Based Output Feedback Global Stabilization of Euler-Lagrange Systems", JOURNAL = "International Journal of Robust and Nonlinear Control", YEAR = "1995", VOLUME = "5", PAGES = "313--323", ABSTRACT = " Location: Ref DB 13 Keywords: Euler-Lagrange Systems, Nonlinear Control, Passivity-based control, output feedback, dirty derivative, Comments: In my oppinion, this is a very substantial paper. The basic idea is to cascade an Euler-Lagrange system (control) with the plant, also modelled as an EL system, to obtain a larger EL system. EL systems are passive systems, and so if you make the controller dissipative, the closed loop system will be globally asymptotically stable. There are many advantages, including the fact that only output feedback is required. Also, there are extensions to input saturation constraints. A conference version of this paper is given in \cite{OrtegaLoriaKellyPraly94} ", } @ARTICLE{OutbibJghima96, AUTHOR = "R. Outbib and H. Jghima", TITLE = "Comments on the Stabilization of Nonlinear Systems by Adding an Integrator", JOURNAL = TAC, YEAR = "1996", VOLUME = "41", NUMBER = "12", PAGES = "1804--1807", MONTH = "December", ABSTRACT = " Location: shelf Keywords: Nonlinear Systems, Stabilizability, Integrator, Comments: We present a new proof of the result that static stabilizability implies dynamic stabilizability. The goal is to show hwo to compute explicitly the stabilizaing feedback in some cases when the classical proof shows only the existence. New results on dynamic feedback stabilization are proposed. ", } %%P @ARTICLE{PachterChandler98, AUTHOR = "M. Pachter and P. R. Chandler", TITLE = "Challenges of Autonomous Control", JOURNAL = "IEEE Control Systems Magazine", YEAR = "1998", VOLUME = "18", NUMBER = "4", PAGES = "92--97", MONTH = "August", ABSTRACT = " Location: Shelf Keywords: Autonomous control UAV's Optimization problems Comments: This paper overviews some of the current problems in autonomous control. Autonomous control is distinguished from automatic control as more high level functions. The paper doesn't give any concrete ideas on how to attack these problems but it does illustrate some of the thinking of the people at Wright Patterson Air Force Base. Tim McLain recommended that I read the paper. ", } @ARTICLE{PachterDAzzoProud01}, AUTHOR = "Meir Pachter and John J. {D'Azzo} and Andrew W. Proud", TITLE = "Tight Formation Flight Control", JOURNAL = JGCD, YEAR = "2001", VOLUME = "24", NUMBER = "2", PAGES = "246--254", MONTH = "March--April", ABSTRACT = " Location: Shelf /www_docs/papers/others/ Keywords: formation flight UAV flight control stability derivatives vortex leader-following Comments: This paper first models the aerodynamic coupling that will occur between two aircraft in close formation flight. The coupling terms are then incorporated into a nonlinear model for close formation flight. A PID controller using linear error mixing is used to control the formation errors in the presense of aerodynamic coupling and is compared to a similar design that does not take this coupling into account. The authors conclude that the controller that did not take into account coupling worked sufficiently well and that there was not compelling evidence that a controller that takes into account the dynamic coupling is really needed. ", } @ARTICLE{PanEzalKrenerKokotovic01, AUTHOR = "Zigang Pan and Kenan Ezal and Arthur J. Krener and Petar V. Kokotovic", TITLE = "Backstepping Design with Local Optimality Matching", JOURNAL = TAC, YEAR = "2001", VOLUME = "46", NUMBER = "7", PAGES = "1014--1027", MONTH = "July", ABSTRACT = " Location: shelf Keywords: backstepping Taylor series expansion nonlinear Cholesky factorization H-infinity control optimal control Hamilton-Jacobi-Isaacs equation Comments: The paper shows that backstepping can be used to approximate any order approximation of the solution to the HJI equation when the solution admits a nonlinear Cholesky factorization in its state variables. The resulting control law is shown to be stabilizing and inverse optimal with respect to an different cost function. This is a very interesting result. The difficulty in applying is that an $m^{th}$ order approximation of the value function is required to start the proceedure. ", } @BOOK{Papoulis91, AUTHOR = "Athanasios Papoulis", TITLE = "Probability, Random Variables, and Stochastic Processes", PUBLISHER = "McGraw Hill", ADDRESS = "New York, New York", YEAR = "1991", } @ARTICLE{Parker98, AUTHOR = "Lynne E. Parker", TITLE = "{ALLIANCE}: An Architecture for Fault Tolerant Multirobot Cooperation", JOURNAL = "IEEE Transactions on Robotics and Automation", YEAR = "1998", VOLUME = "14", NUMBER = "2", PAGES = "220--240", MONTH = "April", ABSTRACT = " Location: Shelf Keywords: formation control robots software architecture fault tolerance Comments: This paper describes the software architecture for multi-robot coordination that was built at MIT. The architecture is a fully distributed, behavior-based architecture. ", } @BOOK{Peterson81, AUTHOR = "J. L. Peterson", TITLE = "Petri Net Theory and the Modeling of Systems", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1981", } @ARTICLE{Petryshyn65, AUTHOR = "W. V. Petryshyn", TITLE = "On a Class of K-p.d. and Non-K-p.d. Operators and Operator Equations", JOURNAL = "Journal of Mathematical Analysis and Applications", YEAR = "1965", VOLUME = "10", PAGES = "1--24", ABSTRACT = " Location: Ref DB 7 Keywords: Ritz Method, Galerkin Method, K-positive definite operator, convergence conditions Comments: ", } @ARTICLE{PeschBulirsch94, AUTHOR = "H. J. Pesch and R. Bulirsch", TITLE = "The Maximum Principle, {B}ellman's Equation, and {C}aratheodory's Work", JOURNAL = JOTA, YEAR = "1994", VOLUME = "80", NUMBER = "2", PAGES = "199--225", MONTH = "February", ABSTRACT = " Location: Ref DB 1 Keywords: Maximum principle, Bellman equation, Caratheodory's work, calculus of variations, optimal control theory, history of calculus of variations, history of optimal control, Comments: One of the most important and deep results in optimal control theory is the maximum principle attributed to Hestenes and in particular to Boltyanskii, Gamkrelidze, and Pontryagin. Another prominent result is known as the Bellman equation, which is associated with Isaacs' and Bellman's work. However, precursors of both the maximum principle and the Bellman equation can already be found in Caratheodory's book of 1935, the first even in his earlier work of 1926. This is not a widely acknowledged fact. The resent tutorial paper traces Caratheodory's apprach to the calculus of variations, once called the 'royal road in the calculus of variations,' and shows that famous results in optimal control theory, inlcuding the maximum principle and the Bellman equation, are consequences of Caratheodory's earlier results. ", } @BOOK{Phillips90, AUTHOR = "Charles L. Phillips and H. Troy Nagle", TITLE = "Digital Control System: Analysis and Design", PUBLISHER = "Prentice Hall", YEAR = "1990", ADDRESS = "Englewood Cliffs, New Jersey", EDITION = "2nd", } @INPROCEEDINGS{PometEtAl92, AUTHOR = "J.B. Pomet and B. Thuilot and G. Bastin and G. Campion", TITLE = "A Hybrid Strategy for the Feedback Stabilization of Nonholonomic Mobile Robots", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "1992", ADDRESS = "Nice, France", PAGES = "129--134", MONTH = "May", ABSTRACT = " Location: Ref DB 11 Keywords: Nonholonomic robot, hybrid control, time-varying control, discontinuous control, Comments: This paper combines two control laws to make a hybrid control for nonholonomic robots. Away from the origin, a control is used to move the robot essentially along straight lines to the origin. Close to the origin a time varying feedback is used to move the robot to the origin. The paper also offers a nice definition of 'satisfactory trajectories': (1) asymptotic convergence with bounded states and control, (2) decreasing distance to origin, (3) close to straight-line motion, (4) bounded angle. A nice conference paper. ", } %%PR @INPROCEEDINGS{PrasanthBoskovicLiMehra01, AUTHOR = "Ravi K. Prasanth and Jovan D. Boskovic and Sai-Ming Li and Raman K. Mehra", TITLE = "Initial Study of Autonomous Trajectory Generation for Unmanned Aerial Vehicles", BOOKTITLE = CDC, YEAR = "2001", ADDRESS = "Orlando, FL", PAGES = "(in review)", MONTH = "December", ABSTRACT = " Location: ref DB 14 /grad1/users/beard/www_docs/papers/others Keywords: trajectory generation path planning differential flatness UAV linear matrix inequalities LMI Comments: This paper derives a sufficient condition for the trajectory generation problem for UAVs. The sufficient condition is based on the differential flatness of the system, converting the path constraints into linear matrix inequalities and bilinear matrix inequalities. It appears that the solution is not computationally efficient, and may not be suitable for real-time implementation in its present form. ", } @BOOK{PressEtAl88, AUTHOR = "William H. Press and Brian P. Flannery and Saul A. Teukolsky and William T. Vetterling", TITLE = "Numerical Recipes in C: The Art of Scientific Computing", PUBLISHER = "Cambridge University Press", ADDRESS = "New York", YEAR = "1988", } @ARTICLE{PrimbsNevisticDoyle00, AUTHOR = "James A. Primbs and Vesna Nevistic and John C. Doyle", TITLE = "A Receding Horizon Generalization of Pointwise Min-Norm Controllers", JOURNAL = TAC, YEAR = "2000", VOLUME = "45", NUMBER = "5", PAGES = "898--909", MONTH = "May", ABSTRACT = " Location: Shelf Keywords: CLF receding horizon min-norm controllers Sontags formula Comments: This paper combines the ideas of CLF's and min-norm controllers with the notion of Euler-Lagrange optimization over a finite time horizon. The resulting control is a receding horizon control law that guarantees that the closed loop system is stable and reduces to the min-norm controller as the optimization horizon goes to zero and becomes the optimal controller as the horizon goes to infinity. ", } @INPROCEEDINGS{ProudPachterDAzzo99, AUTHOR = "Andrew W. Proud and Meir Pachter and John J. {D'Azzo}", TITLE = "Close Formation Flight Control", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit", YEAR = "1999", ORGANIZATION = "American Institute of Aeronautics and Astronautics", ADDRESS = "Portland, OR", PAGES = "1231--1246", MONTH = "August", NOTE = "Paper no. AIAA-99-4207", ABSTRACT = " Location: Ref DB 14 Keywords: close formation flight UAV coordinated control autopilot leader following vortex Comments: This paper develops the physical equations that describe a wing aircraft flying in the vortex of the leader. Subsequently, equations of motion for a wing plane in close formation flight are given. The formation kinematics are derived. A control system is then designed based on the linearized model of the aircraft. The formation autopilot is essentially a PID controller (with some nonlinear elements mixed in). ", } %%Q @MISC{Quanser, AUTHOR = "Quanser Consulting Inc.", NOTE = "http://quanser.com", } %%R @ARTICLE{RajkumarMohler95, AUTHOR = "V. Rajkumar and R. R. Mohler", TITLE = "Nonlinear Control Methods for Power Systems: A Comparison", JOURNAL = CST, YEAR = "1995", VOLUME = "3", NUMBER = "2", PAGES = "231--237", MONTH = "June", ABSTRACT = " Location: shelf Keywords: Power systems, nonlinear control, feedback linearization, generalized predictive control, LQR, linear quadratic regulator Comments: The design and performance of two nonlinear controllers for power systems is explored in this paper. The designs are based on nonlinear discrete-time predictive control and feedback linearizing control, considering a simplified nonlinar single-machine, infinite bus power system model equipped with a series-capacitor controller. Simulations are presented for nonideal conditions such as bounded control, the uncertainties in the chosen model parameters, and the presence of inter-area-type persistent disturbances. The results indicate that superior performance can be obtained using the nonlinear predictive controller when compared with the feedback linearizing controller and a standard linear quadratic regulator. ", } @MANUAL{Rauw98, TITLE = "{FDC} 1.2 - A {SIMULINK} Toolbox for Flight Dynamics and Control Analysis", AUTHOR = "Marc Rauw", MONTH = "February", YEAR = "1998", NOTE = "Available at http://www.mathworks.com/...", ABSTRACT = " Location: Shelf Keywords: Autopilot Simulink Beaver Comments: This manual describes the use to the FDC toolbox. Also provides an excellent overview of aircraft dyanamics and control. ", } %%RE @ARTICLE{RebouletChampetier84, AUTHOR = "C. Reboulet and C. Champetier", TITLE = "A New Method for Linearizing Non-Linear Systems: The Pseudolinearization", JOURNAL = "International Journal of Control", YEAR = "1984", VOLUME = "40", NUMBER = "4", PAGES = "631--638", ABSTRACT = " Location: Ref DB 9 Keywords: nonlinear pseudolinearization differential geometry approximate linearization differential forms feedback linearization coordinate transformations Comments: Consider the single-input non-linear system $\dot{x} = f(x,u)$. It has been shown that, under mild conditions, there exist transformations $z=T(x)$, $v=S(x,u)$ such that, in the $z$-space, the linear tangent model is independent of the operating point. A constructuve procedure to obtain the above transformation is described. This new method is computationally attractive and effective in many practical cases. ", } @ARTICLE{Rekasius64, AUTHOR = "Z. V. Rekasius", TITLE = "Suboptimal Design of Intentionally Nonlinear Controllers", JOURNAL = TAC, YEAR = "1964", VOLUME = "9", NUMBER = "4", PAGES = "380--386", ABSTRACT = " Location: Ref DB 1 Keywords: Approximation theory, Nonlinear control, optimal control, regulator Comments: A method of designing nonlinear controls for stationary plants is presented in the paper. The objective of the design is to produce soft saturation type constraints on certain state variables, such as velocity or acceleration. This is accomplished by formulating the problem as an optimization of a non-quadratic performance index. A sequence of sub--optimal controls is then obtained. While this sequence converges to the exact optimum solution, the procedure is stopped when the complexity of the resulting nonlinear controller exceeds the design considerations of cost, size and/or reliability. Experimental results of an actual design clearly indicate the desired velocity saturation effects. ", } @INPROCEEDINGS{RekleitisDudekMilios00, AUTHOR = "Ioannis M. Rekleitis and Gregory Dudek and Evangelos E. Milios", TITLE = "Multi-Robot collaboration for Robust Exploration", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco", PAGES = "3164--3168", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: mobile robots coordination sensing Comments: This paper describes the use of two robots to improve the localization error of robots mapping an environment. Both robots have odometry systems. The basic idea is that one robot remains fixed and serves as a fixed beacon for the other robot while it explores the environment. The results are weak. ", } @ARTICLE{RhodesGilman75, AUTHOR = "Ian B. Rhodes and Alfred S. Gilman", TITLE = "Cone-Bounded Nonlinearities and Mean-Square Bounds--Estimation Lower Bounds", JOURNAL = TAC, YEAR = "1975", VOLUME = "20", NUMBER = "5", PAGES = "632--642", MONTH = "October", } %%RI @BOOK{Rich91, AUTHOR = "Elaine Rich and Kevin Knight", TITLE = "Artificial Intelligence", PUBLISHER = "McGraw-Hill", ADDRESS = "New York, New York", YEAR = "1991", } @BOOK{Risken89, AUTHOR = "H. Risken", TITLE = "The {F}olker-{P}lanck Equation: Methods of Solution and Application", PUBLISHER = "Springer-Verlag", YEAR = "1989", VOLUME = "18", SERIES = "{S}pringer Series in Synergetics", } %%RO @INPROCEEDINGS{RobertsonCorazziniHow98, AUTHOR = "Andrew Robertson, Tobe Corazzini and Jonathan How", TITLE = "Formation Sensing and Control Technologies for a Separated Spacecraft Interferometer", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1998", ADDRESS = "Philadelphia, PA", PAGES = "1574--1580", MONTH = "June", ABSTRACT = " Location: Ref DB 11 Keywords: Formation Flying, Interferometry, GPS sensing technology, Comments: This paper describes the Stanford testbed for testing sensing and control technolgies for formation flying. Indoor Carrier-Differential phase GPS sensors are used for rough (2cm) spacecraft alignment, and a laser pen with vision sensor is used for fine (1cm) alignment. A phase plane switching control is used for course control using on/off thrusters, and PD control is used for fine control using momentum wheels. Good accuracy result are obtained. The main contribution is the sensing technologies. In this paper, a leader-following approach is used between two spacecraft. ", } @INPROCEEDINGS{RobertsonInalhanHow99, AUTHOR = "Andrew Robertson and Gokhan Inalhan and Jonathan P. How", TITLE = "Formation Control Strategies for a Separated Spacecraft Interferometer", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1999", ADDRESS = "San Diego", MONTH = "June", ABSTRACT = " Location: Ref DB 12 Keywords: formation flying, interferometers, fuel optimal control, time optimal control, control architectures for formation flying approximately optimal control, Comments: This paper describes some initial control work on the formation flying testbed at Stanford. For a single spacecraft (testbed) three different controls are compared: truncated PD control, fuel-time optimal control, and a numerically computable approximation to the fuel-time optimal control. A deadband is included to allow for the epsilon ball around the desired spacecraft accuracy. The result is extended to two vehicles (although its not explained how and its not obvious). Results for multiple vehicles are not reported. Simple leader-follower control architectures are discussed. Also a simple scheme for formation translation and rotation using linear programming are also discussed. ", } @INPROCEEDINGS{RobertsonInalhanHow99a, AUTHOR = "Andrew Robertson and Gokhan Inalhan and Jonathan P. How", TITLE = "Spacecraft Formation Flying Control Design for the {ORION} Mission", BOOKTITLE = "Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit", YEAR = "1999", ORGANIZATION = "American Institute of Aeronautics and Astronautics", ADDRESS = "Portland, OR", PAGES = "1562--1575", MONTH = "August", NOTE = "Paper no. AIAA-99-4266", ABSTRACT = " Location: Ref DB 12 Keywords: formation control, fuel minimization, control architecture, linear programming, formation planning, leader-following, behavioral approach, on-off thrusters, Comments: This paper describes some to the activities of the Stanford group in formation flying. The paper has several components. First they describe multi-vehicle station keeping using on-off thrusters. They design a fuel optimal control with standard techniques. The control laws are applicable for up to three agents. They present another technique using Inverse Dynamic Optimization. The paper also introduces a new control architecture that is very similar to the one that we proposed. The architecture uses accomodates centralized (like virtual structure), leader-following, and absolute (like behavioral). They conclude that the architecture plays a key role in the performance of the formation. The paper also develops a formation planner that is in charge of moving the formation while conserving fuel. They solve the fuel minimization problem with a linear programming approach. The equalization is very poor. ", } @ARTICLE{RobinettEtAl97, AUTHOR = "Rush D. Robinett and Gordon G. Parker and Hanspeter Schaub and John L. Junkins", TITLE = "{L}yapunov Optimal Saturated Control for Nonlinear Systems", JOURNAL = "Journal of Guidance, Control and Navigation", YEAR = "1997", VOLUME = "20", NUMBER = "6", PAGES = "1083--1088", MONTH = "November-December", } @MISC{RoboCup, TITLE = "The Robot World Cup Initiative", HOWPUBLISHED = "http://www.robocup.org", ABSTRACT = " Location: Web Keywords: Robot soccer senior projects Comments: A web link to the RoboCup initiative. ", } @ARTICLE{RosenLuus92, AUTHOR = "O. Rosen and R. Luus", TITLE = "Global Optimization Approach to Nonlinear Optimal Control", JOURNAL = JOTA, YEAR = "1992", VOLUME = "73", NUMBER = "3", PAGES = "547--562", MONTH = "June", ABSTRACT = " Location: ref DB 2 Keywords: Nonlinear Optimal Control, Nonlinear Programming, Global Optimization Comments: To determine the optimum in nonlinear optimal control problems, it is proposed to convert the continuous problems into a form suitable for nonlinear grogramming (NLP). Since the resulting finite-dimensional NLP problems can present multiple local optima, a global optimization approach is developed where random starting conditions are improved by using special line searches. The effficiency, speed, and reliablility of the proposed approach is examined by using two examples. ", } @BOOK{Ross88, AUTHOR = "Sheldon Ross", TITLE = "A First Course in Probability", PUBLISHER = "Macmillan", YEAR = "1988", } @BOOK{Roxin89, EDITOR = "Emilio O. Roxin", TITLE = "Modern Optimal Control", PUBLISHER = "Marcel Dekker, Inc.", YEAR = "1989", VOLUME = "119", SERIES = "Lecture Notes in Pure and Applied Mathematics", ABSTRACT = " Location: RBI Library Keywords: Optimal Control, Geometric approach to control, Lie algebra, nonlinear control theory Comments: ", } @ARTICLE{Rozonoer59a, AUTHOR = "L. I. Rozonoer", TITLE = "{L}. {S}. {P}ontryagin Maximum Principle in the Theory of Optimum Systems. I", JOURNAL = ARC, YEAR = "1959", VOLUME = "20", NUMBER = "10", PAGES = "1288--1302", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Maximum Principle, Linear Systems Comments: Questions are discussed, which are associated with the proof and use of the L. S. Pontryagin maximum principle in the theory of optimum systems. The work also contains some new results. The problem of optimization for the case of a free right end of a trajectory is examined in the first part of the work. In the second part, the maximum principle is formulated for boundary conditions of a more general type. The connection between the method of dynamic programming and the maximum principle is established in the third part; a method of solving optimization problems in linear discrete systems is given, and a number of considerations concerning the use of the maximum principle in the solution of a definite class of problems associated with the theory of dynamic accuracy of control systems are also discussed. ", } @ARTICLE{Rozonoer59b, AUTHOR = "L. I. Rozonoer", TITLE = "{L}. {S}. {P}ontryagin Maximum Principle in the Theory of Optimum Systems. II", JOURNAL = ARC, YEAR = "1959", VOLUME = "20", NUMBER = "11", PAGES = "1405--1421", } @ARTICLE{Rozonoer59c, AUTHOR = "L. I. Rozonoer", TITLE = "The Maximum Principle of {L}. {S}. {P}ontryagin in the Theory of Optimum Systems. III", JOURNAL = ARC, YEAR = "1959", VOLUME = "20", NUMBER = "12", PAGES = "1517--1532", } @ARTICLE{Rugh71, AUTHOR = "Wilson J. Rugh", TITLE = "System Equivalence in a Class of Nonlinear Optimal Control Problems", JOURNAL = TAC, YEAR = "1971", VOLUME = "16", PAGES = "189--194", MONTH = "April", ABSTRACT = " Location: ref DB 4 Keywords: Nonlinear, Optimal, Equivalence, Series solution to HJB equation, suboptimal control, Synthesis method Comments: In a family of nonlinear optimal control problems, equivalence classes of problems that yield identical optimal closed-loop systems are delineated. The equivlence relations are established as one-to-one correspondences between the solutions of the Hamilton-Jacobi equations associated with the problems. Two such equivalence relations are presented. These allow an arbitrary problem in the family to be reduced to an equivalent basic standard form of problem. Also, a new formal procedure for solving this basic problem is given that allows the determination of coefficients in the series expansion of the optimal closed-loop system. The set of algebraic equations to be solved is considerably simpler than that derived by other methods. ", } @BOOK{Rugh96, AUTHOR = "Wilson J. Rugh", TITLE = "Linear System Theory", PUBLISHER = "Prentice Hall", YEAR = "1996", ADDRESS = "Englewood Cliffs, New Jersey", EDITION = "2nd", ABSTRACT = " Location: Shelf Keywords: Comments: ", } @ARTICLE{Ryan84, AUTHOR = "E. P. Ryan", TITLE = "Optimal Feedback Control of Bilinear Systems", JOURNAL = JOTA, YEAR = "1984", VOLUME = "44", NUMBER = "2", PAGES = "333--362", MONTH = "October", ABSTRACT = " Location: Ref DB 2 Keywords: Bilinear control systems, Optimal feedback control, band-bang control, saturating control, stabilizing control, inverse optimal control, suboptimal control Comments: Feedback synthesis of optimal constrained controls for single-input bilinear systems is considered. Quadratic cost functionals (with and without quadratic control penalization) are modified by the inclusion of additional nonnegative state penalizing function in the respective cost integrands. The latter functions are chosen so as to regularize the problem, in the sense that feedback solutions of particularly simple form are obtained. Finite and infinite time horizon problem formulations are treated, and associated aspects of feedback stabilization of bilinear systems are discussed. ", } %%S @INPROCEEDINGS{SackmannKrebs00, AUTHOR = "Martin S. Sackmann and Volker G. Krebs", TITLE = "Modified Optimal Control: A Universal Design Method for Optimization and Global Asymptotic Stabilization", BOOKTITLE = "Proceedings of the IEEE Conference on Decision and Control", YEAR = "2000", NOTE = "In Review.", ABSTRACT = " Location: Ref DB 13 Keywords: optimal control modified optimal control universal formulas nonlinear H-infinity control spacecraft stabilization gain margins inverse optimal control Comments: This paper presents the idea of `modified optimal control' which is claimed to be a generalization of both optimal control and inverse optimal control. The resulting control law looks surprisingly similar to our satisficing control law in that it is an $L_G V$ control with a state-valued scalar modification. The control is derived by solving the scalar optimal control problem associated with the system $\dot{V} = L_f V + L_G V u$. The interesting thing is that the cost function to be minimized can be chosen a priori. Extensions to nonlinear $H_\infty$ control is also discussed. ", } @BOOK{SageWhite77, AUTHOR = "Andrew P. Sage and Chelsea C. {White III}", TITLE = "Optimum Systems Control", PUBLISHER = "Prentice Hall", YEAR = "1977", EDITION = "$2^{\text{nd}}$", ADDRESS = "Englewood Cliffs, New Jersey", } @ARTICLE{SalehiRyan84, AUTHOR = "S. V. Salehi and E. P. Ryan", TITLE = "Optimal Nonlinear Feedback Regulation of Spacecraft Angular Momentum", JOURNAL = "Optimal Control Applications and Methods", YEAR = "1984", VOLUME = "5", PAGES = "101--110", ABSTRACT = " Location: ref DB 1 Keywords: Optimal Control, Nonlinear feedback, Spacecraft, angular momentum, regulation, flywheel, momentum jets Comments: Optimal non-linear feedback laws are presented for the regulation of spacecraft angular momentum by using flywheels and by using fixed on-off reaction jets. The control law for the flywheels takes the form of a linear combination of functions of the state, each positively homogeneous of degree 2p-1 (p>1/2); whereas the control law for the reaction jets is of bang-bang form. The range (of the initial disturbance) over which the flywheels are capable of regulation the system and the problem of momentum dumping are also discussed with regard to flywheel saturation constraints. Finally, a control scheme combining the merits of reaction jets and flywheels is proposed. ", } @ARTICLE{Samson95, AUTHOR = "Claude Samson", TITLE = "Control of Chained Systems, Application to Path Following and Time-Varying Point-Stabilization of Mobile Robots", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "1", PAGES = "64--77", MONTH = "January", } @BOOK{SamsonLeBorgneEspiau91, AUTHOR = "Claude Samson and Michel {Le {B}orgne} and Bernard Espiau", TITLE = "Robot Control: A Task Function Approach", PUBLISHER = "Oxford Science Publications", YEAR = "1991", ABSTRACT = " Location: Ref DB 11 Keywords: Quaternions, skrews geodesic metric on SO(3) Comments: Chapter 1 of the book is kept on file. The book is in the library. This chapter gives a good overview of quaternions. It also introduces the geodesic metric on SO(3) and show that this is given by the rotation angle of the quaternion. ", } @ARTICLE{Sandell74, AUTHOR = "Nils R. Sandell", TITLE = "On {N}ewton's Method for {R}iccati Equation Solution", JOURNAL = TAC, YEAR = "1974", VOLUME = "19", PAGES = "254--255", MONTH = "June", ABSTRACT = " Location: Ref DB 1 Keywords: Riccati Equation, Iterative Solution, Newton's Method, Optimal control Comments: The purpose of this note is to point out the assumptions of two theorems of Kleinman concerning Newton's method for the Riccati equation can be weakened. ", } @INPROCEEDINGS{SandersEtAl98, AUTHOR = "Christopher P. Sanders and Paul A. DeBitetto and Eric Feron and Hon Fai Vuong and Nancy Leveson", TITLE = "Hierarchical Control of Small Autonomous Helicopters", BOOKTITLE = "Proceedings of the 37th IEEE Conference on Decision and Control", YEAR = "1998", ADDRESS = "Tampa, Florida", PAGES = "3629--3634", MONTH = "December", ABSTRACT = " Location: Ref DB 13 Keywords: helicopter autopilot hierarchical control Comments: This paper describes, in high level terms, a hierarchical automatic control system for a model helicopter. The control system is hierarchical, with lower levels stabilizing the helicopter and higher levels providing guidance. The sensor package is described briefly. An EKF is used to process the sensor information. ", } @ARTICLE{Sanderson98, AUTHOR = "Arthur C. Sanderson", TITLE = "A Distributed Algorithm for Cooperative Navigation Among Multiple Mobile Robots", JOURNAL = "Advanced Robotics", YEAR = "1998", VOLUME = "12", NUMBER = "4", PAGES = "335--349", ABSTRACT = " Location: Ref DB 11 Keywords: Mobile robots, multiple robots, multiple sensors, interrobot sensing, coordination, cooperative navigation, Kalman filter Comments: This paper derives a Kalman filter that uses inter-robot sensors to improve the sensing accuracy of each robot. Each robot uses the relative position of its neighbors and their estimated position (which must be communicated) to improve the estimate of their position. Robot dynamics are not used. The idea is a good one and we should explore its use in the MAGICC lab. ", } @TECHREPORT{SargentBaileyWittyWright96, AUTHOR = "Randy Sargent and Bill Bailey and Carl Wright", TITLE = "The Importance of Fast Vision in Winning the First Micro-Robot Worl Cup Soccer Tournament", INSTITUTION = "Newton Research Labs", YEAR = "1996", ADDRESS = "Bellevue, WA 98007", NOTE = "available at http://www.newtonlabs.com/soccer/download.html", ABSTRACT = " Location: Ref DB 13 Keywords: Robot soccer senior project computer vision Newton labs back emf Comments: This paper describes the robot soccer team build by Newton Labs which won the 1996 MIROSOT Micro robot world cup soccer tournament. The focus is on the vision systems, but the paper offers a number of other helpful hints like using the back EMF of the motors as a sensor. ", } @ARTICLE{SaridisBalaram86, AUTHOR = "G. N. Saridis and J. Balaram", TITLE = "Suboptimal Control for Nonlinear Systems", JOURNAL = "Control Theory and Advanced Technology", YEAR = "1986", VOLUME = "2", NUMBER = "3", PAGES = "547--562", MONTH = "September", ABSTRACT = " Location: Ref DB 1 Keywords: approximation theory, suboptimal control, nonlinear control, optimal control, Comments: ", } @ARTICLE{SaridisLee79, AUTHOR = "George N. Saridis and Chun-Sing G. Lee", TITLE = "An Approximation Theory of Optimal Control for Trainable Manipulators", JOURNAL = TSMC, YEAR = "1979", VOLUME = "9", NUMBER = "3", PAGES = "152--159", MONTH = "March", ABSTRACT = " Location: Ref DB 1 Keywords: Approximation theory, nonlinear control, suboptimal control, optimal control, regulator, Comments: ", } @ARTICLE{SaridisWang94, AUTHOR = "George N. Saridis and F.Y. Wang", TITLE = "Suboptimal Control of Nonlinear Stochastic Systems", YEAR = "1994", JOURNAL = "Control Theory and Advanced Technology", VOLUME = "10", NUMBER = "4", PAGES = "847--871", MONTH = "December", ABSTRACT = " Location: shelf Keywords: Approximation theory, Stochastic systems, suboptimal control, nonlinear systems, Hamilton-Jacobi-Bellman equation Comments: Theoretical procedures are developed for camparing the performance of arbitrarily selected admissible feedback controls amoung themselves with the optimal solution of a nonlinear optimal stochastic control problem. Iterative design schemes are proposed for successively improving the performance of a controller until a satisfactory design is achieved. Specifically, the exact design procedure is based on the generalized Hamilton-Jacobi-Bellman equation of the cost function of nonlinear stochastic systems, and teh approximate design procedure for the infinite-time nonlinear stochastic regulator problem, is developed by using the upper and lower bounds of the cost functions. Stability of this problem is also considered. For a given controller, both the upper and lower bounds to its cost function can be obtained by solving a partial differential inequality. These bounds, constructed without actually knowing the optimal controller, are used as measure to evaluate the acceptability of suboptimal controllers. These results establish an approximation theory of optimal stochastic control and provide a practical procedure for selecting effective practical controls for nonlinear stochastic systems. An Entropy reformulation of the Generalized Hamilton-Jacobi-Bellman equation is also presented. ", } @ARTICLE{SastryDesoer82, AUTHOR = "S. S. Sastry and C. A. Desoer", TITLE = "The Robustness of Controllability and Observability of Linear Time-Varying Systems", JOURNAL = TAC, YEAR = "1982", VOLUME = "27", NUMBER = "4", PAGES = "933--939", MONTH = "August", } @INPROCEEDINGS{SastryEtAl95, AUTHOR = "S. Sastry and G. Meyer and C. Tomlin and J. Lygeros and D. Godbole and G. Pappas", TITLE = "Hybrid Control in Air Traffic Management Systems", BOOKTITLE = "Proceedings of the 34th {IEEE} Conference on Decision and Control", YEAR = "1995", ADDRESS = "New Orleans", PAGES = "1478--1483", ABSTRACT = " Location: Ref DB 13 Keywords: hybrid systems air traffic control hierarchical control coordinated control multi-agent control Comments: This paper proposes a hybrid hierarchical control architecture for air traffic management systems. The architecture that is proposed is similar, in a sense, to that proposed for formation flying in~\cite{BeardLawtonHadaegh99}. In particular, the low level regulation of each spacecraft is distributed, while high level planning is more centralized. One of the differences is that coordination between aircraft is handled by discrete event and hybrid levels, whereas in~\cite{BeardLawtonHadaegh99} coordination is managed by a continuous time system. ", } %%SC @ARTICLE{Schultz69, AUTHOR = "Martin H. Schultz", TITLE = "The {G}alerkin Method for Nonself-adjoint Differential Equations", JOURNAL = "Journal of Mathematical Analysis and Applications", YEAR = "1969", VOLUME = "28", PAGES = "647--651", ABSTRACT = " Location: Ref DB 2 Keywords: Galerkin method, nonself-adjoint differential equations, nonsymmetri, error bounds, convergence Comments: The purpose of this paper is to study the Galerkin method for a class of nonself-adjoint, nonlinear two-point boundary value problems. This extends the results of [1], [2], [3], and [5] which considered the self-adjoint case. in particular, we show that the Galerkin method is well-defined for our class of problems and derive an error bound for the method. ", } @ARTICLE{Schultz69a, AUTHOR = "Martin H. Schultz", TITLE = "Error Bounds for the {R}ayleigh-{R}itz-{G}alerkin Method", JOURNAL = "Journal of Mathematical Analysis and Applications", YEAR = "1969", VOLUME = "27", PAGES = "524--533", ABSTRACT = " Location: Ref DB 2 Keywords: Rayleigh Ritz Galerkin Method, error bounds, symmetric, self-adjoint, linear operators, best approximation, nonlinear operators, Hilbert space Comments: Error bounds, in terms of approximation theory, for the Rayleigh-Ritz-Galerkin method for approximating the solution of boundary value problems for linear and quasilinear elliptic partial differential equations have been given in a number of recent papers, cf. [1], [2], [3], [5], [9], [11], and [12]. The above problems and approximation method may be view in a Hilbert space setting. ", } @ARTICLE{Schultz69b, AUTHOR = "Martin H. Schultz", TITLE = "{R}ayleigh-{R}itz-{G}alerkin Methods for Multidimensional Problems", JOURNAL = "{SIAM} Journal of Numerical Analysis", YEAR = "1969", VOLUME = "6", NUMBER = "4", PAGES = "523--538", MONTH = "December", ABSTRACT = " Location: Ref Db 7 Keywords: Rayleigh-Ritz Method Galerkin Method Multidimensional Problems Comments: ", } @ARTICLE{SchwarzEtal93, AUTHOR = "K. P. Schwarz and M. A. Chapman and M. W. Cannon and P. Gong", TITLE = "An Integrated {INS/GPS} Approach to the Georeferencing of Remotely Sensed Data", JOURNAL = "Photogrammetric Engineering \& Remote Sensing", YEAR = "1993", VOLUME = "59", NUMBER = "11", PAGES = "1667--1674", MONTH = "November", ABSTRACT = " Location: Ref DB 9 Keywords: INS, Inertial Navigation Systems, GPS, Global Positioning Systems, Remote Sensing, Kalman Filter, Motion estimation. Comments: ", } @ARTICLE{ScoleseFoltaBordi91, AUTHOR = "Christopher Scolese and David Folta and Francesco Bordi", TITLE = "Field of View Location and Formation Flying for Polar Orbiting Missions", JOURNAL = "Advances in the Astronautical Sciences: Proceedings of the AAS/AIAA Spaceflight Mechanics Meeting", YEAR = "1991", VOLUME = "75", NUMBER = "2", PAGES = "949--966", ABSTRACT = " Location: Ref DB 10 Keywords: Formation Flying, Earth Orbit, Simultaneous observations, attitude uncertainties, ballistic coefficients, polar-orbiting spacecraft, Comments: This paper considers two spacecraft for formation flying in a polar orbit. The paper looks at the attitude pointing requirements for making two satellites look at the same spot on the earth. They conclude that as of 1991, the technology is not available to make formation flying feasible for their application. The paper lists additional reasons for wanting to do formation flying: namely to improve instrument accuracies, it is necessary to reduce biases by observing, with multiple instruments, the same area on Earth through the same atmosphere. ", } %%SE @BOOK{Sedgewick88, AUTHOR = "Robert Sedgewick", TITLE = "Algorithms", PUBLISHER = "Addison-Wesley", YEAR = "1988", EDITION = "2nd", ABSTRACT = " Location: Shelf Keywords: Algorithms Comments: ", } @INPROCEEDINGS{SedwickKongMiller98, AUTHOR = "R. J. Sedwick and E. M. C. Kong and D. W. Miller", TITLE = "Exploiting Orbital Dynamics and Micropropulsion for Aperature Synthesis Using Distributed Satellite Systems: Applications to {TECHSAT}~21", BOOKTITLE = "Proceedings of the Defense \& Civil Space Programs Conference and Exhibit", YEAR = "1998", ORGANIZATION = "American Institute of Aeronautics and Astronautics, Inc.", ADDRESS = "Huntsville, AL", PAGES = "1--8", MONTH = "October", NOTE = "Paper no. AIAA-98-5289", ABSTRACT = " Location: Ref DB 12 Keywords: Formation flying satellites orbital dynamics techsat 21 micro thrusters environmental effects moving target indication Comments: This is an excellent paper analyzing the required $\Delta V$ to keep a satellite in orbit due to perturbative effects. Also, the paper calculates the required fuel expenditure to maintain planar and non-planar satellite formations. The authors also introduce some interesting metrics for chosing different formations. In particular the metrics have to do with the ability to synthesize good aperatures using the formation flying concept. The paper also gives a good explanation of both Fizeau and Michelson interferometry. ", } @ARTICLE{SeereeramWen95, AUTHOR = "Sanjeev Seereeram and John T. Wen", TITLE = "A Global Approach to Path Planning for Redundant Manipulators", JOURNAL = "Transactions on Robotics and Automation", YEAR = "1995", VOLUME = "11", NUMBER = "1", PAGES = "152--160", MONTH = "February", ABSTRACT = " Location: Shelf Keywords: path planning, robot arms, John Wen's algorithm, Comments: This paper describes the application of John Wen's algorithm to path planning for redundant manipulators. ", } @MANUAL{seminarManual, TITLE = "seminar.sty: A \LaTeX style for slides and notes: User's Guide", AUTHOR = "Timothy {Van Zandt}", ADDRESS = "tvz@princeton.edu", EDITION = "1.0", MONTH = "April", YEAR = "1993", ABSTRACT = " Location: ref DB 4 Keywords: seminar, slides, LaTeX, notes, manual Comments: ", } @BOOK{SepulchreJankovicKokotovic97, AUTHOR = "R. Sepulchre and J. Jankovic and P. Kokotovic", TITLE = "Constructive Nonlinear Control", PUBLISHER = "Springer-Verlag", YEAR = "1997", ADDRESS = "New York", ABSTRACT = " Location: BYU library Keywords: clf inverse optimality robustness margins Comments: ", } %%SH @INPROCEEDINGS{Shahzad, AUTHOR = "Shahzad Khaligh and Hussein M. Youssef", TITLE = "${H}_\infty$ Controller Design for Nonlinear Systems", BOOKTITLE = "Proceedings of the American Control Conference", YEAR = "1997", ADDRESS = "Albuquerque, NM", } @ARTICLE{ShammaAthans90, AUTHOR = "Jeff S. Shamma and Michael Athans", TITLE = "Analysis of Gain Scheduled Control for Nonlinear Plants", JOURNAL = TAC, YEAR = "1990", VOLUME = "35", NUMBER = "8", PAGES = "898--907", MONTH = "August", ABSTRACT = " Location: Ref DB 7 Keywords: Gain Scheduling, nonlinear control, reference trajectory, plant output Comments: ", } @ARTICLE{ShammaAthans92, AUTHOR = "Jeff S. Shamma and Michael Athans", TITLE = "Gain Scheduling: Potential Hazards and Possible Remedies", JOURNAL = "Control Systems Magazine", YEAR = "1992", VOLUME = "12", NUMBER = "3", PAGES = "101--107", MONTH = "June", ABSTRACT = " Location: shelf Keywords: Gain Scheduling Linear Parameter varying Comments: A common gain scheduling rule of-thumb is to schedule on a slow variable. Current gain scheduling practise is necessarily limited to slow variations in the scheduling variable. These limitations are revealed to be consquences of fundamental control concepts. Furthermore, it is shown how a reformulation of the gain scheduling procedure can lead towards ultimately removing these restrictions. ", } @ARTICLE{ShampineReichelt97, AUTHOR = "Lawrence F. Shampine and Mark W. Reichelt", TITLE = "{MATLAB ODE SUITE}", JOURNAL = "{SIAM} Journal on Scientific Computing", YEAR = "1997", VOLUME = "18", NUMBER = "1", PAGES = "1--22", MONTH = "January", ABSTRACT = " Location: Ref DB 4 Keywords: Matlab, ode, ordinary differential equations, stiff, BDF, Gear method, Rosenbrock method, non-stiff, Runge-Kutta, Adams method, Comments: This paper describes mathematical and software development for a suite of programs for solving ordinary differential equations in Matlab. ", } @ARTICLE{SheikholeslamDesoer92, AUTHOR = "Shahab Sheikholeslam and Charles A. Desoer", TITLE = "Control of Interconnected Nonlinear Dynamical Systems: The Platoon Problem", JOURNAL = TAC, YEAR = "1992", VOLUME = "37", NUMBER = "6", PAGES = "806--810", MONTH = "June", ABSTRACT = " Location: Ref DB 11 and shelf Keywords: automated highways coordinated control leader following platoons decentralized control singular perturbation time-scale differences Comments: This paper describes a leader-following approach to the platoon problem in intelligent highways. The the authors claim that their approach is decentralized, the approach is not decentralized in the same sense as we are using. The velocity and acceleration of the platoon leader are communicated to each vehicle. Each vehicle the responds based on the its own state (position, velocity, and acceleration) and the state of the vehicle in front of it. The coordination variable is the velocity and acceleration variable of the leader and the state of the vehicle in front, a sort of combination of standard leader following and the behavioral approach. As an interesting note, the authors claim that there are two important aspects for this type of design: (1) the graph of the interconnection (a lot of attention in formation flying) and (2) the time-scale separation in the dynamics (very little attention in formation control). ", } @ARTICLE{ShimByunSeo99, AUTHOR = "H. Shim and J. Byun and Jin H. Seo", TITLE = "Comments on ``Observers for Nonlinear Systems in Steady State''", JOURNAL = TAC, YEAR = "1999", VOLUME = "44", NUMBER = "3", PAGES = "587", MONTH = "March", ABSTRACT = " Location: Shelf Keywords: Nonlinear Observers Comments: This paper contains are correction to Lemma 2.2 in \cite{HuntVerma94}. ", } @INPROCEEDINGS{SchumacherSingh00, AUTHOR = "Corey Schumacher and Sahjendra N. Singh", TITLE = "Nonlinear Control of Multiple {UAV}s in Close-Coupled Formation Flight", BOOKTITLE = "AIAA Guidance, Navigation, and Control Conference", YEAR = "2000", ORGANIZATION = "American Institute of Aeronautics and Astronautics", ADDRESS = "Denver, CO", MONTH = "August", NOTE = "Paper no. AIAA~2000-4373", ABSTRACT = " Location: Ref DB 14 Keywords: formation flight UAV leader following dynamic inversion controller sliding mode neural network Comments: This paper describes a two level autopilot for both lead and wing vehicles flying in close-coupled formation. The outer loop uses a sliding mode controller and commands angular rates $p$, $q$, and $r$. The inner loop uses a dynamic inversion controller assuming perfect models, and then uses a neural network to compensate for the errors. Details are sketchy. The paper claims that the closed loop is guaranteed to be stable (but does not contain a proof). ", } @ARTICLE{Shuster93, AUTHOR = "Malcolm D. Shuster", TITLE = "A Survey of Attitude Representations", JOURNAL = "The Journal of the Astronautical Sciences", YEAR = "1993", VOLUME = "41", NUMBER = "4", PAGES = "439--517", MONTH = "October--December", ABSTRACT = " Location: Ref DB 12 Keywords: Attitude Representations Comments: This article gives an overview of the different types of attitude representations. ", } %%SI @BOOK{Sidi97, AUTHOR = "Marcel J. Sidi", TITLE = "Spacecraft Dynamics and Control", PUBLISHER = "Cambridge University Press", ADDRESS = "New York", YEAR = "1997", SERIES = "Cambridge Aerospace Series", } @ARTICLE{Singh95, AUTHOR = "Tarunraj Singh", TITLE = "Fuel/Time Optimal Control of the Benchmark Problem", JOURNAL = "AIAA Journal of Guidance, Control and Dynamics", YEAR = "1995", VOLUME = "18", NUMBER = "6", PAGES = "1225--1231", MONTH = "November", ABSTRACT = " Location: Ref DB 10 Keywords: Time optimal Fuel optimal optimal control mass spring system bang bang control bang off bang control frequency domain approach to optimal control Comments: Design of fuel/time optimal contro of the benchmark two-mass/spring system is addressed in the frequency domain. The optimal control projile is represented as the output of a time-delay filter, where the amplitude of the time-delayed signals are constrainted to satisfy the control bounds. ... ", } @ARTICLE{SjobergEtal95, AUTHOR = "Jonas Sjoberg and Quighua Zhang and Lennart Ljung and Albert Benveniste and Bernard Delyon and Pierre-Yves Glorennec and Hakan Hjalmarsson and Anatoli Juditsky", TITLE = "Nonlinear Black-box Modeling in System Identification: a Unified Overview", JOURNAL = "Automatica", YEAR = "1995", VOLUME = "31", NUMBER = "12", PAGES = "1691--1724", MONTH = "December", ABSTRACT = " Location: ref DB 7 Keywords: Nonlinear Systems; model structures; parametric estimation; wavelets; neural networks; fuzzy modeling; nonlinear system identification; black-box modeling Comments: Model structures, algorithms and recommendations are presented in a general framework and users questions for identification of dynamical systems are specially addressed. ", } @BOOK{SlotineLi91, AUTHOR = "Jean-Jacques E. Slotine and Weiping Li", TITLE = "Applied Nonlinear Control", PUBLISHER = "Prentice Hall", YEAR = "1991", ADDRESS = "Englewood Cliffs, New Jersey", } @ARTICLE{SmithDavis81, AUTHOR = "Reid G. Smith and Randall Davis", TITLE = "Frameworks for Cooperation in Distributed Problem Solving", JOURNAL = "IEEE Transactions on Systems, Man, and Cybernetics", YEAR = "1981", VOLUME = "11", NUMBER = "1", PAGES = "61--70", MONTH = "January", ABSTRACT = " Location: Ref DB 13 Keywords: Cooperation, Parallel computing distributed problem solving task sharing result sharing Comments: This paper describes two methods for coordinating multiple computing nodes in distributed networks. They assume decentralized, meaning that data and control is distributed, and loosely coupled meaning that individual units spend more time computing than communicating. The two frameworks for coordination are `task-sharing' and `result-sharing'. In task sharing, the problem is decomposed into smaller problems which are distributed amoung the different processers. In result sharing, the problem is not easily decomposed into subproblems, but individual agents must communicate their partial results so that the entire group can converge to a solution. ", } %%SO @BOOK{Soeterboek92, AUTHOR = "Ronald Soeterboek", TITLE = "Predictive Control: A Unified Approach", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1992", } @ARTICLE{Sontag83, AUTHOR = "Eduardo D. Sontag", TITLE = "A {L}yapunov-Like Characterization of Asymptotic Controllability", JOURNAL = SIAM, YEAR = "1983", VOLUME = "21", NUMBER = "3", PAGES = "462--471", MONTH = "May", ABSTRACT = " Location: Ref DB 13 Keywords: Control Lyapunov function (clf) asymptotic controllability Comments: This paper is the first to introduce the notion of a control Lyapunov function, although it is not called such in the paper. Sontag shows that a clf exists iff the system is asymptotically controllable, i.e., iff there exists a feedback control law that drives the system states to the origin. Historically, this is an important paper. This paper estabilishes both necessary and sufficient conditions. The sufficient conditions are fairly simple, but necessary conditions require that $V$ does not necessarily need to be some, only continuous. ", } @ARTICLE{Sontag89, AUTHOR = "Eduardo D. Sontag", TITLE = "Smooth Stabilization Implies Coprime Factorization", JOURNAL = TAC, YEAR = "1989", VOLUME = "34", NUMBER = "4", PAGES = "435--443", MONTH = "April", ABSTRACT = " Location: Ref DB 13 Keywords: Input to State Stability Input Output Stability Smooth Stabilization Coprime Factorization Feedback linearization Comments: This paper is the first to present the concept of input-to-state stability (ISS). The context in which this is presented is to show that if a nonlinear system can be stabilized by a smooth state feedback, then it admits a coprime factorization. An additional result that is shown is that smooth stabilizability implies smooth input-to-state stabilizability. This is probably the more important result even though it was not the main objective of the paper. ", } @ARTICLE{Sontag89a, AUTHOR = "Eduardo D. Sontag", TITLE = "A `Universal' Construction of {A}rtstein's Theorem on Nonlinear Stabilization", JOURNAL = "System \& Control Letters", YEAR = "1989", VOLUME = "13", PAGES = "117--123", ABSTRACT = " Location: Ref DB 13 Keywords: clf control Lyapunov functions input-to-state stability smooth stabilization Sontag's formula small control property Comments: This paper is the first place that I know of where clf's are called clf's. Using a clf, the so-called `Sontag' formula is derived and it is shown that it stabilizes the system. Also, the concept of a clf having the `small control property' is introduced. ", } @BOOK{Sontag90, AUTHOR = "E. D. Sontag", TITLE = "Mathematical Control Theory: Deterministic Finite Dimensional Systems", PUBLISHER = "Springer Verlag", YEAR = "1990", } @BOOK{Sontag98, AUTHOR = "Eduardo D. Sontag", TITLE = "Mathematical Control Theory: Deterministic Finite Dimensional Systems", PUBLISHER = "Springer", YEAR = "1998", VOLUME = "6", SERIES = "Texts in Applied Mathematics", ADDRESS = "New York", EDITION = "second", ABSTRACT = " Location: Shelf Keywords: Comments: ", } @INCOLLECTION{Sontag99, AUTHOR = "Eduardo D. Sontag", TITLE = "Control-Lyapunov Functions", BOOKTITLE = "Open Problems in Mathematical Systems and Control Theory", PUBLISHER = "Springer", YEAR = "1999", EDITOR = "Vincent D. Blondel and Eduardo D. Sontag and M. Vidyasagar and Jan C. Willems", SERIES = "Communications and Control Engineering", CHAPTER = "40", PAGES = "211--216", ABSTRACT = " Location: Ref DB 13 Keywords: Control Lyapunov functions clf stabilizing control nonsmooth analysis null-asymptotic stability Comments: This brief note describes some of the current open problems with control-Lyapunov functions. Two problems are listed: Problem 1: ``Find universal formulas for CLF stabilization, for general (convex) control-value sets $\mathbb{U}$. Sontag's univeral formula holds for unrestricted control-values. The problem is to find formula that hold for convex restrictions. Problem 2: How smooth do clf's need to be. As stated in this note, all that is required for stabilization is continuity. But is it sufficient to allow piecewise differentiability? ", } @ARTICLE{SontagTeel95, AUTHOR = "Eduardo Sontag and Andrew Teel", TITLE = "Changing Supply Functions in Input/State Stable Systems", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "8", PAGES = "1476--1478", MONTH = "August", ABSTRACT = " Location: shelf Keywords: input/state stability dissipation cascade system supply function Comments: The system $\dot{x}=f(x,u)$ is input/state stabile if there are two class K functions such that $V_x f(x,u) \leq \gamma(\norm{u}) - \alpha(\norm{x})$. The pair $(\gamma, \alpha)$ is called a supply pair. This paper addresses the question: what are the possible supply pairs? The answer is that is $(\gamma,\alpha)$ are a supply pair, then one can arbitrarily modify $\alpha$ for large arguments, and a similar conclusion applies to $\gamma$ for small arguments. ", } @ARTICLE{SontagWang96, AUTHOR = "Eduardo Sontag and Yuan Wang", TITLE = "New Characterizations of Input-to-State Stability", JOURNAL = TAC, YEAR = "1996", VOLUME = "41", NUMBER = "9", PAGES = "1283--1294", MONTH = "September", ABSTRACT = " Location: Shelf Keywords: Input-to-State Stability, Nonlinear Systems, Bounded Input- Bounded Output Stability, Nonlinear Stability, Stability Concepts Comments: We present new characterizations of th input-to-state stability property. As a consequence of these results, we show the equivalence between the ISS property and several (apparent) variations proposed in the literature. ", } @ARTICLE{SordalenEgeland95, AUTHOR = "O. J. S{\o}rdalen and O. Egeland", TITLE = "Exponential Stabilization of Nonholonomic Chained Systems", JOURNAL = TAC, YEAR = "1995", VOLUME = "40", NUMBER = "1", PAGES = "35--49", MONTH = "January", } @BOOK{SpongVidyasagar89, AUTHOR = "Mark W. Spong and M. Vidyasagar", TITLE = "Robot Dynamics and Control", PUBLISHER = "John Wiley \& Sons, Inc.", YEAR = "1989", } %%ST @UNPUBLISHED{ST3Concept98, AUTHOR = "P. Gorham", TITLE = "{DS-3} Descope Mission Description", NOTE = "Presentation to potential industrial partners detailing the descope of the DS-3 mission found at \hspace{2.0in} ${\tt http://huey.jpl.nasa.gov/rfp\_ds3/descope\_mission\_overview.pdf}$", ABSTRACT = " Comments: Space Technology 3 Mission concept-formerly Deep Space 3 Mission ", } @ARTICLE{Steinberg01, AUTHOR = "Marc L. Steinberg", TITLE = "Comparison of Intelligent, Adaptive, and Nonlinear Flight Control Laws", JOURNAL = JGCD, YEAR = "2001", VOLUME = "24", NUMBER = "4", PAGES = "693--699", MONTH = "July--August", ABSTRACT = " Location: Shelf Keywords: flight control dynamic inversion autopilot indirect adaptive control backstepping adative control neural network variable structure model predictive fuzzy logic genetic algorithms Comments: This paper compares six different nonlinear control strategies to a dynamic inversion controller for flight control of an aircraft. The paper concludes that 'the DI controller was fairly robust, and it was quite challenging to develop other approaches that could consistently improve on its performance. Because the other controllers were all more complex computationally, more labor intensive to design, and would probaly require new approahces for validation, this raises questions about the value of the nonlinear approaches for failly stable, conventional aircraft.' Model predictive controller performed the best but were the most computationally intensive. ", } @ARTICLE{Stephens76, AUTHOR = "A. B. Stephens", TITLE = "The Convergence of the Residual for Projective Approximations", JOURNAL = "SIAM Journal of Numerical Analysis", YEAR = "1976", VOLUME = "13", NUMBER = "4", PAGES = "607--614", MONTH = "September", ABSTRACT = " Location: Ref DB 1 Keywords: Galerkin, Ritz, finite-element, Residual, approximation to partial differential equations Comments: Let $u_n$ denote a projective approximation to the solution $u$ of an operator equation $Au = f$. Some general theorems on the weak and strong convergence of the residual $Au_n - f$ are obtained. The convergence of the residual is studied when $A$ is an elliptic operator and the projection is onto a space of splines. Some nonuniform error estimates are obtained for finite element methods as a corollary. ", } @BOOK{Stevenson82, AUTHOR = "William D. Stevenson", TITLE = "Elements of Power System Analysis", PUBLISHER = "McGraw-Hill", ADDRESS = "New York, New York", YEAR = "1982", } @ARTICLE{StilwellBishop00, AUTHOR = "Daniel J. Stilwell and Bradley E. Bishop", TITLE = "Platoons of Underwater Vehicles", JOURNAL = "IEEE Control Systems Magazine", YEAR = "2000", VOLUME = "20", NUMBER = "6", PAGES = "45--52", MONTH = "December", ABSTRACT = " Location: Shelf /grad1/users/beard/www_docs/papers/others Keywords: formation control coordinated control AUV's communication architecture decentralized control coordination variable Comments: This paper describes an approach to coordinated control of multiple AUVs. The main result of the paper is a lemma that gives a condition on when a fleet of vehicles is controllable. The condition depends upon the communication configuration, and is an interesting lemma. The paper gives an example of controlling the mean and standard variation of a group of AUVs. The mean and standard variation act as the coordination variable for the system, although they don't call it that. The structure described in the paper fits very well into our centralized coordinated control architecture. ", } @BOOK{Stirling02, AUTHOR = "Wynn Stirling", TITLE = "Satisficing Games and Decision Making: With Applications to Engineering and Computer Science", PUBLISHER = "Cambridge University Press", YEAR = "2002", NOTE = "Forthcoming", ABSTRACT = " Location: Keywords: Comments: ", } @Article{StirlingGoodrich99, author = {W. C. Stirling and M. A. Goodrich}, title = {Satisficing Games}, journal = {Information Sciences}, volume = 114, month = "March", year = 1999, pages = "255--280" } @ARTICLE{StirlingMorrell91, AUTHOR = "Wynn C. Stirling and Darryl R. Morrell", TITLE = "Convex Bayes Decision Theory", JOURNAL = "IEEE Transactions on Systems, Man, and Cybernetics", YEAR = "1991", VOLUME = "21", NUMBER = "1", PAGES = "173--183", MONTH = "January/February", ABSTRACT = " Location: Ref DB 13 Keywords: Satisficing Comments: The first paper to introduce and explore the notion of satisficing and epistemic utility theory. ", } @InProceedings{StoneVeloso99, author = {P. Stone and M. Veloso}, title = {Task Decomposition and Dynamic Role Assignment for Real-Time Strategic Teamwork}, booktitle = {Intelligent Agents V - Proceedings of the Fifth International Workshop on Agent Theories, Architectures, and Languages (ATAL'98)}, year = 1999, address = {Heidelberg}, publisher = {Springer Verlag} } @ARTICLE{Stratonovich60, AUTHOR = "R. L. Stratonovich", TITLE = "Conditional {M}arkov Processes", JOURNAL = "Theory of Probability and its Applications", YEAR = "1960", VOLUME = "5", PAGES = "156--178", } %%SU @ARTICLE{SudeSouzaXie99, AUTHOR = "Weizhou Su and Carlos E. {de Souza} and Lihua Xie", TITLE = "${\mathcal{H}}_\infty$ Control for Asymptotically Stable Nonlinear Systems", JOURNAL = TAC, YEAR = "1999", VOLUME = "44", NUMBER = "5", PAGES = "989--993", MONTH = "May", ABSTRACT = " Location: Shelf, Keywords: nonlinear control, H-infinity control, Hamilton-Jacobi-Isaacs equation, suboptimal control, Comments: This paper presents a method for synthesizing nonlinear ${\mathcal{H}}_\infty$ control laws without the need to solve HJI equations. The basic idea is to start with an asymptotically stabilizing control with a given Lyapunov function, and then to modify the Lyapunov function and hence the control such that a disturbance attenuation bound is also satisfied. From an initial reading, it appears that the downside is that $\gamma$ may not be close to optimal, and there is a lower bound on how small you can make $\gamma$ and have the method still work. This lower bound, may also be much larger than the optimal $\gamma$. It would be interesting to try this method and compare it with the SGA approach. ", } @INPROCEEDINGS{SugarKumar98, AUTHOR = "Thomas Sugar and Vijay Kumar", TITLE = "Decentralized Control of Cooperating Mobile Manipulators", BOOKTITLE = ICRA, YEAR = "1998", ADDRESS = "Leuven, Belgium", PAGES = "2916--2921", MONTH = "May", ABSTRACT = " Location: Ref DB 11 Keywords: Decentralized Control, Coordination, Mobile Robots, Simulink, Real Time Workshop, Leader Follower, Bicycle model, end effector, Comments: This paper describes using two robots to cooperatively move a box. The most clever part of the paper is the design of a manipulator that allows some complience. The coordination strategy was a leader-follower configuration. The entire configuration is controlled to act like a bicycle. There are definite similarities to template control. ", } @ARTICLE{SugiharaSuzuki96, AUTHOR = "Kazuo Sugihara and Ichiro Suzuki", TITLE = "Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots", JOURNAL = "Journal of Robotic Systems", YEAR = "1996", VOLUME = "13", NUMBER = "3", PAGES = "127--139", ABSTRACT = " Location: Ref DB 11 Keywords: mobile robots formation control behavioral approach line and circle formations distributed control Comments: This paper presents some very simple distributed control algorithms for forming line, circle and polygon formations. The approach behavioral, and all results are presented through simulations. The algorithms are not guaranteed to do what they are designed to do, and cases are presented where they do not. Manual control of some of the robots is also required to execute polygons. ", } @ARTICLE{SunEgerstedtMartin00, AUTHOR = "Shan Sun and Magnus B. Egerstedt and Clyde F. Martin", TITLE = "Control Theoretic Smoothing Splines", JOURNAL = TAC, YEAR = "2000", VOLUME = "45", NUMBER = "12", PAGES = "2271--2279", MONTH = "December", ABSTRACT = " Location: Shelf Keywords: splines smoothing trajectory generation path planning optimal control Comments: This paper derives an interesting method for creating splines for a set of data that does not actually pass through the data, but rather smooths through the data. The result is obtained by casting it as an optimal control problem where the data points are part of the target set for the optimal control problem. There are obvious applications to trajectory generation. ", } @INPROCEEDINGS{Sussmann89, AUTHOR = "Hector J. Sussmann", TITLE = "Thirty Years of Optimal Control: Was the Path Unique", BOOKTITLE = "Modern Optimal Control, Lecture Notes in Pure and Applied Mathematics", YEAR = "1989", EDITOR = "Emilio O. Roxin", PUBLISHER = "Marcel Dekker, Inc", ADDRESS = "New York, New York", PAGES = "359--375", ABSTRACT = " Location: ref DB 2 Keywords: Optimal Control, Nonlinear control theory, Geometric theory of Control, Time-optimal control, Lie Bracket, little green men Comments: In this question the author asked whether the path of optimal control that we have followed is unique, or whether there might have been a more natural path. He concludes that a development based around the geometric theory of control and use of the Lie bracket would have been much more natural. The paper is interesting in that time-optimal control is addressed from a geometric control theoretic framework. ", } @BOOK{Sussmann90, EDITOR = "H. J. Sussmann", TITLE = "Nonlinear Controllability and Optimal Control", PUBLISHER = "Marcel Dekker, Inc.", YEAR = "1990", SERIES = "Pure and Applied Mathematics", VOLUMNE = "133", ABSTRACT = " Location: Keywords: Nonlinear control, optimal control, geometric approach to control, modern control theory Comments: ", } %%T @ARTICLE{Taylor94, AUTHOR = "David G. Taylor", TITLE = "Nonlinear Control of Electric Machines: An Overview", JOURNAL = "IEEE Control Systems Magazine", YEAR = "1994", VOLUME = "14", NUMBER = "6", PAGES = "41--51", MONTH = "December", ABSTRACT = " Location: shelf Keywords: Applications of nonlinear control, geometric methods, electric machines, feedback linearization, energy shaping, backstepping, Comments: Due to the increasing availability of improved power electronics and digital processors at reduced costs, there has been a trend to seek higher performance from electric machine systems through the design of more sophisticated control systems software. There exist significant challenges in the search for improved control system designs however, since (i) the dynamics of most electrc machine systems exhibit significant nonlinearities, (ii) not all state variables are necessarily measured, and (iii) the parameters of the system can vary significantly from their nominal values. In recent years, a wide range of nonlinear methods from feedback control, state estimation and parameter identification have emerged, and some of these results are reviewed and summarized in this article. ", } @BOOK{Taco80, AUTHOR = "Taco J. Viersma", TITLE = "Analysis, Synthesis and Design of Hydraulic Servosystems and Pipelines", PUBLISHER = "Elsevier Scientific", YEAR = "1980", ABSTRACT = " Location: BYU Library Keywords: Hydraulic Actuators, Control, Modelling Comments: ", } %%TE @ARTICLE{Teel96, AUTHOR = "Andrew R. Teel", TITLE = "A Nonlinear Small Gain Theorem for the Analysis of Control Systems with Saturation", JOURNAL = TAC, YEAR = "1996", VOLUME = "41", NUMBER = "9", PAGES = "1256--1270", MONTH = "September", ABSTRACT = " Location: Shelf Keywords: Small gain theorm, input-state stability saturation Comments: This paper presents a small-gain theorem for interconnected systems using the new input-to-state stability framework (ISS). The paper won the IEEE best paper award in 1998. In particular, the paper provides a means of dealing with saturation in the loop for nonlinear systems. ", } %%TO @INPROCEEDINGS{TodtRaushSaurez, AUTHOR = "Eduardo Todt and Gustavo Raush and Raul Suarez", TITLE = "Analysis and Classification of Multiple Robot Coordination Methods", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "2000", ADDRESS = "San Francisco, CA", PAGES = "3158--3163", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: coordination robot manipulators literature survey Comments: This paper presents a brief literature survey of coordination techniques. The papers listed generally refer to coordination between robot manipulators. The primary coordination task is to modify the geometric path or the velocity profile of the paths of the manipulators in such a way that the manipulators do not collide. ", } @INPROCEEDINGS{TomlinLygerosSastry99, AUTHOR = "C. Tomlin and J. Lygeros and S. Sastry", TITLE = "Computation of Controllers for Nonlinear Hybrid Systems", BOOKTITLE = "Proceedings of the 14th IFAC World Congress", YEAR = "1999", PUBLISHER = "", ADDRESS = "Beijing, P.R. China", PAGES = "Paper No. E-2c-05-4", MONTH = "July", ABSTRACT = " Location: Ref DB 13 Keywords: hybrid system, nonlinear systems, Hamilton-Jacobi equations Comments: This paper gives a brief overview of some of the work in Hybrid systems developed at U.C. Berkley. The set of initial conditions for which the system remains in a certain ``safe'' set of states is shown to be described by level sets of certain Hamilton-Jacobi equations. ", } @INPROCEEDINGS{ToussaintBasarBullo01, AUTHOR = "Gregory J. Toussaint and Tamer Basar and Francesco Bullo", TITLE = "Motion Planning for Nonlinear Underactuated Vehicles using {$H^\infty$} Techniques", BOOKTITLE = "American Control Conference", YEAR = "2001", NOTE = "In review.", ABSTRACT = " Location: Ref DB 13 Keywords: H-infinity filter, motion planning, differential flatness, multiple vehicle, trajectory generation Comments: This paper presents a motion planning algorithm that works as follows. (1) a trajectory (possibly not feasible) is generated that satisfies the end point constraints, (2) candidate (possibly not feasible) state trajectories and inputs are generated for the system (could use differential flatness here but didn't) (3) the candidate inputs are used to generate a feasible trajectory that may or may not satisfy endpoint constraints, (4) an H-infinity filter is used to reduce the error between the feasible trajectory and the initial trajectory. No convergence proofs are provided. Applications to multiple vehicle motion planning are suggested but not pursued in depth. ", } @ARTICLE{Tsiotras96, AUTHOR = "Panagiotis Tsiotras", TITLE = "Stabilization and Optimality Results for the Attitude Control Problem", JOURNAL = "Journal of Guidance, Control and Dynamics", YEAR = "1996", VOLUME = "19", NUMBER = "4", PAGES = "772--779", MONTH = "July", ABSTRACT = " Location: Ref DB 10 Keywords: Attitude Control, Global Asymptotic Stability CAyley-Rodrigues parameters Modified Rodrigues parameters Hamilton Jacobi Bellman equation Optimal control Comments: We present some recent results on the description and control of the attitude motion of rotatin rigid bodies. We derive a new clas of globally asymptotically stabilizing feedback control laws for the complete (I.e. dynamics and kinematics) attitutude motion. We show that the use of a Lyapunov function, which involves the sum of a quadratic term in the angular velocities and a logarithmic term in the kinematick paramether, leads to th design of linear controllers. We also show that the feedback control laws for the kinematics minimize a quadratic cost in the state and control variable for all initial conditions. For the complete system, we consturct a family of exponentially stabilizing control laws and we investigate their optimality characteristics. The proposed control laws are given in terms of the classical Cayley-Rodrigues parameters and the modified Rodrigues parameters. ", } @Article{Tsiotras98, author = {Panagiotis Tsiotras}, title = {Further Passivity Results For The Attitude Control Problem}, journal = TAC, year = {1998}, volume = {43}, number = {11}, pages = {1597-1600}, } @INPROCEEDINGS{TsiotrasCorlessRotea95, AUTHOR = "Panagiotis Tsiotras and Martin Corless and Mario A. Rotea", TITLE = "An ${\mathcal{L}}_2$ Disturbance Attenuation Approach to the Nonlinear Benchmark Problem", YEAR = "1995", BOOKTITLE = "Proceedings of the American Control Conference", ADDRESS = "Seattle, Washington", MONTH = "June", PAGES = "4352--4356", } @ARTICLE{TsitsiklisAthans84, AUTHOR = "John N. Tsitsiklis and Michael Athans", TITLE = "Guaranteed Robustness Properties of Multivariable Nonlinear Stochastic Optimal Regulators", JOURNAL = TAC, YEAR = "1984", VOLUME = "29", NUMBER = "8", PAGES = "690--696", MONTH = "August", ABSTRACT = " Location: Ref DB 7 Keywords: Robustness Nonlinear optimal control Stability margins Comments: We study the robustness of optimal regulators for nonlinar determnistic and stochastic multiinput dynamical system, under the assumption that all state variables can be measured. We show that under mild assumptions, such nonlinear regulators have a guaranteed infinite gain margin; moreover, they have a guaranteed 50% gain reduction margin and a 60 degree phase margin in each feedback channel, provided that the system is linear in the control and the penalty to the control is quadratic, thus extending the well-known properties of LQ regulators to nonlinear optimal designs. These results are also valid for infinite horizon, average cost, stochastic optimal control problems. ", } @ARTICLE{Tzafestas84, AUTHOR = "S. G. Tzafestas and K. E. Anagnostou and T. G. Pimenides", TITLE = "Stabilizing Optimal Control of Bilinear Systems with a Generalized Cost", JOURNAL = "Optimal Control Applications and Methods", YEAR = "1984", VOLUME = "5", PAGES = "111--117", ABSTRACT = " Location: Ref DB 1 Keywords: Bilinear Systems, Stabilizing optimal control policy, Linear state feedback, Quadratic state feedback, generalized cost, optimal control Comments: Stabilizing and optimizing feedback control policies are derived for the important class of bilinear systems with generalized quadratric cost functions. These policies as well as the resulting optimal costs are quadratic in the state. The optimal cost function is shown to be a Lyapunov function for the bilinear system at hand. The resulting optimal and stabilized closed-loop system is of third order with respect to the state. One illustrative example is included. The basic idea of the paper is to use a `generalized cost function' to generate a term which cancels our the `nast' nonlinear terms which are hard to deal with. The result is a stabilizing control which is only optimal in a certain sense (i.e. minimizes something that may not be very useful.) ", } %%U @BOOK{UdwadiaKalaba96, AUTHOR = "Firdaus E. Udwadia and Robert E. Kalaba", TITLE = "Analytical Dynamics: A New Approach", PUBLISHER = "Cambridge University Press", ADDRESS = "New York", YEAR = "1996", ABSTRACT = " Location: BYU Library Keywords: Analytical dynamics pseudo-inverse Gauss's principle Comments: ", } @ARTICLE{Ulybyshev98, AUTHOR = "Yuri Ulybyshev", TITLE = "Long-Term Formation Keeping of Satellite Constellation Using Linear-Quadratic Controller", JOURNAL = "Journal of Guidance, Control and Dynamics", YEAR = "1998", VOLUME = "21", NUMBER = "1", PAGES = "109--115", MONTH = "January-February", ABSTRACT = " Location: Ref DB 10 Keywords: Formation keeping, Linear-Quadratic regulator, Along track regulation, directed graphs, circular orbits, tangential maneuvers, Comments: This paper looks at relative formation keeping as opposed to absolute formation keeping. The paper uses the Clohessy-Wiltshire equations to describe the motion of a satellite on a circular earth orbit. The formation is modeled using a digraph, and the thrusts at prescribed times (like perigee and apogee) result in a discrete time model. An LQ regulator is derived to maintain the formation. Simulations for low-earth orbits are shown. The along-track displacements and orbital period displacements are controlled. This is useful for large communication satellites but is probably not applicable for close formation flying. ", } @ARTICLE{Ursin80, AUTHOR = "Bjorn Ursin", TITLE = "Asymptotic Convergence Properties of the Extended {K}alman Filter using Filtered State Estimates", JOURNAL = TAC, YEAR = "1980", VOLUME = "25", NUMBER = "6", PAGES = "1207--1211", MONTH = "December", } %%V @ARTICLE{Vaisbord63, AUTHOR = "E. M. Vaisbord", TITLE = "An Approximate Method for the Synthesis of Optimal Control", JOURNAL = ARC, YEAR = "1963", VOLUME = "24", PAGES = "1626--1632", ABSTRACT = " Location: Ref DB 4 Keywords: Optimal Control, Successive Approximation, Hamilton-Jacobi-Bellman equation, existence proof, Comments: An approximate method is investigated for the synthesis of an optimal control system, based on a combination of the ideas of Lyapunov's second method and those of Bellman's method of successive approximation in a strategy space. The method is such that, after each iteration, the approximate equation is improved in the sense of the quality index being used. ", } @BOOK{Valavanis92, AUTHOR = "Kimon P. Valavanis and George N. Saridis", TITLE = "Intelligent Robotic Systems: Theory, Design and Applications", PUBLISHER = "Kluwer Academic Publishers", YEAR = "1992", } @ARTICLE{vanderSchaft92, AUTHOR = "A. J. {van der Schaft}", TITLE = "${L}_2$-Gain Analysis of Nonlinear Systems and Nonlinear State Feedback ${H}_\infty$ Control", JOURNAL = TAC, YEAR = "1992", VOLUME = "37", NUMBER = "6", PAGES = "770--784", MONTH = "June", ABSTRACT = " Location: Ref DB 3 Keywords: nonlinear H-infinity control, disturbance rejection, Hamilton-Jacobi-Isaacs equation, state feedback, Comments: This paper is the first to show that the nonlinear H-infinity control problem can be solved by solved via the Hamilton-Jacobi-Isaacs equation. This paper is for state feedback control. ", } @BOOK{VanTrees62, AUTHOR = "Harry L. {Van Trees}", TITLE = "Synthesis of Optimum Nonlinear Control Systems", PUBLISHER = "M.I.T. Press", YEAR = "1962", ADDRESS = "Cambridge, Massachusetts", } @ARTICLE{Varaiya93, AUTHOR = "Pravin Varaiya", TITLE = "Smart Cars on Smart Roads: Problems of Control", JOURNAL = TAC, YEAR = "1993", VOLUME = "38", NUMBER = "2", PAGES = "195--207", MONTH = "February", ABSTRACT = " Location: Shelf and Ref DB 13 Keywords: Smart Highways Leader Following IVHS highway transportation hierarchical control of multiple vehicles Comments: This paper gives an overview of the state of research in intelligent Vehicle/Highway Systems (IVHS) as of 1993. The paper describes a hierarchical decomposition of the control tasks with high level planning at the highest levels of the architecture and low-level control at the bottom layers. The architecture is similar in form to that proposed for satellite formation flying. In addition, within platoons, the cars follow the leading car, and regulate their position and velocity to that car. ", } %%VE @ARTICLE{VelosoStoneHan99, AUTHOR = "Manela Veloso and Peter Stone and Kwun Han", TITLE = "The {CMU}nited-97 Robotic Soccer Team: Perception and Multi-Agent Control ", JOURNAL = "Robotics and Autonomous Systems", YEAR = "1999", VOLUME = "29", PAGES = "133--143", ABSTRACT = " Location: Ref DB 11 Keywords: robot soccer multi-agent coordination behavioral based approach Comments: This paper describes the control architecture and strategies for the CMUnited robot soccer team that one the 1997 and 1998 RoboCup competitions. The paper discusses at a high level, the image processing algorithms as well as the behaviors programmed into each robot: both single agent behaviors and multi-agent behaviors. ", } %%VI @BOOK{Vidyasagar93, AUTHOR = "M. Vidyasagar", TITLE = "Nonlinear Systems Analysis", PUBLISHER = "Prentice Hall", ADDRESS = "Englewood Cliffs, New Jersey", YEAR = "1993", EDITION = "2nd", } @ARTICLE{Vincent93, AUTHOR = "Mark A. Vincent", TITLE = "Design of the {T}{O}{P}{S}{A}{T} Mission", JOURNAL = "Advances in the Astronautical Sciences: Proceedings of the AAS/AIAA Astrodynamics Meeting", YEAR = "1993", VOLUME = "85", NUMBER = "2", PAGES = "1137--1146", ABSTRACT = " Location: Ref DB 10 Keywords: Formation Flying, geo-centric orbit, TOPSAT mission, interferometric SAR, two satellite formation flying, Comments: This paper describes the design of a two satellite formation flying mission for an interferometric SAR topography mission. An a circular orbital with a height of 565 km is assumed. The spacecraft are separated by a distance of 1300 m to ensure an adequite radar footprint overlap. GPS is analyzed and found to be adequite as a relative position and attitude sensor. With GPS, the paper claims that a 3mm relative accuracy can be maintained. The authors infer that the two major effects which contribute to separation changes are differential drag and the radial orbit difference induced by maneuver execution errors. ", } @ARTICLE{Vinter88, AUTHOR = "R. B. Vinter", TITLE = "New Results on the Relationship between Dynamic Programming and the Maximum Principle", JOURNAL = "Mathematics of Control, Signals, and Systems", YEAR = "1988", VOLUME = "1", PAGES = "97--105", ABSTRACT = " Location: Ref DB 2 Keywords: Dynamic Programming, Maximum Principle, Value function Comments: The dynamic programming approach to optimal control theory attempts to characterize the value function $V$ as a solution to the Hamilton-Jacobi-Bellman equation. Heuristic arguments have long been advanced relating the Pontryagin maximum principle and dynamic programming according to the equation \[ (H(t,x^*(t),u^*(t),p(t)),-p(t)) = \grad V(t,x^*(t)), \] where $(x^*,u^*)$ is the optimal control process under consideration, p(t) is the coextremal, and H is the Hamiltonian. The relationship has previously been verified under only very restrictive hypotheses. We prove new results, establishing the relationship, now expressed in terms of the generalized gradient of V, for a large class of nonsmooth problems. ", } @ARTICLE{VinterLewis78a, AUTHOR = "Richard B. Vinter and Richard M. Lewis", TITLE = "The Equivalence of Strong and Weak Formulations for Certain Prolems in Optimal Control", JOURNAL = SIAM, YEAR = "1978", VOLUME = "16", NUMBER = "4", PAGES = "546--570", MONTH = "July", } @ARTICLE{VinterLewis78b, AUTHOR = "Richard B. Vinter and Richard M. Lewis", TITLE = "A Necessary and Sufficient Condition for Optimality of Dynamic Programming Type, Making no A Priori Assumption on the Controls", JOURNAL = SIAM, YEAR = "1978", VOLUME = "16", NUMBER = "4", PAGES = "571--583", MONTH = "July", } @ARTICLE{VinterLewis80, AUTHOR = "R. B. Vinter and R. M. Lewis", TITLE = "A Verification Theorem Which Provides a Necessary and Sufficient Condition for Optimality", JOURNAL = TAC, YEAR = "1980", VOLUME = "25", NUMBER = "1", PAGES = "84--89", MONTH = "February", ABSTRACT = " Location: ref DB 4 Keywords: Optimal, Nonlinear, nonsmooth, dynamic programming, Hamilton-Jacobi-Bellman equation, necessary and sufficient conditions, sequence of solutions Comments: A well-known sufficient condition for optimality involving the Bellman equation of dynamic programming applies only in exceptional circumstances when the Bellman equation has a smooth solution. We give a nontechnical presentation, with examples, of a refinement of this condition involving a partial differential inequality which is necessary as well as sufficient for optimality. ", } %%VO @ARTICLE{VossoughiDonath95, AUTHOR = "Gholamreza Vossoughi", TITLE = "Dyanamic Feedback Linearization for Electrohydraulically Actuated Control Systems", JOURNAL = "Transactions of the {ASME}: Journal of Dynamic Systems, Measurement and Control", YEAR = "1995", VOLUME = "117", PAGES = "468--477", MONTH = "December", ABSTRACT = " Location: Ref DB 7 Keywords: feedback linearization, H-infinity control, mu synthesis, hydraulic actuators, Tim McLain, Comments: ", } %%VU @ARTICLE{VukobratovicStokic83, AUTHOR = "M. Vukobratovic and D. Stokic", TITLE = "Contribution to Suboptimal Control of Manipulation Robots", JOURNAL = TAC, YEAR = "1983", VOLUME = "28", NUMBER = "10", PAGES = "981--985", MONTH = "October", ABSTRACT = " Location: ref DB 4 Keywords: Nonlinear, Suboptimal, Roboics, motion planning Comments: Nonlinear model of an active spatial mechanism is considered as a set of subsystems each associated to one mechanical degree of freedom. For each decoupled subsystem, control minimizing local criterion, is synthesized. Since the destabilizing influence of coupling amoung subsystems could be strong, global control is introduced in order to decrease suboptimality of the decentralized control applied. The control synthesis is demonstrated on an example of a six degree of freedom (DOF) manipulator. ", } %%W @ARTICLE{WagnerLindenbaumBruckstein99, AUTHOR = "Israel A. Wagner and Michael Lindenbaum and Alfred M. Bruckstein", TITLE = "Distributed Covering by Ant-Robots Using Evaporating Traces", JOURNAL = TRA, YEAR = "1999", VOLUME = "15", NUMBER = "5", PAGES = "918--933", MONTH = "October", ABSTRACT = " Location: Shelf Keywords: covering, multi-agent, coordination, mobile robots, ant, Comments: This paper presents three algorithms for coordinating the action of multiple robots to completely cover a certain region. The robots are assumed to have either no memory or a finite amount of memory and are also assumed to leave a scent, or some other mark that indicates the last moment in time that the robot was at a certain location. This scent becomes a sort of shared memory. In our paradigm, the scent is the coordination variable. The covergence rates of the algorithms are analytically derived. Simulation results demonstrate the average covering time of the algorithms. The introductory material represents is a good survey of current results on coordinated covering algorithms. ", } @ARTICLE{Wang89, AUTHOR = "P.K.C. Wang", TITLE = "Interaction Dynamics of Multiple Mobile Robots with Simple Navigation Strategies", JOURNAL = "Journal of Robotic Systems", YEAR = "1989", VOLUME = "6", NUMBER = "1", PAGES = "77--101", ABSTRACT = " Location: Ref DB 10 Keywords: Mobile Robots, collision avoidance, multiple robots, homing, limited field of view, actuator saturation, PD control, Comments: Very simple homing and collision avoidance schemes are derived and analyzed. The homing scheme is essentially saturated PD control. The collision avoidance idea is to move away from robots or obsticles that are close to the current robot. Convergence is not guaranteed. Collision avoidance is not even guaranteed. Interactions between multiple robots are simulated but not analyzed in detail. ", } @ARTICLE{Wang89b, AUTHOR = "P.K.C. Wang", TITLE = "Interaction Dynamics of Multiple Autonomous Mobile Robots in Bounded Spatial Domains", JOURNAL = "International Journal of Control", YEAR = "1989", VOLUME = "50", NUMBER = "6", PAGES = "2109--2124", ABSTRACT = " Location: Ref DB 10 Keywords: Mobile Robots, Collision Avoidance, Homing Strategies, Obstacle Avoidance, Bounded Domains, coorperation, multiple robots, limited field of view, Comments: Very simple collision avoidance schemes are considered. The collision avoidance is basically to move away from the obsticle, the boundary, or another robot, when it is within the robots current field of view. Convergence is not guaranteed. In fact, the robots are not even guaranteed to stay within the boundary. ", }s @ARTICLE{Wang91, AUTHOR = "P. K. C. Wang", TITLE = "Navigation Strategies for Multiple Autonomous Mobile Robots Moving in Formation", JOURNAL = "Journal of Robotic Systems", YEAR = "1991", VOLUME = "8", NUMBER = "2", PAGES = "177--195", ABSTRACT = " Location: Ref DB 10 Keywords: Formation flying, Multiple robots, Navigation strategies, Saturating Control, Comments: The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here each robot is represented by a particle with a spherical effective spatial domain an a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods, for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desire formation pattern for a fleet of robts each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamics behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation. ", } @ARTICLE{WangHadaegh96, AUTHOR = "P. K. C. Wang and F. Y. Hadaegh", TITLE = "Coordination and Control of Multiple Microspacecraft Moving in Formation", JOURNAL = "The Journal of the Astronautical Sciences", YEAR = "1996", VOLUME = "44", NUMBER = "3", PAGES = "315--355", ABSTRACT = " Location: Ref DB 10 Keywords: Formation flying, JPL, Multiagent control, Multiple Spacecraft, Follow-the-leader Comments: The problem of coordination and control of multiple microspacecraft moving in formation is considered. Here, each MS is modelled by a rigid body with fixed center of mass. First, various schemes for generating the desired formation patterns are discussed. The explicit control laws for formation keeping and relative attidue alignment based on nearest neighbor-tracking are derived. The necessary data which must be communicated between the MS to achieve effective control are examined. The time-domain behavior of the feedback-controlled MS formation for typical low-Earth orbits is studied both analyticallly and via computer simulation. The paper concludes with a discussion of the implementation of the derived control laws, and the integration of the MS formation coordination and control system with a proposed inter-spacecraft communication/computing network. This paper derives control laws for micro-satellites flying in tightly controlled formations. Position and attitude control laws are derived to maintain relative position and attitude control laws. The controls are based on tracking each spacecraft nearest neighbor. ", } @TECHREPORT{WangHadaegh97, AUTHOR = "P.K.C. Wang and F.Y. Hadaegh", TITLE = "Minimum-Fuel Formation Reconfiguration of Multiple Free-Flying Spacecraft", INSTITUTION = "UCLA", YEAR = "1997", TYPE = "ENG", NUMBER = "97--187", ADDRESS = "Los Angeles, CA", MONTH = "December", ABSTRACT = " Location: Ref DB 10 Keywords: Formation Flying, Minimum fuel, spacecraft, simple collision avoidance Comments: Fuel minimization is worked out without considering the collision avoidance. When collision avoidance is factored in, the required uel increases by about 50%. The problem is considered in deep space. Also, very simple pattern reconfigurations are considered: the same pattern, but the spacecraft locations are interchanged. Fuel minimization is derived using straight line motions, but then straight line motions are not taken. For constellation permutations, minimum fuel maneuvers are found by a global search of all possible permutations (exponentially increasing). ", } @INPROCEEDINGS{WangHadaegh98, AUTHOR = "P.K.C. Wang and F. Y. Hadaegh", TITLE = "Optimal Formation-Reconfiguration for Multiple Spacecraft", BOOKTITLE = "AIAA Guidance, Navigation and Control Conference", YEAR = "1998", ADDRESS = "Boston, MA", PAGES = "686--696", MONTH = "August", NOTE = "AIAA paper \#98-4226", ABSTRACT = " Location: Ref DB 12 Keywords: formation flying fuel optimization formation reconfiguration Comments: ", } @ARTICLE{WangHadaeghLau99, AUTHOR = "P.K.C. Wang and F.Y. Hadaegh and K. Lau", TITLE = "Synchronized Formation Rotation and Attitude Control of Multiple Free-Flying Spacecraft", JOURNAL = "AIAA Journal of Guidance, Control and Dynamics", YEAR = "1999", VOLUME = "22", NUMBER = "1", PAGES = "28--35", MONTH = "January", ABSTRACT = " Location: Ref DB 12, Keywords: Formation Flying, Formation Rotation, actuator saturation, rotational slews, leader-following, Comments: This paper is the journal version of \cite{WangHadaeghLau97} and is an extension of the ideas in \cite{WangHadaegh96} to the case of constant rotational slews. The case of input saturation is handled, but the following spacecraft must know the input command of the leading spacecraft. The architecture necessitates centralized control. Formation rotations are accomplished via follow-the-leader approach. Essentially the application of \cite{WangHadaegh96} to rotation. Acuator saturations are taken into account. Explicit control laws for a very particular rotation are derived. Application of \cite{WangHadaegh96} to the problem of continuous rotational slews. ", } @ARTICLE{WangHill93, AUTHOR = "Youyi Wang and David J. Hill and Richard H. Middleton and Long Gao", TITLE = "Transient Stability Enhancement and Voltage Regulation of Power Systems", JOURNAL = "IEEE Transactions on Power Systems", YEAR = "1993", VOLUME = "8", NUMBER = "2", PAGES = "620--627", ABSTRACT = " Location: ref DB 2 Keywords: nonlinear control, power, voltage regulator, feedback linearization Comments: Major objectives in power system control design are to prevent an electric power system losing synchronism after a large sudden fault and to achieve good postfault regulation of the generator terminal voltage. Important control ideas used to improve the transient stability of the power system are to rapidly increase excitation and to decrease the mechanical input power at the same time as a fault occurs. In this paper, we concentrate our attention on power systems after a symmetrical 3-phase short circuit fault. By using the direct feedback linearization technique, a novel excitation controller and coordinated controller are given. The simulation results show that the power system can keep transiently stable and achieve good postfault voltage regulation with the nonlinear controllers. Thus they have prospects for an industrial application. ", } @ARTICLE{WangHill94, AUTHOR = "Youyi Wang and David J. Hill and Rick H. Middleton and Long Gao", TITLE = "Transient Stabilization of Power Systems with an Adaptive Control Law", JOURNAL = "Automatica", YEAR = "1994", VOLUME = "30", NUMBER = "9", PAGES = "1409--1413", ABSTRACT = " Location: ref DB 2 Keywords: power, nonlinear control, feedback linearization, voltage regulator, adaptive control Comments: Due to a variety of effects, such as lightning, severe storms and equipment failures, the configuration of an electric power system is not constant. Thus, important parameters, such as effective reactances of tranmission lines, in an electric power system always contain some uncertaintaies. The aim of this paper is to discuss transient stability enhancement and voltage regulation of power systems using feedback linearization techniques and an adaptive control approach. A nonlinear controller design approach is employed to design an adaptive nonlinear control law to prevent the loss of synchronism is a power system under a large sudden fault. An adaptive nonlinear controller is proposed and the stability results for the overall system are established. Simulation results show that transient stability enhancement and voltage regulation of a power system under a large sudden fault can be achieved. ", } @ARTICLE{WangKuoHsu86, AUTHOR = "Shen-De Wang and Te-Son Kuo and Chen-Fa Hsu", TITLE = "Trace Bounds on the Solution of the Algebraic Matrix {R}iccati and {L}yapunov Equation", JOURNAL = TAC, YEAR = "1986", VOLUME = "31", NUMBER = "7", PAGES = "654--656", MONTH = "July", ABSTRACT = " Location: Ref DB 2 Keywords: ARE, Riccati Equation, Lyapunov Equation, Bounds, Trace Bounds Comments: Lower and upper bounds on the trace of the positive semidefinite solution of the algebraic matrix Riccati and Lyapunov equation are derived. The upper trace bound obtained in this note in many cases results in a tighter bound as compared to the upper bound for the maximal eigenvalue proposed in [1] and [2]. ", } @TECHREPORT{WangYee97, AUTHOR = "P.K.C. Wang and J. Yee and F.Y. Hadaegh and K. Lau", TITLE = "Experimental Study of Formation Alignment of Multiple Autonomous Air-levitated Vehicles with Rule-based Controls", INSTITUTION = "UCLA", YEAR = "1997", TYPE = "ENG", NUMBER = "97--173", ADDRESS = "Los Angeles, CA 90024-1594", MONTH = "May", ABSTRACT = " Location: Ref DB 10 Keywords: Formation Flying, UCLA testbed, Comments: A description of the UCLA testbed. ", } %%WE @Article{Weber82, author = {H.~Weber}, title = {Numerical solution of a class of nonlinear boundary value problems for analytic functions}, journal = {Journal of Applied Mathematics and Physics}, year = 1982, volume = 33, month = {May}, pages = {301-314} } @ARTICLE{Wen88, AUTHOR = "John T. Wen", TITLE = "Time Domain and Frequency Domain Conditions for Strict Positive Realness", JOURNAL = TAC, YEAR = "1988", VOLUME = "33", NUMBER = "10", PAGES = "988--992", MONTH = "October", ABSTRACT = " Location: Ref DB 2 Keywords: Strictly positive real, time domain, frequency domain Comments: This note states various time and frequency domain conditions pertaining to strictly positive real systems adn establishes their relationship. ", } @UNPUBLISHED{Wen95, AUTHOR = "John T. Wen", TITLE = "Control of Nonholonomic Systems", NOTE = "Book Chapter", YEAR = "1995", } @ARTICLE{WenKreutz91, AUTHOR = "John Ting-Yung Wen and Kenneth Kreutz-Delgado", TITLE = "The Attitude Control Problem", JOURNAL = TAC, YEAR = "1991", VOLUME = "36", NUMBER = "10", PAGES = "1148--1162", MONTH = "October", ABSTRACT = " Location: Ref DB 10 Keywords: Attitude Control, Spacecraft, Nonlinear Control, Adaptive Control, quaternions Comments: A general framework for the analysis of the attitude tracking control problem for a rigid body is presente in this paper. In contrast to the approach that feedback linearizes the attitude dynamics to a double integrator form with respect to some minimal representation of the orientation, a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyed in this framework ", } @ARTICLE{WenzelPrussing96, AUTHOR = "Russel S. Wenzel and John E. Prussing", TITLE = "Preliminary Study of Optimal Thrust-Limited Path-Constrained Maneuvers", JOURNAL = "Journal of Guidance, Control and Dynamics", YEAR = "1996", VOLUME = "19", NUMBER = "6", PAGES = "1303--1309", MONTH = "November-December", ABSTRACT = " Location: Ref DB 10 Keywords: Spacecraft control optimal control nonlinear programming path constraints time-optimal control trust limited spacecraft Comments: ", } @ARTICLE{WernerCruz68, AUTHOR = "Ronald A. Werner and Jose B. Cruz", TITLE = "Feedback Control Which Preserves Optimality for Systems with Unknown Parameters", JOURNAL = TAC, YEAR = "1968", VOLUME = "13", NUMBER = "6", PAGES = "621--629", MONTH = "December", ABSTRACT = " Location: Ref DB 4 Keywords: Feedback Control, nonlinear systems, uncertain parameters, adaptive control, perturbation methods, approximation Comments: A method is described for constructing a feedback control law which remains optimal for a class of systems with unknown parameters whose values may lie in given regions. The control depends only on the input and output, and there is no explicit dependence on the unknown parameters. In contrast to the usual adaptive strategy, there is no idenification or adjustment period. The optimal control is generated in a Taylor series form, but truncation of the series results in a feedback control which is close to optimal for a range of parameter values. An nth-order truncation of the control results in a (2n+1)th-order approximation of the optimally adaptive performance index. ", } @BOOK{Wertz78, EDITOR = "James R. Wertz", TITLE = "Spacecraft Attitude Determination and Control", PUBLISHER = "Kluwer Academic Publishers", YEAR = "1978", } @ARTICLE{WhiteCook73, AUTHOR = "Robert R. White and Gerald Cook", TITLE = "Use of piecewise linearization for Suboptimal Control of Nonlinear Systems", JOURNAL = "International Journal of Control", YEAR = "1973", VOLUME = "18", NUMBER = "2", PAGES = "385--397", ABSTRACT = " Location: ref DB 4 Keywords: nonlinear, suboptimal, piecewise linearization, partition state space Comments: his paper develops the theory for solving piecewise-linear optimal control problems and then employs this theory to obtain suboptimal solutions for controlling non-linear systems. The non-linear system is first approximated by a piecewise-linear model. A jump condition on the adjoint variables and a continuity condition on the Hamiltonian are derived and utilized to obtain the optimal solution to the piecewise-linear model. This control is then considered as a suboptimal solution to the non-linear problem. The piecewise-linear modelling technique provides a means of decoupling the system and adjoint equations and hence provides a simple means of calculating the suboptimal control. A variable mass, minimum-energy problem is solved to illustrate the technique. A feedback scheme is introduced to minimize the boundary and cost errors. ", } %%WI @BOOK{Wicker95, AUTHOR = "Stephen B. Wicker", TITLE = "Error Control Systems for Digital Communication and Storage", PUBLISHER = "Prentice Hall", YEAR = "1995", ADDRESS = "Englewood Cliffs, New Jersey", ABSTRACT = " Location: Michael Rice's book. Keywords: Comments: ", } @ARTICLE{WieWeissArapostathis89, AUTHOR = "B. Wie and H. Weiss and A. Apapostathis", TITLE = "Quaternion Feedback Regulator for Spacecraft Eigenaxis Rotations", JOURNAL = "AIAA Journal of Guidance and Control", YEAR = "1989", VOLUME = "12", NUMBER = "3", PAGES = "375--380", MONTH = "May", } @BOOK{Wiener49, AUTHOR = "N. Wiener", TITLE = "Extrapolation, Interpolation, and Smoothing of Stationary Time Series", PUBLISHER = "John Wiley \& Sons", YEAR = "1949", ADDRESS = "New York, New York", } @BOOK{Wiener58, AUTHOR = "N. Wiener", TITLE = "Nonlinear Problems in Random Theory", PUBLISHER = "John Wiley \& Sons", YEAR = "1958", ADDRESS = "New York, New York", } @ARTICLE{Wigner60, AUTHOR = "Eugene P. Wigner", TITLE = "The Unreasonable Effectiveness of Mathematics in the Natural Sciences", JOURNAL = "Communications on Pure and Applied Mathematics", YEAR = "1960", VOLUME = "XIII", PAGES = "1--14", ABSTRACT = " Location: Ref DB 14 Keywords: Mathematics Physics Philosophy Comments: ", } @ARTICLE{Willems71, AUTHOR = "Jan C. Willems", TITLE = "The Generation of {L}yapunov Functions for Input-Output Stable Systems", JOURNAL = "{SIAM} Journal on Control", YEAR = "1971", VOLUME = "9", NUMBER = "1", PAGES = "105--126", MONTH = "February", } @BOOK{Willems71a, AUTHOR = "Jan C. Willems", TITLE = "The Analysis of Feedback Systems", PUBLISHER = "The M.I.T. Press", YEAR = "1971", } @ARTICLE{Willems72a, AUTHOR = "Jan C. Willems", TITLE = "Dissipative Dynamical Systems Part I: General Theory", JOURNAL = "Arch. Rational Mech. ", YEAR = "1972", VOLUME = "45", PAGES = "321--351", } @ARTICLE{Willems72b, AUTHOR = "Jan C. Willems", TITLE = "Dissipative Dynamical Systems Part II: Linear Systems with Quadratic Supply Rates", JOURNAL = "Arch. Rational Mech. ", YEAR = "1972", VOLUME = "45", PAGES = "352--393", } @ARTICLE{Willems76, AUTHOR = "Jan C. Willems", TITLE = "Mechanisms for the Stability and Instability in Feedback Systems", JOURNAL = "Proceedings of the {IEEE}", YEAR = "1976", VOLUME = "64", NUMBER = "1", PAGES = "24--35", MONTH = "January", } @ARTICLE{Willems83, AUTHOR = "Jan C. Willems", TITLE = "Input-Output and State-Space Representations of Finite-Dimensional Linear Time-Invariant Systems", JOURNAL = "Linear Algebra and Its Applicaations", YEAR = "1983", VOLUME = "50", PAGES = "581--608", } @ARTICLE{Willemstein77, AUTHOR = "A. P. Willemstein", TITLE = "Optimal Regulation of Nonlinear Dynamical Systems on a Finite Interval", JOURNAL = SIAM, YEAR = "1977", VOLUME = "15", NUMBER = "6", PAGES = "1050--1069", MONTH = "November", ABSTRACT = " Location: ref DB 7 Keywords: Optimal, nonlinear, perturbation, finite-time horizon, free end point, fixed end point, maximum principle, minimum principle, power series, Comments: ", } @INPROCEEDINGS{WilliamsonCandaus95, AUTHOR = "D. Williamson and C. {Canudas {d}e {W}it}", TITLE = "Performance-Oriented Robust Control for a Class of Nonlinear Systems", BOOKTITLE = "Proceedings of the European Control Conference", YEAR = "1995", ADDRESS = "Rome, Italy", MONTH = "September", ABSTRACT = " Location: Ref DB 9 Keywords: Robust Control nonlinear control optimal control return difference condition state dependent nonlinearity discontinuous control Comments: ", } @INPROCEEDINGS{WiseSedwick94, AUTHOR = "Kevin A. Wise and Jack L. Sedwick", TITLE = "Succesive Approximation Solution of the {HJI} Equation", BOOKTITLE = "Proceedings of the 33rd Conference on Decision and Control", YEAR = "1994", ADDRESS = "Lake Buena Vista, FL", PAGES = "1387--1391", MONTH = "December", ABSTRACT = " Location: Ref DB 3 Keywords: Sucessive Approximations, Nonlinear H infinity control, Hamilton-Jacobi-Isaacs Equation, Suboptimal Control, Nonlinear Riccati Equation Comments: A successive approximation solution approach is used to solve the Hamilton-Jacobi-Isaacs partial differential Riccati equation that arises in nonlinear $H_{\infty}$ optimal control problems. The method of characteristics is used to form integral expressions used to solve the partial differential Riccati equation. Successive approximations are then used to approximate the solution to these integral expressions. Two examples in which the optimal control is known are presented. These examples outline the approximate solution approach and provide insight into what degree of approximation is needed. ", } @BOOK{Wood87, AUTHOR = "Derick Wood", TITLE = "Theory of Computation", PUBLISHER = "John Wiley \& Sons, Inc.", YEAR = "1987", } @INCOLLECTION{Wright95, AUTHOR = "M. H. Wright", TITLE = "Direct Search Methods: Once Scorned, Now Respectable", BOOKTITLE = "Numerical Analysis", PUBLISHER = "Addison Wesley Longman Limited", YEAR = "1995", EDITOR = "D. F. Griffiths and G. A. Watson", SERIES = "Pitman Research Notes in Mathematics", PAGES = "191--208", ABSTRACT = " Location: Ref DB 11 Keywords: Direct Search Methods Optimization Matlab fmins command Nelder-Mead simplex method Comments: Direct methods have their advantages and disadvantages. One of the main disadvantage is that it has not been shown that they converge. It is known that they do not perform well for elongated objective functions or for higher dimensional optimization problems. They are however, extremely successful for a wide variety of problems. ", } @ARTICLE{WyattEtAl81, AUTHOR = "John L. {Wyatt Jr.} and Leon C. Chua and Joel W. Gannett and Izzet C. G{\"o}knar and Douglas N. Green", TITLE = "Energy Concepts in the State-Space Theory of Nonlinear $n$-Ports: Part I--Passivity", JOURNAL = "IEEE Transactions on Circuits and Systems", YEAR = "1981", VOLUME = "28", NUMBER = "1", PAGES = "48--61", MONTH = "January", } %%X %%Y @ARTICLE{YaeInman93, AUTHOR = "K. Harold Yae and Daniel J. Inman", TITLE = "Control-Oriented Order Reduction of Finite Element Model", JOURNAL = "Transactions of the ASME: Journal of Dynamic Systems, Measurement, and Control", YEAR = "1993", VOLUME = "115", PAGES = "708--711", MONTH = "December", ABSTRACT = " Location: Ref DB 2 Keywords: Finite Element, State space reductions, model reduction, balanced realization Comments: In the dynamics modeling of a structure, finite element analysis employs reduction techniques, such as Guyan's reduction, that remove some of the insignificant physical coordinates, that is, degrees of freedom at a node point. Despite such reduction, the resultant model is still too large for control design. This warrents further reduction as is frequently done in control design by approximating a large dynamical systm with a fewer number of state variables. A problem, however, arises because a model usually undergoes, before being reduced, some form of coordinate transformations that destroy the physical meaning of the states. To correct such a problem, we developed a method that expresses a reduced model in terms of a subset of the original states. The proposed method starts with a dynamic model that is originated and reduced in finite element analysis. The model is then converted to a state-space form, and reduced further by the internal balancing method. At this stage, being in the balanced coordinate system, the states in the reduced model have no apparent resemblance to those of the original model. Through another coordinate transformation that is developed in this paper, however, this reduced model is expressed by a subset of the original states, so that the states in the reduced model can be related to the degrees of freedom of the nodes in the original finite element model. ", } @ARTICLE{Yakimenko00, AUTHOR = "Oleg A. Yakimenko", TITLE = "Direct Method for Rapid Prototyping of Near-Optimal Aircraft Trajectories", JOURNAL = JGCD, YEAR = "2000", VOLUME = "23", NUMBER = "5", PAGES = "865-875", MONTH = "September-October", ABSTRACT = " Location: Ref DB 14, shelf Keywords: aircraft trajectory on-line trajectory generation direct method optimal control UAV splines nonlinear programming Comments: This paper describes a near real-time trajectory generation method for aircraft trajectories using nonlinear optimization to find optimal spline coefficients. State and control constraints can be handled in the technique. One of the key ideas is to reduce the number of optimization parameters to a small number as opposed to searching over all of the spline coefficients. ", } @INPROCEEDINGS{Yamaguchi97, AUTHOR = "Hiroaki Yamaguchi", TITLE = "Adaptive Formation Control for Distributed Autonomous Mobile Robot Groups", BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation", YEAR = "1997", ADDRESS = "Albuquerque, New Mexico", PAGES = "2300--2305", MONTH = "April", ABSTRACT = " Location: Ref DB 11 Keywords: mobile robots, formation control, formation vector, arc formations, distributed control, behavioral approach Comments: This paper describes a distributed approach to robot formation control. The robots are assumed to be holonomic. Every robot has a formation control vector. This vector is used to coordinate amoung the robots. The particular application described in this paper is that of forming an arc between two beacons to obstruct passage by a criminal trying to escape. The robots at the end of the line, move to the beacons, the robots in the middle of the line use the formation vector to move the midpoint between two other robots. It seems that this paper fits well into our coordination architecture. The specific relationship should be explored. ", } @INPROCEEDINGS{YamaguchiBurdick98, AUTHOR = "Hiroacki Yamaguchi and Joel W. Burdick", TITLE = "Asymptotic Stabilization of Multiple Nonholonomic Mobile Robots Forming Group Formations", BOOKTITLE = ICRA, YEAR = "1998", ADDRESS = "Leuven, Belgium", PAGES = "3573--3580", MONTH = "May", ABSTRACT = " Location: Ref DB 11 Keywords: mobile robots, nonholonomic control, averaging theory, formation control, leader-following, behavioral approach, formation controllability, time-varying control Comments: This paper addresses the formation control problem for multiple nonholonomic mobile robots. The approach to formation control is primarily leader-following, but also contains a hint of the behavior approach. It is also very close to the template architecture. Formation vectors are formed from a leader and the robots try to track these vectors. Nonholonomic control laws that force the robot orientation to be time-varying are used. Extremely *unsatisfactory* robot trajectories are obtained. A notion of formation controllability is introduced and the robot formation is shown to be controllable. Analysis of the formation behavior is accomplished via averaging theory. ", } @ARTICLE{YangKim99, AUTHOR = "Jung-Min Yang and Jong-Hwan Kim", TITLE = "Sliding Mode Motion Control of Nonholonomic Mobile Robots", JOURNAL = "Control Systems Magazine", YEAR = "1999", VOLUME = "19", NUMBER = "2", PAGES = "15--23", MONTH = "April", ABSTRACT = " Location: Shelf Keywords: nonholonomic control, mobile robots, sliding mode control, robot soccer, trajectory tracking, Comments: This paper derives a tracking control law for nonholonomic mobile robots. The control law is derived using sliding mode control. The authors claim that a unique contribution of the paper is that it is the first time that a proposed control scheme has the ability to solve a trajectory tracking problem when the reference trajectory is not given in a closed form. This paper could possible be used in the Magicc lab to track trajectories create by template dynamics. These trajectories will not be in closed form. ", } @ARTICLE{YangLiVongchavalitkul94, AUTHOR = "J. N. Yang and Z. Li and S. Vongchavalitkul", TITLE = "Generalization of Optimal Control Theory: Linear and Nonlinear Control", JOURNAL = "Journal of Engineering Mechanics", YEAR = "1994", VOLUME = "120", NUMBER = "2", PAGES = "266--283", MONTH = "February", ABSTRACT = " Location: ref DB 2 Keywords: optimal, nonlinear, control, actuator dynamics, acceleration Comments: A generalization of the linear quadratic regulator control theory for seismic-excited linear structures is presented. The generalization includes the effect of actuator dynamics adn a penalty for the acceleration response of the structure. A nonlinear control method is also proposed for nonlinear or hysteretic structural systems with emphasis placed on the applications to aseismic hybrid control systems. ", } @ARTICLE{YangWangSohLam99, AUTHOR = "Guang-Hong Yang and Jianliang Wang and C. B. Soh and James Lam", TITLE = "Decentralized $\mathcal{H}_\infty$-Controller Design for Nonlinear Systems", JOURNAL = TAC, YEAR = "1999", VOLUME = "44", NUMBER = "3", PAGES = "578--583", MONTH = "March", ABSTRACT = " Location: Shelf Keywords: Nonlinear H-infinity, Hamilton-Jacobi inequalities, Decentralized control Comments: This paper generalizes the nonlinear H-infinity control to decentralized systems. The solution to the H-infinity problem is given by two Hamilton-Jacobi equations. From an SGA point of view, the state space will become enormous. However, there is a simple example given in the paper. If would be fairly easy to attempt to emulate the example in this paper, and could probably lead to at least a conference paper. ", } @INPROCEEDINGS{YanYangKapila00, AUTHOR = "Qiguo Yan and Guang Yang and Vikram Kapila and Marcio S. {de~Q}ueiroz", TITLE = "Nonlinear Dyanamics and Adaptive Control of Multiple Spacecraft in Periodic Relative Orbits", BOOKTITLE = "23rd Annual {AAS} Guidance and Control Conference", YEAR = "2000", ORGANIZATION = "American Astronautical Society", ADDRESS = "Breckenridge, CO", PAGES = "AAS 00--013", MONTH = "February", ABSTRACT = " Location: Ref DB 12 /grad1/users/beard/www_docs/papers/others Keywords: Formation control Hill's equation Nonlinear version of Hill's equation orbital dynamics leader-following satellite formation flying Comments: This paper extends some of the result in~\cite{SedwickKongMiller98} to general elliptic orbits instead of using the Hill equations for linearized orbits. After the general formation problem is posed, an adaptive controller is used to track the nonlinear orbits. The formation control problem is posed in terms of leader-following. This is a nice paper that should provide a lot of ideas for our research. ", } @ARTICLE{YasudaHirai79, AUTHOR = "Kazunori Yasuda and Kazumasa Hirai", TITLE = "Upper and Lower Bounds on the Solution of the Algebraic {R}iccati Equation", JOURNAL = TAC, YEAR = "1979", VOLUME = "24", NUMBER = "3", PAGES = "483--487", MONTH = "June", ABSTRACT = " Location: RefDB 2 Keywords: ARE, Riccati and Lyapunov Equations, Bounds on eigenvalues Comments: Given an algebraic matrix Riccati equation \[ A'K + KA - KBB'K + Q = 0 \] the fundamental inequalities which are satisfied by the extremal ì eigenvalues of the positive definite solution $K$, are ì established. It is illustrated that these resultant estimations ì appear to be considerably tighter than previously available ì results in many cases. Similar results are obtained for the ì discrete algebraic matrix Riccati equation. These results are summarized in \cite{MoriDerese84}. ", } %%YO @MASTERSTHESIS{Young00, AUTHOR = "Brett J. Young", TITLE = "Mobile Robots: Coordination and Control", SCHOOL = "Brigham Young University", YEAR = "2000", ADDRESS = "Provo, Utah", ABSTRACT = " Location: shelf Keywords: mobile robots coordination formation keeping feedback to the formation Comments: ", } @ARTICLE{YoungBeardKelsey00, AUTHOR = "Brett Young and Randal Beard and Jed Kelsey", TITLE = "Coordinated Control of Multiple Robots using Formation Feedback", JOURNAL = TRA, YEAR = "In Review", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{YoungBeardKelsey01a, AUTHOR = "Brett Young and Randal Beard and Jed Kelsey", TITLE = "A Control Scheme for Improving Multi-Vehicle Formation Maneuvers", BOOKTITLE = ACC, YEAR = "2001", ADDRESS = "Arlington, VA", MONTH = "June", ABSTRACT = " Location: Keywords: Comments: ", } @ARTICLE{YoungBeardLawton00, AUTHOR = "Brett Young and Randal Beard and Jonathan Lawton", TITLE = "Hybrid Control Schemes for Hilare-type Mobile Robot Regulation", JOURNAL = TRA, YEAR = "In Review", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{YoungCurtisBeard01, AUTHOR = "Brett Young and J. Willard Curtis and Randal W. Beard", TITLE = "Nonlinear Robust Regulation Using the Satisficing Paradigm", BOOKTITLE = CDC, YEAR = "2001", ADDRESS = "Orlando, FL", MONTH = "December", NOTE = "(submitted)", ABSTRACT = " Location: Keywords: Comments: ", } @INPROCEEDINGS{YoungLawtonBeard00, AUTHOR = "Brett Young and Jonathan Lawton and Randal Beard", TITLE = "Two Hybrid Control Schemes for Nonholonomic Robots", BOOKTITLE = ICRA, YEAR = "2000", ADDRESS = "San Fransico, CA", MONTH = "April", ABSTRACT = " Location: Keywords: Comments: ", } %%YU @ARTICLE{YunAlptekinAlbayrak97, AUTHOR = "Xiaoping Yun and Gokhan Alptekin and Okay Albayrak", TITLE = "Line and Circle Formation of Distributed Physical Mobile Robots", JOURNAL = "Journal of Robotic Systems", YEAR = "1997", VOLUME = "14", NUMBER = "2", PAGES = "63--76", ABSTRACT = " Location: Ref DB 11 Keywords: Mobile robots, Formation Control, Line Formation, Circle Formation, Behavioral approach Comments: This paper presents several ad hoc algorithms that cause a group of robots to create line and circle formations. Only simulation results are presented. The paper claims that the robots are more realistic than other work because (1) the dynamics are nonholonomic, and (2) limited sonar sensors are modeled correctly. The sensory data is dealt with explicitly but there is no mention of what type of control law is used to deal with the nonholonomic nature. Collision avoidance is handled with a potential fields approach. Local minima are possible and do occur. There is no guarantee of convergence. To avoid local minima, the robots are occassionally timed out or random periods of time. ", } %%Z @ARTICLE{Zadeh58, AUTHOR = "Latfi A. Zadeh", TITLE = "What is Optimal?", JOURNAL = "IRE Transactions on Information Theory", YEAR = "1958", VOLUME = "4", NUMBER = "1", PAGES = "3", MONTH = "March", ABSTRACT = " Location: Ref DB 13 Keywords: optimal control satisficing control Comments: Latfi Zadeh argues that optimal control is arbitary. He proclaims a need for a theory that generates solutions that are `good enough' in come sense. ", } @ARTICLE{Zakai69, AUTHOR = "M. Zakai", TITLE = "On the Optimal Filtering of Diffusion Processes", JOURNAL = "Z. fur Wahrscheinlichkeitstheorie und verw. Geb.", YEAR = "1969", VOLUME = "II", PAGES = "230--243", } @ARTICLE{Zames79, AUTHOR = "G. Zames", TITLE = "On the Metric Complexity of Causal Linear Systems: $\epsilon$-Entropy and $\epsilon$-Dimension for Continuous Time", JOURNAL = TAC, YEAR = "1979", VOLUME = "24", NUMBER = "2", PAGES = "222--230", MONTH = "April", } @MISC{Zames:unknown, AUTHOR = "G. Zames", TITLE = "Nonlinear Time Varying Feedback Systems--Conditions for ${L}_{\infty}$-Boundedness Derived Using Conic Operators on Exponentially Weighted Spaces", } @ARTICLE{ZamesFalb68, AUTHOR = "G. Zames and P. L. Falb", TITLE = "Systems with Monotone, Slope-Restricted Nonlinearities", JOURNAL = "{SIAM} Journal of Control", YEAR = "1968", VOLUME = "6", NUMBER = "1", PAGES = "89--108", } @ARTICLE{ZamesShneydor76, AUTHOR = "G. Zames and N. A. Shneydor", TITLE = "Dither in Nonlinear Systems", JOURNAL = TAC, YEAR = "1976", VOLUME = "21", NUMBER = "5", PAGES = "660--667", MONTH = "October", ABSTRACT = " Location: Ref DB 9 Keywords: Dither Nonlinear Systems memoryless nonlinearity circle criteria Comments: A dither is a high-frequency signal introduced into a nonlinear system with the objecto of augmentin stability. In this paper, it is shown that the effects of dither depend on its amplitude distribution function. The stability of a dithered system is related to that of an equivalent smoothed system, whose nonlinear element is the convolution of the dither distribution and the original nonlinearity. ", } @ARTICLE{ZamesShneydor77, AUTHOR = "G. Zames and N. A. Shneydor", TITLE = "Structural Stabilization and Quenching by Dither in Nonlinear Systems", JOURNAL = TAC, YEAR = "1977", VOLUME = "22", NUMBER = "3", PAGES = "352--361", MONTH = "June", ABSTRACT = " Location: Ref DB 9 Keywords: Dither nonlinear systems jump-phenomena. Comments: ", } @BOOK{Zeidler90, AUTHOR = "Eberhard Zeidler", TITLE = "Nonlinear Functional Analysis and its Applications, II/A: Linear Monotone Operators", PUBLISHER = "Springer Verlag", YEAR = "1990", ADDRESS = "Berlin, Germany", } @BOOK{Zeidler90b, AUTHOR = "Eberhard Zeidler", TITLE = "Nonlinear Functional Analysis and its Applications, II/B: Nonlinear Monotone Operators", PUBLISHER = "Springer Verlag", YEAR = "1990", ADDRESS = "Berlin, Germany", } @BOOK{ZhouDoyleGlover94, AUTHOR = "Kemin Zhou and John Doyle and Keith Glover", TITLE = "Robust and Optimal Control", PUBLISHER = "(post-script version 94.8)", YEAR = "1994", } @ARTICLE{ZhouShi97, AUTHOR = "Zongfang Zhou and Y. Shi", TITLE = "An {O}{D}{E} Method of Solving Nonlinear Programming", JOURNAL = "Computers and Mathematics with Applications", YEAR = "1997", VOLUME = "34", NUMBER = "1", PAGES = "97--102", ABSTRACT = " Location: ref DB 9 Keywords: Nonlinear Programming Nonlinear Constraints Inequality Constraints Kuhn-Tucker Conditions ODE method Comments: This paper proposes a new method to solve general constrained optimization problem. The problem of finding the local optimal points of a nonlinear programming problem with equality and ineuality constraints is considered by solving the ODE with an appropriate numerical procedure. Moreover, the rate of convergence to optimal points is quadratic. Some numerical result is given to show th efficiency of the proposed method. ", } @ARTICLE{Zhu94, AUTHOR = "J. Jim Zhu", TITLE = "Motivation-By-Challenge For Teaching Control Systems", JOURNAL = "IEEE Control Systems Magazine", YEAR = "1994", VOLUME = "14", NUMBER = "5", PAGES = "64--68", MONTH = "October", ABSTRACT = " Location: Shelf Keywords: Control Education, Ideas for class, project based control course, teaching, active learning Comments: An unconventional, motivation-by-challenge approach is reported for teaching entry-level control courses. This approach recognizes the difference between passive learning and active learning, and therefore emphasizes motivating entry-level students with a pilot design project that is woven into lectures from beginning to end. ", } @INPROCEEDINGS{ZhuEtAl88, AUTHOR = "S. Zhu and F. Zhao and Y. Lu and J. Lin", TITLE = "Study on {PID}, {SFDO} and {MRA} Control Performance of Multi-joint Electrohydraulic Robot", BOOKTITLE = "Proceedings of the {IEEE} International Conference on Systems, Man and Cybernetics", YEAR = "1988", PAGES = "1203--1205", ABSTRACT = " Location: Ref DB 7 Keywords: Hydraulic Actuator, PID, MRAC, Optimal Control Comments: Study and Comparison of PID, MRAC, and LQR control applied to a hydraulically actuated robot. ", }