%% 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 indu