Control and Dynamical Systems Technical Reports

Monographs from CaltechAUTHORS

• Filippidis, Ioannis and Murray, Richard M. (2016) Formalizing synthesis in TLA+
• Filippidis, Ioannis and Murray, Richard M. (2016) Symbolic construction of GR(1) contracts for systems with full information; 10.1109/ACC.2016.7525009
• Chinchali, Sandeep; Livingston, Scott C.; et al. (2016) Simultaneous Model Identification and Task Satisfaction in the Presence of Temporal Logic Constraints
• Dathathri, Sumanth; Livingston, Scott C.; et al. (2016) Interfacing TuLiP with the JPL Statechart Autocoder: Initial progress toward synthesis of flight software from formal specifications
• Livingston, Scott C. (2015) Time-annotated game graphs for synthesis from abstracted systems
• Filippidis, Ioannis and Murray, Richard M. (2015) Revisiting the AMBA AHB bus case study
• Filippidis, Ioannis; Murray, Richard M.; et al. (2015) Synthesis from multi-paradigm specifications
• Livingston, Scott C.; Wolff, Eric M.; et al. (2015) Cross-entropy Temporal Logic Motion Planning; 10.1145/2728606.2728635
• Raman, Vasumathi; Fält, Mattias; et al. (2015) Online Horizon Selection in Receding Horizon Temporal Logic Planning
• Livingston, Scott C. and Murray, Richard M. (2014) Hot-swapping robot task goals in reactive formal synthesis
• Wolff, Eric M. and Murray, Richard M. (2013) Optimal Control of Mixed Logical Dynamical Systems with Long-Term Temporal Logic Specifications
• Spooner, Nicholas (2012) Evaluation and Benchmarking for Robot Motion Planning Problems Using TuLiP
• Censi, Andrea; Nilsson, Adam; et al. (2012) Motion planning in observations space with learned diffeomorphism models
• Livingston, Scott C.; Prabhakar, Pavithra; et al. (2012) Patching task-level robot controllers based on a local µ-calculus formula
• Zhao, Changhong; Topcu, Ufuk; et al. (2012) Swing Dynamics as Primal-Dual Algorithm for Optimal Load Control
• Zhao, Changhong; Topcu, Ufuk; et al. (2011) Fast Load Control with Stochastic Frequency Measurement
• Wolff, Eric M.; Topcu, Ufuk; et al. (2011) Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications
• Zhao, Changhong; Topcu, Ufuk; et al. (2011) Frequency-based load control in power systems
• Liu, Jun; Ozay, Necmiye; et al. (2011) Synthesis of Switching Protocols from Temporal Logic Specifications
• Censi, Andrea and Murray, Richard M. (2011) Bootstrapping, uncertain semantics, and invariance
• Censi, Andrea and Murray, Richard M. (2011) A group-theoretic approach to formalizing bootstrapping problems
• de la Puente, Paloma and Censi, Andrea (2011) Dense map inference with user-defined priors: from priorlets to scan eigenvariations
• Gan, Lingwen; Topcu, Ufuk; et al. (2011) Stochastic Distributed Protocol for Electric Vehicle Charging with Discrete Charging Rate
• Gan, Lingwen; Topcu, Ufuk; et al. (2010) Optimal Decentralized Protocols for Electric Vehicle Charging
• Lavaei, Javad (2010) Decentralized Implementation of Centralized Controllers for Interconnected Systems
• Censi, Andrea and Murray, Richard M. (2010) Bootstrapping bilinear models of robotic sensorimotor cascades
• Lavaei, Javad and Low, Steven (2010) Zero Duality Gap in Optimal Power Flow Problem
• Lavaei, Javad; Sojoudi, Somayeh; et al. (2010) Delay-Based Controller Design for Continuous-Time and Hybrid Applications
• Han, Shuo; Censi, Andrea; et al. (2010) A bio-plausible design for visual pose stabilization
• Tonetti, Stefania and Murray, Richard M. (2009) Limits on the Network Sensitivity Function for Multi-Agent Systems on a Graph
• Wongpiromsarn, Tichakorn; Mitra, Sayan; et al. (2008) Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle
• Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno Equilibria in Lagrangian Hybrid Systems
• Braman, J. M. B. and Murray, R. M. (2007) Conversion and verification procedure for goal-based control programs
• Chen, Lijun; Ho, Tracey; et al. (2006) Rate Control for Multicast with Network Coding
• Waydo, Stephen and Klavins, Eric (2006) Verification of an Autonomous Reliable Wingman using CCL
• Gupta, Vijay; Chung, Timothy H.; et al. (2004) On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage
• Gupta, Vijay; Spanos, Demetri; et al. (2004) Optimal LQG Control Across a Packet-Dropping Link
• Gupta, Vijay; Hassibi, Babak; et al. (2004) A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents
• Olfati-Saber, Reza (2004) Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
• Alderson, David L. (2004) Technological and Economic Drivers and Constraints in the Internet’s “Last Mile”
• Dunbar, William B. and Murray, Richard M. (2004) Distributed Receding Horizon Control with Application to Multi-Vehicle Formation Stabilization
• Waydo, Stephen (2003) Vehicle Motion Planning Using Stream Functions
• Martin, Phillipe; Murray, Richard M.; et al. (2003) Flat systems, equivalence and trajectory generation
• Olfati-Saber, Reza (2003) Flocking with Obstacle Avoidance
• Olfati-Saber, Reza (2003) A Unified Analytical Look at Reynolds Flocking Rules
• Fax, J. Alexander and Murray, Richard M. (2003) Information Flow and Cooperative Control of Vehicle Formations
• Olfati-Saber, Reza and Murray, Richard M. (2003) Agreement Problems in Networks with Directed Graphs and Switching Topology
• Dunbar, William B.; Klavins, Eric; et al. (2003) Feedback Controlled Software Systems
• Gupta, Vijay (2003) Decentralized Analysis of Stability of Stochastically Varying Formations of Dynamic Agents.
• Gonçalves, Jorge M. (2001) ℒ2-Gain of Double Integrators with Saturation Nonlinearity
• Fax, J. Alexander and Murray, Richard M. (2001) Graph Laplacians and Stabilization of Vehicle Formations
• Zhu, Xiaoyun; Yu, Jie; et al. (2000) Heavy-Tailed Distributions, Generalized Source Coding and Optimal Web Layout Design
• Murray, Richard M. (1999) Geometric Approaches to Control in the Presence of Magnitude and Rate Saturations
• Yeung, S.; Wang, Y.; et al. (1998) Evaluation of Bleed Valve Rate Requirements in Nonlinear Control of Rotating Stall on Axial Flow Compressors
• Muruhan, Rathinam and Murray, Richard M. (1998) Discrete Function Approximation: Numerical Tools for Nonlinear Control
• Morin, Pascal; Murray, Richard M.; et al. (1997) Nonlinear Rescaling of Control Laws with Application to Stabilization in the Presence of Magnitude Saturation
• Sur, Sudipto (1997) Robotic manipulation with flexible link fingers
• Zenkov, Dmitry V.; Bloch, Anthony M.; et al. (1997) The Energy-Momentum Method for the Stability of Nonholonomic Systems
• Feng, Xiaolin and Liu, Wenhai (1997) Robot autonomous navigation
• Jönsson, Ulf (1997) A stability criterion for systems with neutrally stable modes and deadzone nonlinearities
• Rathinam, Muruhan (1997) Differentially flat nonlinear control systems
• Shapiro, Benjamin (1997) Solving the Optimal Mistuning Problem by Symmetry: A General Framework for Extending Flutter Boundaries in Turbomachines via Mistuning
• Nevistić, Vesna and Primbs, James A. (1997) Finite Receding Horizon Linear Quadratic Control: A Unifying Theory for Stability and Performance Analysis
• van Nieuwstadt, Michiel J. and Murray, Richard M. (1997) Real Time Trajectory Generation for Differentially Flat Systems
• Murray, Richard M.; Jacobsen, C.A.; et al. (1997) System Identification for Limit Cycling Systems: A Case Study for Combustion Instabilities
• Bullo, Francesco and Murray, Richard M. (1997) Tracking for Fully Actuated Mechanical Systems: A Geometric Framework
• Nevistić, Vesna and Primbs, James A. (1996) Constrained nonlinear optimal control: a converse HJB approach
• Primbs, James A. and Nevistić, Vesna (1996) Optimality of nonlinear design techniques: A converse HJB approach
• Marsden, Jerrold E. and Koon, Wang-Sang (1996) The Hamiltonian and Lagrangian approaches to the dynamics of nonholonomic systems
• Lu, Wei-Min and Packard, Andy (1996) Adaptive ℋ∞-control for nonlinear systems: a dissipation theoretical approach
• Rathinam, Muruhan and Murray, Richard M. (1996) Configuration Flatness of Lagrangian Systems Underactuated by One Control
• Behnken, Robert L. (1996) Nonlinear Control and Modeling of Rotating Stall in an Axial Flow Compressor
• Wendland, Jeffrey M. and Marsden, Jerrold E (1996) Mechanical integrators derived from a discrete variational principle
• Kothare, Mayuresh V. and Morari, Manfred (1996) Multiplier theory for stability analysis of anti-windup control systems
• Zhu, Xiaoyun and van Nieuwstadt, Michiel (1996) The Caltech helicopter control experiment
• van Nieuwstadt, Michiel J. (1996) Trajectory generation for nonlinear control systems
• Blaom, Anthony (1996) Hamiltonian G-Spaces with regular momenta
• Paganini, Fernando (1996) Sets and Constraints in the Analysis Of Uncertain Systems
• D’Andrea, Raffaello (1996) Necessary and sufficient conditions for robust gain scheduling
• D’Andrea, Raffaello (1996) Generalized ℓ2 synthesis
• Lewis, Andrew D. (1996) A Symmetric Product for Vector Fields and its Geometric Meaning
• Soatto, Stefano and Perona, Pietro (1996) Reducing “Structure From Motion”: a General Framework for Dynamic Vision - Part 1: Modeling
• Soatto, Stefano and Perona, Pietro (1996) Reducing “Structure From Motion”: a General Framework for Dynamic Vision - Part 2: Experimental Evaluation
• Sur, Sudipto and Murray, Richard M. (1996) An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks
• D’Andrea, Raffaello; Behnken, Robert L.; et al. (1996) Active Control of an Axial Flow Compressor via Pulsed Air Injection
• Rathinam, Muruhan and Murray, Richard M. (1996) Configuration Flatness of Lagrangian Systems Underactuated by One Control
• Lewis, Andrew D. and Murray, Richard M. (1996) Decomposition for Control Systems on Manifolds with an Affine Connection
• Perry, Anthony D. (1995) Hamiltonian G-Spaces with Regular Momenta
• D’Andrea, Raffaello (1995) H-Infinity Optimal Interconnections
• Paganini, Fernando (1995) Robust ℋ2 Performance: Guaranteeing Margins for LQG Regulators
• Zheng, Zhi Qiang (Alex) (1995) Robust Control of Systems Subject to Contraints
• Ostrowski, James Patrick (1995) The Mechanics and Control of Undulatory Robotic Locomotion
• Paganini, Fernando (1995) A Set-Based Methodology for White Noise Modeling
• D’Andrea, Raffaello (1995) ℋ∞ optimization with spatial constraints
• Paganini, Fernando (1995) Robust Stability Under Mixed Time Varying, Time Invariant and Parametric Uncertainty
• van Nieuwstadt, Michiel; Rathinam, Muruhan; et al. (1995) Differential Flatness and Absolute Equivalence
• Koon, Wang-Sang and Marsden, Jerrold E. (1995) Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reductions
• Marsden, Jerrold E. and Scheurle, Jürgen (1995) Pattern Evocation and Geometric Phases in Mechanical Systems with Symmetry
• D’Andrea, Raffaello (1995) LMI approach to mixed performance objective controllers: application to Robust ℋ2 Synthesis
• Rathinam, Muruhan and Sluis, Willem M. (1995) A Test for Differential Flatness by Reduction to Single Input Systems
• Bodenheimer, Robert Edward, Jr. (1995) The Whirling Blade and the Steaming Cauldron
• Lewis, Andrew D. (1995) The Geometry of the Gibbs-Appell Equations and Gauss’ Principle of Least Constraint
• Sluis, Willem M. and Tilbury, D. M. (1995) A Bound on the Number of Integrators Needed to Linearize a Two-input Control System
• Bekiaris, Nikolaos (1995) Multiple Steady States in Distillation
• Lewis, Andrew D. (1995) Aspects of Geometric Mechanics and Control of Mechanical Systems
• Kothare, Mayuresh V.; Balakrishnan, Venkataramanan; et al. (1995) Robust Constrained Model Predictive Control using Linear Matrix Inequalities
• Soatto, Stefano and Perona, Pietro (1995) Depth from Brightness of Moving Images
• Tyler, Matthew L. and Morari, Manfred (1995) Performance Monitoring of Control Systems using Likelihood Methods
• Soatto, Stefano and Perona, Pietro (1995) Motion from “X” by Compensating “Y”
• Soatto, Stefano and Perona, Pietro (1995) Motion from Fixation
• Bodenheimer, Bobby; Bendotti, Pascale; et al. (1995) Linear Parameter-Varying Control of a Ducted Fan Engine
• Lewis, Andrew D. and Murray, Richard M. (1995) Configuration Controllability of Simple Mechanical Control Systems
• Tierno, Jorge E.; Murray, Richard M.; et al. (1995) Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems
• Bullo, Francesco and Murray, Richard M. (1995) Proportional Derivative (PD) Control on the Euclidean Group
• M’Closkey, Robert T. and Murray, Richard M. (1995) Exponential Stabilization of Driftless Nonlinear Control Systems using Homogeneous Feedback
• Bloch, A. M.; Krishnaprasad, P. S.; et al. (1995) Nonholonomic Mechanical Systems with Symmetry
• Bodenheimer, Bobby and Bendotti, Pascale (1995) Optimal Linear Parameter-Varying Control Design for a Pressurized Water Reactors
• Bullo, Francesco; Murray, Richard M.; et al. (1995) Control on the Sphere and Reduced Attitude Stabilization
• Sluis, Willem M.; Banaszuk, Andrzej; et al. (1995) A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems
• M’Closkey, Robert Thomas, III (1995) Exponential Stabilization of Driftless Nonlinear Control Systems
• Lu, Wei-Min and Doyle, John (1995) Attenuation of Persistent L∞-Bounded Disturbances for Nonlinear Systems
• Paganini, Fernando (1994) Analysis of Implicit Uncertain Systems. Part II: Constant Matrix Problems and Application to Robust H2 Analysis
• Paganini, Fernando and Doyle, John (1994) Analysis of Implicit Uncertain Systems. Part I: Theoretical Framework
• Beck, Carolyn; Doyle, John; et al. (1994) Model Reduction of Multi-Dimensional and Uncertain Systems
• Bekiaris, Nikolaos; Meski, George A.; et al. (1994) Multiple Steady States in Heterogeneous Azeotropic Distillation
• Soatto, Stefano and Perona, Pietro (1994) On the Exact Linearization of Structure From Motion
• Lu, Wei-Min and Doyle, John C. (1994) A State-Space Approach to Robustness Analysis and Synthesis for Nonlinear Uncertain Systems
• Lu, Wei-Min (1994) A State-Space Approach to Parametrization of Stabilizing Controllers for Nonlinear Systems
• Tyler, Matthew L. and Morari, Manfred (1994) Optimal and Robust Design of Integrated Control and Diagnostic Modules
• Soatto, Stefano and Perona, Pietro (1994) Observability/Identifiability of Rigid Motion under Perspective Projection; 10.1109/CDC.1994.411638
• Soatto, Stefano and Perona, Pietro (1994) Robust and Efficient Recovery of Rigid Motion from Subspace Constraints Solved using Recursive Identification of Nonlinear Implicit Systems
• Huq, Iftikhar; Morari, Manfred; et al. (1994) Design and Operational Modifications to Model IV FCCUs to Improve Dynamic Performance
• Soatto, Stefano; Frezza, Ruggero; et al. (1994) Dynamic Estimation of Rigid Motion from Perspective Views via Recursive Identification of Exterior Differential Systems with Parameters on a Topological Manifold
• Soatto, Stefano; Frezza, Ruggero; et al. (1994) Recursive Estimation of Camera Motion from Uncalibrated Image Sequences
• Soatto, Stefano and Perona, Pietro (1994) Three Dimensional Transparent Structure Segmentation and Multiple 3D Motion Estimation from Monocular Perspective Image Sequences
• Tyler, M. L. and Morari, M. (1994) Estimation of Cross Directional Properties: Scanning versus Stationary Sensors
• Balakrishnan, V.; Zheng, A.; et al. (1994) Constrained Stabilization of Discrete-Time Systems
• Zheng, A. and Morari, M. (1994) Stability of Model Predictive Control with Soft Constraints
• Lewis, Andrew D. and Murray, Richard M. (1994) Variational Principles for Constrained Systems: Theory and Experiment
• Kelly, Scott D. and Murray, Richard M. (1994) Geometric Phases and Robotic Locomotion
• Paganini, Fernando (1994) White Noise Rejection in a Deterministic Setting
• Morari, M. (1993) Model Predictive Control: Multivariable Control Technique of Choice in the 1990s?
• Soatto, Stefano; Frezza, Ruggero; et al. (1993) Recursive Motion Estimation on the Essential Manifold
• Lu, Wei-Min and Doyle, John C. (1993) H∞ Control of Nonlinear Systems: A Convex Characterization
• D’Andrea, Raffaello; Paganini, Fernando; et al. (1993) Uncertain Behavior
• Paganini, Fernando (1993) Set Descriptions of White Noise and Worst Case Induced Norms
• D’Andrea, Raffaello and Paganini, Fernando (1993) Interconnection of Uncertain Behavioral Systems for Robust Control
• Young, Peter M. (1993) Controller Design with Real Parametric Uncertainty
• Young, Peter M. (1993) The Rank One Mixed μ Problem and ‘Kharitonov-Type’ Analysis
• Lu, Wei-Min; Zhou, Kemin; et al. (1993) Stabilization of Linear Systems with Structured Perturbations
• Lee, Jay H.; Braatz, Richard D.; et al. (1993) Robust Control Structure Selection
• Braatz, Richard D. and Morari, Manfred (1993) Stability and Performance Analysis of Systems Under Constraints
• Kothare, Mayuresh V.; Campo, Peter J.; et al. (1993) A Unified Framework for the Study of Anti-Windup Designs
• Braatz, Richard Dean (1993) Robust Loopshaping for Process Control
• Lu, Wei-Min and Doyle, John C. (1993) H∞ Control of Nonlinear Systems: A Class of Controllers
• Holcomb, Tyler R. and Morari, Manfred (1993) Significance Regression: Robust Regression for Collinear Data
• Zheng, Alex; Kothare, Mayuresh V.; et al. (1993) Anti-Windup Design for Internal Model Control
• Holcomb, Tyler R.; Hjalmarsson, Hakan; et al. (1993) Significance Regression: A Statistical Approach to Biased Linear Regression and Partial Least Squares
• Braatz, Richard D.; Young, Peter M.; et al. (1993) Computational Complexity of μ Calculation
• Holcomb, Tyler and Morari, Manfred (1993) PLS Leads to Different Algorithms for Factor Analysis and Regression
• Holcomb, Tyler R. and Morari, Manfred (1993) Significance Regression: Improved Estimation from Collinear Data for the Measurement Error Model
• Bekiaris, Nikolaos; Meski, George A.; et al. (1993) Multiple Steady States in Homogeneous Azeotropic Distillation
• Primbs, James A. and Nevistić, Vesna (1993) Constrained Finite Receding Horizon Linear Quadratic Control
• Lee, Jay H.; Morari, Manfred; et al. (1992) State-Space Interpretation of Model Predictive Control
• Murray, Richard M. (1992) Nilpotent Bases for a Class of Non-Integrable Distributions with Applications to Trajectory Generation for Nonholonomic Systems
• Braatz, Richard D.; Tyler, Matthew L.; et al. (1992) Avery Final Report: Identification and Cross-Directional Control of Coating Processes
• Young, Peter M.; Newlin, Matthew P.; et al. (1992) Let’s Get Real