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1996c_bm96-ifac

Experimental Comparison of Trajectory Trackers for a Car with Trailers
Francesco Bullo and Richard M. Murray
1996 IFAC World Congress


1996b_mur96-ifac

Trajectory Generation for a Towed Cable System using Differential Flatness
Richard M. Murray
1996 IFAC World Congress


1996a_bhsm96-ifac

On Measures of Non-Integrability of Pfaffian Systems
Andrjez Banaszuk, John Hauser, Willem Sluis, Richard M. Murray
IFAC World Congress, July 1996


1996_mvn96-phd

Trajectory Generation for Nonlinear Control Systems
Michiel J. van Nieuwstadt
PhD Dissertation, Caltech, Jul 1996


1996_rlb96-phd

Nonlinear Control and Modeling of Rotating Stall in an Axial Flow Compressor
Robert L. Behnken
PhD Dissertation, Caltech, Sep 1996


1995r_sbhm95-cds

A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems
Willem M. Sluis, Andzrej Banaszuk, John Hauser, Richard M. Murray
System and Control Letters, 27: (5) 285-291


1995p_dbm95-cds

Active Control of an Axial Flow Compressor via Pulsed Air Injection
Raffaello D'Andrea, Robert L. Behnken, Richard M. Murray
J. Turbomachinery, 119(4):742-752


1995n_bdm95-cdc

Control of Rotating Stall in a Low-Speed Axial Flow Compressor Using Pulsed Air Injection: Modeling, Simulations, and Experimental Validation
Robert L. Behnken, Raffaello D'Andrea, Richard M. Murray
1995 IEEE Conference on Decision and Control


1995l_lm95-cds

Configuration Controllability of Simple Mechanical Control Systems
Andrew D. Lewis and Richard M. Murray
SIAM J. Control and Optimization, 35(3):766-790


1995k_mrs95-imece

Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems
Richard M. Murray, Muruhan Rathinam, Willem Sluis
1995 ASME Int'l Mechanical Engineering Congress and Exposition


1995j_nm96-ifac

Real Time Trajectory Generation for Differentially Flat Systems with Unstable Zero Dynamics
Michiel van Nieuwstadt and Richard M. Murray
1996 IFAC World Congress


1995g_mm95-ecc

Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers
Richard M. Murray and Robert T. M'Closkey
1995 European Control Conference (Rome)


1995f_mur95-nolcos

Nonlinear Control of Mechanical Systems: A Lagrangian Perspective
Richard M. Murray
Annual Reviews in Control, v21, pp 31-45


1995e_tm95-cdc

Robust Performance Analysis for a Class of Uncertain Nonlinear Systems
J. E. Tierno, R. M. Murray
1995 Conference on Decision and Control


1995d_lm95-cdc

Equilibrium Controllability for a Class of Mechanical Systems
A. D. Lewis, R. M. Murray
1995 Conference on Decision and Control


1995c_nm95-cdc

Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics
M. van Nieuwstadt, R. M. Murray
1995 Conference on Decision and Control


1995b_dbm95-spie

Active Control of Rotating Stall Using Pulsed Air Injection: A Parametric Study on a Low-Speed, Axial Flow Compressor
R. D'Andrea, R. L. Behnken, R. M. Murray
1995 SPIE International Symposium on Aerospace/Defense Sensing & Control and Dual-Use Photonics


1995_adl95-phd

Aspects of Geometric Mechanics and Control of Mechanical Systems
Andrew D. Lewis
PhD Dissertation, Caltech, Jun 1995


1994r_sbm94-syroco

Grasping with Flexible Link Fingers: An Initial Study
Sudipto Sur, Robert L. Behnken, Richard M. Murray
1994 Symposium on Robot Control (SYROCO)


1994p_ljtm94-tra

A Motion Planner for Nonholonomic Robots
J-P. Laumond, P. E. Jacobs, M. Taix and R. M. Murray
IEEE T. Robotics and Automation, 10: (5) 577-593


1994o_lm94-cds

Variational Principles in Constrained Systems: Theory and Experiments
Andrew D. Lewis and Richard M. Murray
International Journal of Nonlinear Mechanics, 30(6): 793-815, 1995

CDS Technical Report 94-016
1994n_bm95-ecc

Proportional Derivative (PD) Control on the Euclidean Group
Francesco Bullo and Richard Murray
1995 European Control Conference (Rome)


1994l_km95-turbo

Experimental Evaluation of Air Injection for Actuation of Rotating Stall in a Low Speed, Axial Fan
Asif Khalak and Richard M. Murray
ASME Turbo Expo '95


1994k_tmd95-acc

An Efficient Algorithm for Performance Analysis of Nonlinear Control Systems
J. E. Tierno, R. M. Murray, J. C. Doyle
1995 American Control Conference


1994j_kbbm95-acc

An Experimental Comparison of Controllers for a Vectored Thrust, Ducted Fan Engine
M. Kantner, B. Bodenheimer, P. Bendotti, R. M. Murray
1995 American Control Conference


1994i_bms95-nolcos

Control on the Sphere and Reduced Attitude Stabilization
Francesco Bullo, Richard M. Murray, Augusto Sarti
1995 IFAC Symposium on Nonlinear Control Systems Design


1994h_km94-cds

Geometric Phases and Robotic Locomotion
Scott D. Kelly and Richard M. Murray
J. Robotic Systems, 12(6):417-431


1994g_bkmm94-cds

Nonholonomic Mechanical Systems and Symmetry
A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray
CDS Technical Report 94-013
To appear Archive for Rational Mechanics and Analysis


1994f_mur94-nas

Geometric Phases, Control Theory, and Robotics
Richard M. Murray
Proceedings of the Board on Mathematical Sciences, Science and Technology Symposium, Washington DC, 12 April 1994


1994e_mm94-cdc

Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback
Robert T. M'Closkey and Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
December 1994


1994d_nrm94-cdc

Differential Flatness and Absolute Equivalence of Nonlinear Control Systems
Michiel van Nieuwstadt, Muruhan Rathinam, Richard M. Murray
SIAM J. Control and Optimization, 36(4):1225-1239


1994b_wal+95-tac

Stabilization of Trajectories for Systems with Nonholonomic Constraints
G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J-P. Laumond
IEEE T. Automatic Control, 39: (1) 216-222


1994a_mm94-syroco

Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers
Robert T. M'Closkey and Richard M. Murray
1994 Symposium on Robot Control (SYROCO)


1994_rtm94-phd

Exponential Stabilization of Driftless Nonlinear Control Systems
Robert T. M'Closkey
PhD Dissertation, Caltech, Dec 1994


1993j_lomb94-icra

Nonholonomic Mechanics and Locomotion: The Snakeboard Example
Andrew D. Lewis, Richard M. Murray, James P. Ostrowski, Joel W. Burdick
1994 International Conference on Robotics and Automation


1993g_mm94-acc

Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer
Robert M'Closkey and Richard M. Murray
1994 American Control Conference


1993e_mur93-cdc

Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems
Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
December 1993


1993d_ms93

Nonholonomic Motion Planning: Steering Using Sinusoids
Richard M. Murray and S. Shankar Sastry
IEEE T. Automatic Control, 38(5):700-716


1993a_tms93-erl

Trajectory generation for the N-trailer problem using Goursat normal form
D. Tilbury, R. M. Murray and S. S. Sastry
IEEE T. Automatic Control, 40: (5) 802-819


1992a_mdps92-smc

Control Primitives for Robot Systems
Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry
IEEE T. Systems, Man, and Cybernetics


1991c_mh91-erl

A Case Study in Approximate Linearization: The Acrobot Example
Richard M. Murray and John Hauser
ERL Technical Memo, May 1991


1990e_mur90-phd

Robotic Control and Nonholonomic Motion Planning
Richard M. Murray
PhD Dissertation, UC Berkeley, Dec 1990


1988a_mur88-ms

Experiments in Planar Manipulation and Grasping
Richard M. Murray
MS Project Report, UC Berkeley, Dec 1988