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1997_cav97-eng
- Autonomous Reorientation of a Manuever-Limited Spacecraft Under Simple Pointing Constraints
- Charles A. Vannelli
- Engineer's Thesis, Caltech, May 1997
1997_mr97-phd
- Differentially Flat Nonlinear Control Systems
- Muruhan Rathinam
- PhD Dissertation, Caltech, May 1997
1997_ss97-phd
- Robotic Manipulation with Flexible Link Fingers
- Sudipto Sur
- PhD Dissertation, Caltech, January 1997
1996t_bkmm96-arma
- Nonholonomic Mechanical Systems with Symmetry
- A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray
- Archive for Rational Mechanics and Analysis, 136(1):21-99
1996s_blm97-turbo
- Characterizing the Effects of Air Injection on Compressor Performance for Use in Active Control of Rotating Stall
- Robert L. Behnken, Mina Leung, and Richard M. Murray
- 1997 Turbo Expo
1996r_tkm97-acc
- Uniting local and global controllers for the Caltech ducted fan
- Andrew R. Teel, Oliver Kaiser, Richard M. Murray
- 1997 American Control Conference
1996q_sm97-acc
- Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators
- Sudipto Sur and Richard M. Murray
- 1997 American Control Conference
1996p_bm97-acc
- Combined Air Injection Control of Rotating Stall and Bleed Valve Control of Surge
- Robert L. Behnken and Richard M. Murray
- 1997 American Control Conference
1996o_nm96-jgcd
- Rapid Hover to Forward Flight Transitions for a Thrust Vectored Aircraft
- Michiel J. van Nieuwstadt and Richard M. Murray
- J. Guidance, Control, and Dynamics, 21(1):93-100, Jan-Feb 1998
1996n_rm97-ecc
- Differential Flatness of Two One-Forms in Arbitrary Number of Variables
- Muruhan Rathinam and Richard M. Murray
- Systems and Control Letters, 36:317-326, 1999.
1996m_bm97-ecc
- Trajectory tracking for fully actuated mechanical systems
- Francesco Bullo and Richard M. Murray
- 1997 European Control Conference
1996l_nm96-ijrnc
- Real Time Trajectory Generation for Differentially Flat Systems
- Michiel J. van Nieuwstadt and Richard M. Murray
- Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020
1996k_mur96-cdc
- Real-Time Control Experiments for Instruction and Research at Caltech
- Richard M. Murray
- 1996 Conference on Decision and Control
1996j_lm96-scl
- Decompositions for Control Systems on Manifolds with an Affine Connection
- Andrew Lewis and Richard M. Murray
- Systems & Control Letters 31:199-205, 1997
1996i_nm96-cesa
- Fast Mode Switching for a Thrust Vectored Aircraft
- Michiel J. van Nieuwstadt and Richard M. Murray
- 1996 Multiconference on Computational Engineering in Systems Applications
1996g_rm96-cdc
- Configuration Flatness of Lagrangian Systems Underactuated by One Control
- Muruhan Rathinam and Richard M. Murray
- SIAM J. Control and Optimization, 36(1):164-179
1996f_km96-cdc
- The Geometry and Control of Dissipative Systems
- Scott D. Kelly and Richard M. Murray
- 1996 IEEE Control and Decision Conference
1996e_tmw95-ijc
- Nonholonomic control systems: from steering to stabilization with sinuoids
- Andrew R. Teel, Richard M. Murray, Gregory C. Walsh
- International Journal of Control 62(4):849-870
1996d_dm96-ifac
- Robust Nonlinear Control Theory with Applications to Aerospace Vehicles
- John C. Doyle and Richard M. Murray
- 1996 IFAC World Congress
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
