Contract/grant sponsor: DARPA (2008)
T. S. Brinsmead, F. De Bruyne, J. Hespanha, D. Liberzon, A. S. Morse, ...
Contract/grant sponsor: NSF;
Contract/grant sponsor: CAPES (2008)
G. W. Chang, J. P. Hespanha, A. S. Morse, M. S. Netto, R. Ortega, John Wiley
It is well known that the performance of the (industry standard) "eld-oriented control (FOC) for induction motors is highly sensitive to uncertainties in the rotor resistance. In this paper...
Contract/grant sponsor: DARPA (2008)
T. S. Brinsmead, F. De Bruyne, J. Hespanha, D. Liberzon, A. S. Morse, ...
Contract/grant sponsor: NSF;
J. P. Hespanha, Z. Dodds, G. D. Hager, A. S. Morse
Abstract. This article studies the following question: “When is it possible to decide, on the basis of images of point-features observed by an imprecisely modeled two-camera stereo vision system,...
Issues Concerned with Task Encoding in Vision-Based Control Systems (2007)
Hespanha Chang, W-c. Chang, A. S. Morse, G. D. Hager
references. Some of the preceding issues have been discussed quite recently in [5] which considers the problem of controlling the position of a rigid robot in a prescribed workspace W ae IR 3 using...
A Calibration-Free, Self-Adjusting Stereo Visual Control System (2007)
Wen-Chung Chang, A. S. Morse, Gregory D. Hager
. The purpose of this paper is to describe a self-adjusting, vision-based controller which is able to control the position of a robotic manipulator without explicit calibration of camera parameters....
Task Specification and Monitoring for Uncalibrated Hand/Eye Coordination (2007)
Z. Dodds, G. D. Hager, A. S. Morse, J. P. Hespanha
Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated...
CDC02-INV2101 Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules (2007)
A. Jadbabaie, J. Lin, A. S. Morse
In a recent Physical Review Letters paper, Vicsek et. al. propose a simple but compelling discrete-time model of n autonomous agents fi.e., points or particlesg all moving in the plane with the same...
ON THE ISS PROPERTY FOR RECEDING HORIZON CONTROL OF CONSTRAINED LINEAR SYSTEMS (2007)
Abstract: Recent results on receding horizon control of linear systems with state and input constraints have shown that the optimal receding horizon controller is piecewise affine and continuous,...
Further Results on Switched Control of Linear Systems With (2007)
Constraints De Persisy, C. De Persisy, R. De Santis, A. S. Morse
In a previous paper ([3]) we proposed a supervisory control system to globally regulate to zero the state of a very poorly modeled, open-loop unstable but not exponentially unstable, linear process...
ON THE ISS PROPERTY FOR RECEDING HORIZON CONTROL OF CONSTRAINED LINEAR SYSTEMS (2007)
Abstract: Recent results on receding horizon control of linear systems with state and input constraints have shown that the optimal receding horizon controller is piecewise affine and continuous,...
Adaptive Stabilization of Linear and Nonlinear Systems (2005)
With AFOSR support, a new strategy called 'cyclic switching' has been devised for dealing with the well-know, long standing, certainty equivalence control synthesis problem which arises in the design...
Rigidity, Computation, and Randomization in Network Localization (2004)
T. Eren, D. K. Goldenberg, W. Whiteley, Y. R. Yang, A. S. Morse, ...
In this paper we provide a theoretical foundation for the problem of network localization in which some nodes know their locations and other nodes determine their locations by measuring the distances...
Overcoming the limitations of adaptive control by means of logic-based switching (2003)
Hespanha, Joao P, Liberzon, D, Morse, A S
In this paper we describe a framework for deterministic adaptive control which involves logic-based switching among a family of candidate controllers. We compare it with more conventional adaptive...
Hysteresis-based switching algorithms for supervisory control of uncertain systems (2003)
Hespanha, Joao P, Liberzon, D, Morse, A S
We address the problem of controlling a linear system with unknown parameters ranging over a continuum by means of switching among a finite family of candidate controllers. We present a new...
Coordination of groups of mobile autonomous agents using nearest neighbor rules (2003)
A. Jadbabaie, J. Lin, A. S. Morse
In a recent Physical Review Letters article, Vicsek et al. propose a simple but compelling discrete-time model of n autonomous agents {i.e., points or particles} all moving in the plane with the same...
Coordination of groups of mobile autonomous agents using nearest neighbor rules (2003)
A. Jadbabaie, J. Lin, A. S. Morse
In a recent Physical Review Letters article, Vicsek et. al. propose a simple but compelling discrete-time model of n autonomous agents {i.e., points or particles} all moving in the plane with the...
Adaptive Control of Single-Input, Single-Output Linear Systems, (2002)
A procedure is presented for designing an adaptive control for a single-input, single-out-put process admitting an essentially unknown but fixed linear model, so that the resulting closed-loop system...
An Unstable Dynamical System Associated with Model Reference Adaptive Control, (2002)
Feuer,A., Barmish,B. R., Morse,A. S.
It is shown that a certain system of differential equations of importance to the proof of stability of the adaptive system proposed in (1), admit unbounded solutions. The implication of this result...
Adaptive Control of Multivariable Systems. (2002)
During this period the Principal Investigator wrote six technical papers. Titles are: New directions in parameter adaptive control, Adaptive stabilization of linear systems with unknown high...
On Supervisory Control Of Linear (2002)
Systems With Input, C. De Persis, R. De Santis, A. S. Morse
A supervisory control system which globally regulates to zero the state of a very poorly modeled linear process in the presence of input constraints is proposed in this paper. The model of the...
Is Monopoli's Model Reference Adaptive Controller Correct? (2002)
reference adaptive control problem now exist {see [3] and the references therein}, the problem of deciding whether or not Monopoli's original proposed solution is in fact correct remains...
What tasks can be performed with an uncalibrated stereo vision system (1999)
J. P. Hespanha, Z. Dodds, G. D. Hager, A. S. Morse
This article studies the following question: “When is it possible to decide, on the basis of images of point-features observed by an imprecisely modeled two-camera stereo vision system, whether or...
Adaptive Control of Multivariable Systems. (1998)
Research under this grant has focussed on adaptive control of multivariable systems. Seventeen papers were published under this grant, involving 'Adaptive Stabolization of Linear System with Unknown...
Systematic Design of Adaptive Controllers for Feedback Linearizable Systems. (1998)
Kanellakopoulos, Ioannis, Kokotovic, Petar V., Morse, A. S.
A systematic procedure is developed for the design of adaptive regulation schemes for a class of feedback linearizable nonlinear systems. The coordinate-free geometric conditions, which characterize...
Adaptive Output-Feedback Control of Systems with Output Nonlinearities. (1998)
Kanellakopoulos, I., Kokotovic, P. V., Morse, A. S.
For a class of single-input single-output nonlinear systems with unknown constant parameters, we present a direct model-reference adaptive control scheme, which requires only output, rather than...
Control Using Logic-Based Switching. (1998)
Between the well-studied areas of discontinuous control on the one hand and sampled data control on the other lies the largely unexplored area of logic-based switching control systems. By a...
Intelligent Control of Uncertain Systems (1998)
The main objective of this research has been to advance the state-of-the-art in smart control design methodology for the purpose of regulating or otherwise controlling very poorly modeled nonlinear...
Intelligent Control of Uncertain Systems. (1998)
This project has developed provably correct architectures and reconfiguring algorithms for controlling processes whose dynamical models may change drastically due to aging, component failure or other...
recommended for publication in revised form by (1998)
J. M. Schumacher, A. S. Morse, C. C. Pantelides, S. Sastry, John Lygeros, Claire Tomlin, ...
Guest Editors
Certainty equivalence implies detectability (1998)
It is shown that any stabilizing, certainty equivalence control used within an adaptive control system, causes the familiar interconnection of a controlled process and associated output estimator to...
Certainty Equivalence Implies Detectability (1998)
It is shown that any stabilizing, certainty equivalence control used within an adaptive control system, causes the familiar interconnection of a controlled process and associated output estimator to...
Input-Output Gains of Switched Linear Systems (1998)
oe in S, the preceding defines a time-varying linear system of the form \Sigma oe \Delta = ( x = M oe x + D oe u y = H oe x ) where u is an integrable input signal taking values in IR nu . Thus if...
Certainty Equivalence Implies Detectability (1998)
: Using recently introduced concepts of input-to-state stability and detectability for nonlinear systems, it is shown that any stabilizing, certainty equivalence control used within an adaptive...
Supervisory Field-Oriented Control of Induction Motors with Uncertain Rotor Resistance (1998)
G.W. Chang, J.P. Hespanha, A.S. Morse, M.S. Netto, R. Ortega
: It is well known that the performance of the (industry standard) field--oriented control (FOC) for induction motors is highly sensitive to uncertainties in the rotor resistance. In this paper we...
What Can Be Done with an Uncalibrated Stereo System? (1998)
Jo Ao, Zachary Dodds, Gregory D. Hager, A. S. Morse
Over the last several years, there has been an increasing appreciation of the impact of control architecture on the accuracy of visual servoing systems. In particular, it is generally acknowledged...
Decidability of Robot Positioning Tasks Using Stereo Vision Systems (1998)
J.P. Hespanha, Z. Dodds, G.D. Hager, A. S. Morse
Conditions are given which enable one to decide on the basis of images of point features observed by an imprecisely modeled two-camera stereo vision system, whether or not a prescribed robot...
Overcoming the Obstacle of High Relative Degree (1998)
Promulgated by some with religious-like fervor, viewed with skepticism by others, adaptive control has for almost forty years been one of the most alluring, intriguing, and often misunderstood areas...
Supervisory Control of Families of Linear Set-Point Controllers - Part 1: Exact Matching (1998)
This paper describes a simple, `high-level' controller called a `supervisor' which is capable of switching into feedback with a siso process, a sequence of linear positioning or set-point...
Task Re-Encoding In Vision-Based Control Systems (1997)
Wen-Chung Chang, Jo~ao P. Hespanha, A. S. Morse, Gregory D. Hager
Feedback control systems employing video cameras as sensors have been studied in the robotics community for many years. An especially interesting feature of such systems is that both the process...
What Tasks Can Be Performed with an Uncalibrated Stereo Vision System? (1997)
J. P. Hespanha, Z. Dodds, G. D. Hager, A. S. Morse
This article studies the following question: "When is it possible to decide, on the basis of images of point-features observed by an imprecisely modeled two-camera stereo vision system, whether...
What Tasks Can Be Performed with an Uncalibrated Stereo Vision System? (1997)
J. P. Hespanha, Z. Dodds, G. D. Hager, A. S. Morse
This article studies the following question: "When is it possible to decide, on the basis of images of point features observed by an imprecisely modeled two-camera stereo vision system, whether...
Supervisory control of families of linear set-point controllers, part 1: exact matching (1996)
Abstract--- A simply-structured high-level controller called a `supervisor ' has recently been proposed in [1] for the purpose of orchestrating the switching of a sequence of candidate set-point...
Supervisory Control of Families of Stabilizing Controllers (1996)
This paper deals with the problem of switching between several linear time invariant (LTI) controllers, all of them capable of stabilizing a single LTI process, in such a way that the stability of...
Towards the High Performance Control of Uncertain Processes via Supervision (1996)
This paper deals with the problem of switching between several linear controllers. Some of these controllers achieve high performance, but are not very robust with respect to uncertainty in the...
Supervision of Families of Nonlinear Controllers (1996)
A high-level controller called a "supervisor," is defined for the purpose of orchestrating the switching of a sequence of candidate controllers into feedback with an imprecisely modeled...
Towards the Supervisory Control of Families of Nonlinear Regulators (1996)
A simply-structured high-level controller called a "supervisor, " has recently been proposed in [1] for the purpose of orchestrating the switching of a sequence of candidate controllers...
Control Using Logic-Based Switching (1995)
Between the well-studied areas of discontinuous control [1], [2] on the one hand and sampled data control [3] on the other lies the largely unexplored area of logic-based switching control systems....
Robot Hand-Eye Coordination Based on Stereo Vision (1995)
Gregory D. Hager, Wen-Chung Chang, A. S. Morse
This article describes the theory and implementation of a system that positions a robot manipulator using visual information from two cameras. The system simultaneously tracks the robot end-effector...
What Can Be Done with an Uncalibrated Stereo System? (1995)
João Hespanha, Zachary Dodds, Gregory D. Hager, A. S. Morse
Over the last several years, there has been an increasing appreciation of the impact of control architecture on the accuracy of visual servoing systems. In particular, it is generally acknowledged...