Switching between stabilizing controllers (2008)
João P. Hespanha, A. Stephen Morse
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Contract/grant sponsor: AFOSR, DARPA, NSF and ONR (2008)
Daniel Liberzon, A. Stephen Morse, Thomas S. Brinsmead, Franky De Bruyne, Copyright John Wiley
This paper addresses the problem of controlling a continuous-time linear system with large modelling errors. We employ an adaptive control algorithm consisting of a family of linear candidate...
Thomas Brinsmead, Daniel Liberzon, A. Stephen Morse
The purpose of this paper is to marry the two concepts of multiple model adaptive control and safe adaptive control. In its simplest form, multiple model adaptive control involves a supervisor...
Thomas Brinsmead, Daniel Liberzon, A. Stephen Morse
The purpose of this paper is to marry the two concepts of multiple model adaptive control and safe adaptive control. In its simplest form, multiple model adaptive control involves a supervisor...
Contract/grant sponsor: AFOSR, DARPA, NSF and ONR (2008)
Daniel Liberzon, A. Stephen Morse, Thomas S. Brinsmead, Franky De Bruyne, Copyright John Wiley
This paper addresses the problem of controlling a continuous-time linear system with large modelling errors. We employ an adaptive control algorithm consisting of a family of linear candidate...
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
This paper introduces and studies a new definition of the minimum-phase property for general smooth nonlinear control systems. The definition does not rely on a particular choice of coordinates in...
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
a new de nition of the minimum-phase property for
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
A new denition of the minimum-phase property for
Minimum-Phase Nonlinear Systems: A New Definition (2007)
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
This paper introduces and studies a new denition of the minimum-phase property for general smooth nonlinear control systems. The denition does not rely on a particular choice of coordinates in which...
Stability of Switched Systems with Average Dwell-Time (2007)
Jo Ao, Jo~ao P. Hespanha, A. Stephen Morse
It is shown that switching among stable linear systems results in a stable system provided that switching is "slow-on-the-average." In particular, it is proved that exponential stability is...
Supervision of integral-input-to-state stabilizing controllers * (2007)
Joao P. Hespanhaa, Daniel Liberzonb, A. Stephen Morse
The subject of this paper is hybrid control of nonlinear systems with large-scale uncertainty. We describe a high-level controller, called a "supervisor", which orchestrates...
Submitted to Systems and Control Letters 1 (2007)
Joo P. Hespanha, I Daniel Liberzon, A. Stephen Morse
Overcoming the limitations of adaptive control by means of logic-based switching
Jogo Hespanha, Daniel Liberzonll, A. Stephen Morse, Thomas S. Brinsmead, Franky De Bruyne
This paper addresses the problem of controlling a continuous-time linear system with large modeling errors. We employ an adaptive control algorithm consisting of a family of linear candidate...
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
Abstract: This paper studies the notion of output-input stability, which is a variant of the minimum-phase property for general smooth nonlinear control systems. In the spirit of the \input-to-state...
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
A new denition of the minimum-phase property for
Thomas Brinsmead, Daniel Liberzon, A. Stephen Morse
Abstract The purpose of this paper is to marry the two concepts of Multiple Model Adaptive Control and Safe Adaptive Control. In its simplest form, Multiple Model Adaptive Control involves a...
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
This paper introduces and studies a new denition of the minimum-phase property for general smooth nonlinear control systems. The denition does not rely on a particular choice of coordinates in which...
A theory of network localization (2006)
James Aspnes, Tolga Eren, David K. Goldenberg, Student Member, A. Stephen Morse, Walter Whiteley, ...
Abstract—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...
Merging Globally Rigid Formations of Mobile Autonomous Agents (2005)
Eren, Tolga, Anderson, Brian, Whiteley, Walter, Morse, A. Stephen, Belhumeur, Peter N.
This paper is concerned with merging globally rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an...
Information structures to secure control of rigid formations with leader-follower structure (2005)
Tolga Eren, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur
Abstract — This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2- or 3dimensional space. A...
Information structures to secure control of rigid formations with leader-follower structure (2005)
Tolga Eren, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur
Abstract — This paper is concerned with rigid formations of mobile autonomous agents that have leader-follower architecture. In a previous paper, Baillieul and Suri gave a proposition as a...
Network localization in partially localizable networks (2005)
David K. Goldenberg, Arvind Krishnamurthy, Wesley C. Maness, Yang Richard, Yang Anthony Young, A. Stephen Morse, ...
Abstract — Knowing the positions of the nodes in a network is essential to many next generation pervasive and sensor network functionalities. Although many network localization systems have...
Network localization in partially localizable networks (2005)
David K. Goldenberg, Arvind Krishnamurthy, Wesley C. Maness, Yang Richard, Yang Anthony Young, A. Stephen Morse, ...
Abstract — Knowing the positions of the nodes in a network is essential to many next generation pervasive and sensor network functionalities. Although many network localization systems have...
Information Structures to Secure Control of Rigid Formations with Leader-Follower Structure (2004)
Eren, Tolga, Whiteley, Walter, Anderson, Brian D.O., Morse, A. Stephen, Belhumeur, Peter N.
This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2- or 3- dimensional space. A formation is...
Towards Mobility as a Network Control Primitive (2004)
David K. Goldenberg, Jie Lin, A. Stephen Morse, Brad E. Rosen, Y. Richard Yang
In the near future, the advent of large-scale networks of mobile agents autonomously performing long-term sensing and communication tasks will be upon us. However, using controlled node mobility to...
Operations on rigid formations of autonomous agents (2004)
Tolga Eren, A. Stephen Morse, Walter Whiteley, N. Belhumeur, ...
Abstract. This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication...
Merging globally rigid formations of mobile autonomous agents (2004)
Tolga Eren, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur
This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to merge globally rigid formations for cooperative tasks. Central to...
Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules (2003)
Jadbabaie, Ali, Lin, Jie, Morse, A. Stephen
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...
Operations on Rigid Formations of Autonomous Agents (2003)
Anderson, Brian D. O., Belhumeur, Peter N., Eren, Tolga, Morse, A. Stephen, Whiteley, Walter
This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as...
Coordination of groups of mobile autonomous agents using nearest neighbor rules (2003)
Ali Jadbabaie, Jie Lin, A. Stephen Morse
et al. propose a simple but compelling discrete-time model of autonomous agents (i.e., points or particles) all moving in the plane with the same speed but with different headings. Each agent’s...
Nonlinear Switched Systems with State Dependent Dwell Time (2002)
Claudio De Persis, Raaella De Santis, A. Stephen Morse
The asymptotic convergence of nonlinear switched systems in the presence of disturbances is studied in this paper. The system switches among a family of integral input-to-state stable systems. The...
Nonlinear Switched Systems with State Dependent Dwell Time (2002)
Claudio De Persis, Raffaella De Santis, A. Stephen Morse
The asymptotic convergence of nonlinear switched systems in the presence of disturbances is studied in this paper. The system switches among a family of integral input-to-state stable systems. The...
Output-input stability and minimum-phase nonlinear systems (2002)
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
This paper introduces and studies the notion of output-input stability, which represents a variant of the minimum-phase property for general smooth nonlinear control systems. The denition of...
Closing Ranks in Vehicle Formations Based on Rigidity (2002)
Tolga Eren, Peter N. Belhumeur, A. Stephen Morse
In this paper, a systematic way of maintaining rigidity in case of vehicle removals in formations for coordinating mobile autonomous vehicles with limited communication/sensing links is presented....
Closing Ranks In Vehicle Formations Based On Rigidity (2002)
Tolga Eren, Peter N. Belhumeur, A. Stephen Morse
This paper addresses the closing ranks problem in formations of coordinating large number of autonomous vehicles with limited communication /sensing requirements. We propose a framework based on...
A Framework For Maintaining Formations Based On Rigidity (2002)
Tolga Eren, Peter N. Belhumeur, A. Stephen Morse
In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining...
Output-Input Stability and Minimum-Phase Nonlinear Systems (2002)
Daniel Liberzon, A. Stephen Morse, Eduardo D. Sontag
This paper introduces and studies the notion of output--input stability, which represents a variant of the minimum -phase property for general smooth nonlinear control systems. The definition of...
Multiple Model Adaptive Control with Safe Switching (2001)
Brian Anderson Thomas, Thomas Brinsmead, Daniel Liberzon, A. Stephen Morse
The purpose of this paper is to marry the two concepts of Multiple Model Adaptive Control and Safe Adaptive Control. In its simplest form, Multiple Model Adaptive Control involves a supervisor...
Output-input stability and minimum-phase nonlinear systems (2000)
Liberzon, Daniel, Morse, A. Stephen, Sontag, Eduardo D.
This paper introduces and studies the notion of output-input stability, which represents a variant of the minimum-phase property for general smooth nonlinear control systems. The definition of...
Multiple model adaptive control, part 1: Finite controller coverings (2000)
Thomas S. Brinsmead, Franky De Bruyne, João Hespanha, Daniel Liberzon, A Stephen Morse
We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive control scheme. We show that, given mild assumptions on...
Joo P. Hespanha, Daniel Liberzon, A. Stephen Morse
In this paper we analyze the Scale-Independent Hysteresis Switching Logic introduced in recent work. We show that, under suitable %pen-loop " assumptions, one can establish an upper bound on...
Multiple model adaptive control with safe switching (2000)
Thomas Brinsmead, Daniel Liberzon, A. Stephen Morse
Abstract The purpose of this paper is to marry the two concepts of multiple model adaptive control and safe adaptive control. In its simplest form, Multiple Model Adaptive Control involves a...
Multiple Model Adaptive Control, Part 1: Finite Controller Coverings (2000)
Thomas S. Brinsmead, Franky De Bruyne, João Hespanha, Daniel Liberzon, A. Stephen Morse
We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive control scheme. We show that, given mild assumptions on...
Switching Between Stabilizing Controllers (2000)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
This paper deals with the problem of switching between several linear time-invariant (LTI) controllers|all of them capable of stabilizing a specic LTI process|in such a way that the stability of the...
Multiple Model Adaptive Control, Part 1: Finite Controller Coverings (2000)
Thomas S. Brinsmead, Franky De Bruyne, João Hespanha, Daniel Liberzon, A. Stephen Morse
We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive control scheme. We show that, given mild assumptions on...
Towards the supervisory control of uncertain nonholonomic systems (1999)
João P. Hespanha, Daniel Liberzon, A. Stephen Morse
Control systems with nonholonomic motion constraints have been extensively studied in the recent years, particularly in the context of robotics. Robotic manipulators, especially mobile ones, are...
Stability of switched systems: a Lie-algebraic condition (1999)
Daniel Liberzon, João P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Logic-based switching control of a nonholonomic system with parametric modeling uncertainty (1999)
João P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle...
Basic problems in stability and design of switched systems (1999)
Daniel Liberzon, A. Stephen Morse
By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. This article surveys recent...
Benchmark problems in stability and design of switched systems (1999)
Daniel Liberzon, A. Stephen Morse
systems
Basic problems in stability and design of switched systems (1999)
Daniel Liberzon, A. Stephen Morse
By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. This article surveys recent...
Towards the supervisory control of uncertain nonholonomic systems (1999)
Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of...
Stability of switched systems: a Lie-algebraic condition (1999)
Daniel Liberzon, Jo~ao P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Stability of Switched Systems with Average Dwell-Time (1999)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
It is shown that switching among stable linear systems results in a stable system provided that switching is \slow-on-the-average." In particular, it is proved that exponential stability is...
Stability of Switched Systems with Average Dwell-Time (1999)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
It is shown that switching among stable linear systems results in a stable system provided that switching is "slow-on-the-average." In particular, it is proved that exponential stability is...
Towards the Supervisory Control of Uncertain Nonholonomic Systems (1999)
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
this paper is to demonstrate that a promising alternative to conventional adaptive control for nonholonomic systems is provided by the supervisory control techniques which have been developed for...
Supervisory Control Of Integral-Input-To-State Stabilizing Controllers (1999)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
A high-level supervisor, employing switching and logic, is proposed to orchestrate the switching between a family of candidate controllers into feedback with an imprecisely modeled process so as to...
Towards the Supervisory Control of Uncertain Nonholonomic Systems (1999)
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of...
Towards the Supervisory Control of Uncertain Nonholonomic Systems (1999)
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
this paper is to demonstrate that a promising alternative to conventional adaptive control for nonholonomic systems is provided by the supervisory control techniques which have been developed for...
Supervisory Control of Integral-Input-to-State Stabilizing Controllers (1999)
João P. Hespanha, A. Stephen Morse
A high-level supervisor, employing switching and logic, is proposed to orchestrate the switching between a family of candidate controllers into feedback with an imprecisely modeled process so as to...
Benchmark Problems in Stability and Design of Switched Systems (1999)
Daniel Liberzon, A. Stephen Morse
A switched system is a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that governs the switching between them. This paper surveys recent developments in three...
Peter N. Belhumeur, James S. Duncan, Gregory D. Hager, A. Stephen Morse, Steven W. Zucker
Abstract. We present a brief introduction to the five articles that make up this special issue: Shock Graphs and
Supervisory Control of Families of Noise Suppressing Controllers (1998)
Shogo Fujii, João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
This paper describes a high-level "supervisor" capable of switching into feedback with a single-input/singleoutput (SISO), linear time-invariant (LTI) process a sequence of linear...
Scale-Independent Hysteresis Switching (1998)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
. This paper introduces a new switching logic inspired by the hysteresis switching logic considered in [7, 11]. The new logic also uses hysteresis to prevent chatter, but unlike its predecessor in...
Stabilization of Nonholonomic Integrators via Logic-Based Switching (1996)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
This paper explains how to stabilize a "nonholonomic integrator" using a hybrid control law employing switching and logic. Results concerning asymptotic stability and exponential...
Logic-Based Switching Control of a Nonholonomic System With Parametric Modeling Uncertainty
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle...
Stability of switched systems: a Lie-algebraic condition
Daniel Liberzon Jo, Jo~ao P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Benchmark Problems in Stability and Design of Switched Systems
Daniel Liberzon, A. Stephen Morse
A switched system is a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that governs the switching between them. This paper surveys recent developments in three...
Stability of switched systems: a Lie-algebraic condition
Daniel Liberzon, João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Logic-Based Switching Control of a Nonholonomic System With Parametric Modeling Uncertainty
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of...