Tarraf, Danielle C., Megretski, Alexandre, Dahleh, Munther A.
This paper develops a constructive approach for designing finite state controllers to stabilize pairs of unstable, homogeneous second order discrete-time systems with binary sensor measurements: The...
A Model Reduction Algorithm for Hidden Markov Models (2008)
Georgios Kotsalis, Re Megretski, Munther A. Dahleh
Abstract — This paper presents a two step model reduction algorithm for discrete-time, finite state, finite alphabet Hidden Markov Models. The complexity measure used is the cardinality of the...
Scheduling Kalman Filters in Continuous Time (2008)
Ny, Jerome Le, Feron, Eric, Dahleh, Munther A.
A set of N independent Gaussian linear time invariant systems is observed by M sensors whose task is to provide the best possible steady-state causal minimum mean square estimate of the state of the...
A Model Reduction Algorithm for Hidden Markov Models (2008)
Georgios Kotsalis, Re Megretski, Munther A. Dahleh
Abstract — This paper presents a two step model reduction algorithm for discrete-time, finite state, finite alphabet Hidden Markov Models. The complexity measure used is the cardinality of the...
A Framework for Robust Stability of Systems Over Finite Alphabets (2008)
Tarraf, Danielle C., Megretski, Alexandre, Dahleh, Munther A.
Systems over finite alphabets are discrete-time systems whose input and output signals take their values in finite sets. Three notions of input/output stability (gain stability, incremental stability...
An Information Theoretic Approach to the Mode Estimation of Randomly Switching (2008)
Nuno C. Martins, Munther A. Dahleh
Abstract — In this paper we tackle the problem of estimating the mode of switching systems. From the theoretical point of view, our contribution is twofold: creating a framework that has a clear...
Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information (2007)
Martins, Nuno C., Dahleh, Munther A., Doyle, John C.
In this paper, we study fundamental limitations of disturbance attenuation of feedback systems, under the assumption that the controller has a finite horizon preview of the disturbance. In contrast...
State Feedback |1-Optimal Controllers can be Dynamic (2007)
Diaz-Bobillo, Ignacio J., Dahleh, Munther A.
This paper considers discrete-time systems with full state feedback, scalar control and scalar disturbance. First, systems with a scalar regulated output are studied (singular problems). It is shown...
Robust Controller Design: Minimizing Peak-to-Peak Gain (2007)
In this report, we address the general problem of designing controllers that minimize the maximum peak-to-peak gain,otherwise known as the iota1 optimal control problem, in the presence of structured...
Global analysis of piecewise linear systems using impact maps and surface Lyapunov functions (2003)
Gonçalves, Jorge M., Megretski, Alexandre, Dahleh, Munther A.
This paper presents an entirely new constructive global analysis methodology for a class of hybrid systems known as piecewise linear systems (PLS). This methodology infers global properties of PLS...
Real-time motion planning for agile autonomous vehicles (2002)
Munther A. Dahleh, Eric Feron, Emilio Frazzoli, Emilio Frazzoli, Eric Feron Z
The operation of an autonomous vehicle in an unknown, dynamic environment isa very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in...
Distributed control of spatially invariant systems (2002)
Bassam Bamieh, O Paganini, Munther A. Dahleh
Abstract—We consider distributed parameter systems where the underlying dynamics are spatially invariant, and where the controls and measurements are spatially distributed. These systems arise in...
Real-time motion planning for agile autonomous vehicles (2002)
Emilio Frazzoli, Munther A. Dahleh, Eric Feron
Planning the path of an autonomous, agile vehicle in a dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabili-ties. Recent efforts...
Autonomous Vehicle Motion Planning (2001)
Emilio Frazzoli, Munther A. Dahleh, C. Williams
Robust Hybrid Control for
Autonomous Vehicle Motion Planning (2001)
Emilio Frazzoli, Munther A. Dahleh, C. Williams
Robust Hybrid Control for
Robust Hybrid Control for Autonomous Vehicle Motion Planning (1999)
Emilio Frazzoli, Munther A. Dahleh, Eric Feron
The operation of an autonomous vehicle in an unknown, dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in...
Robust Controller Design: A Bounded-Input-Bounded-Output Worst-Case Approach. (1998)
The problem of designing controllers that minimize the peak-to-peak gain, or the 1-one optimal control problem, in the presence of structured uncertainty is discussed in this report. Four problems...
Robust Identification and Control (1998)
Dahleh, Munther A., Tsitsiklis, John N.
This final report summarizes the research contributions under AFOSR grant No. F49620-95-1-0219. The work covered two major research directions. The first is in the area of robust linear and nonlinear...
Nonlinear Control and Identification (1998)
Dahleh, Munther A., Tsitsiklis, John N.
This research is motivated by the problem of motion planning of autonomous vehicles in an uncertain environment. A possible approach to reduce the computational complexity of the motion planning...
Marc W. Mcconley, BRENT D. APPLEBY, Munther A. Dahleh, ERIC FERON
.<F3.802e+05> Nonlinear control systems can be stabilized by constructing control Lyapunov functions and computing the regions of state space over which such functions decrease along...
Worst-Case Identification of Nonlinear Fading Memory Systems (1995)
Munther A. Dahleh, Eduardo D. Sontag, John N. Tsitsiklis
In this paper, the problem of asymptotic identification for fading memory systems in the presence of bounded noise is studied. For any experiment, the worst-case error is characterized in terms of...
Worst-Case Identification of Nonlinear Fading Memory Systems (1995)
Munther A. Dahleh, Eduardo D. Sontag, John N. Tsitsiklis
In this paper, the problem of asymptotic identification for fading memory systems in the presence of bounded noise is studied. For any experiment, the worst-case error is characterized in terms of...
Worst-Case Identification of Nonlinear Fading Memory Systems (1995)
Munther A. Dahleh, Eduardo D. Sontag, John N. Tsitsiklis
In this paper, the problem of asymptotic identification for a class of fading memory systems in the presence of bounded noise is studied. For any experiment, the worst-case error is characterized in...
Tsitsiklis, “Worst-case identification of nonlinear fading memory systems (1995)
Munther A. Dahleh, Eduardo D. Sontag, John N. Tsitsiklis
In this paper, the problem of asymptotic identification for fading memory systems in the presence of bounded noise is studied. For any experiment, the worst-case error is characterized in terms of...
Tsitsiklis, “Worst-case identification of nonlinear fading memory systems (1995)
Munther A. Dahleh, Eduardo D. Sontag, John N. Tsitsiklis
This version was never published; the published version (in Automatica, 31, no. 3, March 1995) was very summarized. In this paper, the problem of asymptotic identification for a class of fading...
North-Holland The sample complexity of worst-case identification of FIR linear systems * (1992)
Munther A. Dahleh, Theodore V. Theodosopoulos, John N. Tsitsiklis
Abstract: We consider the problem of identification of linear systems in the presence of measurement noise which is unknown but bounded in magnitude by some 6> 0. We focus on the case of linear...
LIDS-P-2181 A Simple Bisection Algorithm for the C 2 Induced Norm of a Sampled-Data System (1992)
An algorithm for computing the C2 induced norm of a sampled-data system is summarized. The computational details of this algorithm are spelled out, bringing together the recent advances in tOO theory...
State feedback l1-optimal controller can be dynamic (1991)
Diaz Bobillo, Ignacio Javier., Dahleh, Munther A.
Caption title.
State feedback l1-optimal controller can be dynamic (1991)
Diaz Bobillo, Ignacio Javier., Dahleh, Munther A.
Caption title.
Bayesian Learning in Social Networks
Daron Acemoglu, Munther A. Dahleh, Ilan Lobel, Asuman Ozdaglar
We study the perfect Bayesian equilibrium of a model of learning over a general social network. Each individual receives a signal about the underlying state of the world, observes the past actions of...
Optimal Asymptotic Identification Under Bounded Disturbances
Munther A. Dahleh, John N. Tsitsiklis
This paper investigates the intrinsic limitation of worst-case identification of LTI systems using data corrupted by bounded disturbances, when the unknown plant is known to belong to a given model...