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IEEE Transactions on Control Systems Technology, ISSN 1063-6536, 03/2019, Volume 27, Issue 2, pp. 527 - 539
A decentralized verification procedure is proposed to verify stability and performance for systems with multiple controllers designed by noncooperative agents.... 
Couplings | Control design | Perturbation methods | dual decomposition | Decentralized control design | Tools | Vehicle dynamics | sum of squares (SOS) | Lyapunov methods | Lyapunov function | APPROXIMATION | STABILITY | SUM | AUTOMATION & CONTROL SYSTEMS | REGION | ENGINEERING, ELECTRICAL & ELECTRONIC | Liapunov functions | Control stability | Algorithms | Perturbation | Decentralized control
Journal Article
Automatica, ISSN 0005-1098, 08/2014, Volume 50, Issue 8, pp. 1955 - 1988
Journal Article
IEEE Transactions on Automatic Control, ISSN 0018-9286, 08/2017, Volume 62, Issue 8, pp. 3861 - 3876
Journal Article
IEEE Transactions on Automatic Control, ISSN 0018-9286, 04/2014, Volume 59, Issue 4, pp. 876 - 891
This paper addresses the problem of exponentially stabilizing periodic orbits in a special class of hybrid models-systems with impulse effects-through control... 
Manifolds | Legged locomotion | Context | Bipeds | Lyapunov functions | nonlinear control | robotics | Orbits | Lyapunov methods | Convergence | DESIGN | 1ST STEPS | THEOREM | SYSTEMS | RABBIT | STABLE WALKING | AUTOMATION & CONTROL SYSTEMS | ENGINEERING, ELECTRICAL & ELECTRONIC | Liapunov functions | Usage | Stability | Analysis | Innovations | Control systems | Mathematical optimization | Robots | Walking | Impulses | Dynamics | Dynamical systems | Invariants
Journal Article
Nonlinear Analysis: Hybrid Systems, ISSN 1751-570X, 08/2017, Volume 25, pp. 155 - 173
Bipedal robots are prime examples of complex cyber–physical systems (CPSs). They exhibit many of the features that make the design and verification of CPS so... 
Hybrid systems | Formal methods | Bipedal robotics | Nonlinear control | MATHEMATICS, APPLIED | WALKING | ROBUSTNESS | SYSTEMS | HYBRID ZERO DYNAMICS | AUTOMATION & CONTROL SYSTEMS | Nonlinear theories | Usage | Models | Mathematical models | Robots | Control systems | Algorithms
Journal Article
IEEE Access, ISSN 2169-3536, 2017, Volume 5, pp. 9304 - 9317
This paper presents an integrated design method for pedestrian avoidance by considering the interaction between trajectory planning and trajectory tracking.... 
Trajectory tracking | motion planning | motion control | Dynamics | Vehicle safety | Hidden Markov models | LQR funnel | Trajectory | Planning | Mathematical model | Vehicle dynamics | rapid random tree | SPEED | OBSTACLE AVOIDANCE | COMPUTER SCIENCE, INFORMATION SYSTEMS | TELECOMMUNICATIONS | ENGINEERING, ELECTRICAL & ELECTRONIC
Journal Article
IEEE Transactions on Automatic Control, ISSN 0018-9286, 08/2009, Volume 54, Issue 8, pp. 1779 - 1793
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 04/2014, Volume 30, Issue 2, pp. 365 - 381
Models of robotic bipedal walking are hybrid, with a differential equation that describes the stance phase and a discrete map describing the impact event, that... 
Legged locomotion | Torso | Solid modeling | nonlinear control | Friction | underactuated robots | Orbits | Robustness | Legged robots | stability | WALKING | ROBOTICS | LOCOMOTION | SYSTEMS | MODEL | Usage | Bipedal robots | Analysis | Differential equations | Control systems | Research | Symmetry groups | Robots | Controllers | Walking | Feedback | Control theory | Atria | Three dimensional
Journal Article
IEEE Transactions on Control Systems Technology, ISSN 1063-6536, 11/2012, Volume 20, Issue 6, pp. 1490 - 1505
Hybrid vehicle fuel economy performance is highly sensitive to the energy management strategy used to regulate power flow among the various energy sources and... 
powertrain control | Supervisory control | Fuel economy | hybrid electric vehicle | Dynamic programming | Hybrid electric vehicles | Energy management | fuel economy | supervisory control | CONTROL STRATEGIES | STOCHASTIC-CONTROL | SPLIT | ENGINEERING, ELECTRICAL & ELECTRONIC | OPTIMAL POWER MANAGEMENT | HEV | CONSUMPTION | AUTOMATION & CONTROL SYSTEMS
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 04/2008, Volume 24, Issue 2, pp. 390 - 401
Journal Article
IEEE Transactions on Control Systems Technology, ISSN 1063-6536, 07/2016, Volume 24, Issue 4, pp. 1294 - 1307
Journal Article
IEEE Transactions on Control Systems Technology, ISSN 1063-6536, 11/2003, Volume 11, Issue 6, pp. 839 - 849
Journal Article
IEEE Transactions on Automation Science and Engineering, ISSN 1545-5955, 07/2018, Volume 15, Issue 3, pp. 1216 - 1229
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety... 
correct by construction | sum-of-squares (SOS) optimization | Control barrier functions (CBFs) | Safety | quadratic program | Vehicle dynamics | Contracts | Optimization | Vehicles | Cruise control | safety | QUADRATIC PROGRAMS | STABILITY | BARRIER CERTIFICATES | URBAN ENVIRONMENTS | VEHICLES | SYSTEMS | AUTOMATION & CONTROL SYSTEMS | VERIFICATION
Journal Article