Papers/Reports
"Averaging and Energy Methods for Robust Open-loop Control
of Mechanical Systems," To appear in Essays on Mathematical Robotics,
J. Baillieul, S.S. Sastry, and H.J. Sussmann, Eds. IMA Series of
Springer-Verlag, 1998, (with S.\ Weibel).
"Open-loop Oscillatory Control," To appear in Wiley
Encyclopedia of Control (J. Webster, Ed.), 1998, (with S. Weibel and B.
Lehman).
"Equilibria and Stability of an $n$-Pendulum Forced by Rapid Oscillations," 1997 IEEE Conf. on Decision \& Control, December 10-12, pp. 1147-1152, (with S.P.\ Weibel and B.\ Lehman).
"Kinematic Nonholonomic Optimal Control: The Skate Example," 1997 IEEE Conf. on Decision \& Control, December 10-12, pp. 3054-3060, (with S.\ Akileswar).
"The Geometry of Controlled Mechanical Systems," To appear in Essays in Mathematical Control Theory: Dedicated to Roger Brockett on his 60-th Birthday, J. Baillieul and J.C. Willems, Eds., Springer-Verlag, 1998.
Download *.ps file 0.5 MBytes,
*.pdf file 0.3 MBytes.
"Simple Controllable Walking Mechanisms which Exhibit Bifurcations," To appear in the 1998 IEEE Conference on Decision and Control, Tampa,
Florida, December 16-18.
"Bifurcation and Stability of the Vertically Forced n-Pendulum as n->infinity," To appear in the 1998 IEEE Conference on Decision and Control, Tampa, Florida, December 16-18.
"Scale Dependence in the Oscillatory Control of Micromechanisms," To appear in the 1998 IEEE Conference on Decision and Control, Tampa,
Florida, December 16-18.
Download *.ps file 1.2 MBytes,
*.pdf file 0.4 MBytes.
"Open-loop Oscillatory Stabilization of an $n$-Pendulum," To appear in
the International Journal of Control, Special Issue on Breakthroughs in
Nonlinear Control, F. Lamnabhi-Lagarrigue, Guest Editor, 1998.
Download *.ps file 3.9 MBytes,
*.pdf file 0.7 MBytes.
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