Institute for Systems Research University of Maryland at College Park

Papers and Publications

This is a partial list of recent papers, publications, and technical reports from work in the Intelligent Servosystems Laboratory.

Where available, links to reviews, information, and/or downloadable copies of these publications are included following the entry. If a publication in unavailable, please send mail to newman@isr.umd.edu and we will do our best to get you a copy.

Motion, Control, and Geometry, (expository lectures by J.E Marsden, R. Brockett, R. Murray and P.S. Krishnaprasad), Proceedings of a Symposium, Board on Mathematical Sciences, National Research Council
Book and order info: National Academy Press

Mechanics Day (a volume of papers on Mechanics), Editors: William F. Shadwick, P. S. Krishnaprasad, and Tudor Stefan Ratiu, American Mathemtical Society, 1996.
Book and order info: AMS Bookstore

Herbert Struemper and P.S. Krishnaprasad : "On Approximate Inversion and Feedback Stabilization for Systems on Matrix Lie Groups", Proceedings of the American Control Conference, 1997
Download postscript file

Herbert Struemper and P.S. Krishnaprasad : "Tracking and Stabilization for Control Systems on Matrix Lie Groups ", Technical Report, TR:97-34 Institute for Systems Research Technical Report .

Herbert Struemper and P.S. Krishnaprasad : "Approximate tracking for systems on three-dimensional matrix Lie groups via feedback nipotentization ", to appear in Proc. of 1997 IFAC Symposium on Robot Control.

Vikram Manikonda and P.S. Krishnaprasad : "Controllability of Lie-Poisson Reduced Dynamcis", Proc. of American Control Conference , 1997. Long version is also available as Technical Report, TR 97-59, Institute for Systems Research, May 1997.

Vikram Manikonda, P.S. Krishnaprasad and James Hendler: "Languages, Behaviors, Hybrid Architectures and Motion Control", Technical Report, TR 97-33, Institute for Systems Research, March 1997 .

Eric W. Justh, P.S. Krishnaprasad and Francis J. Kub, "Convergence Analysis and Analog Circuit Applications for a Class of Networks of Nonlinear Coupled Oscillators", Technical Report, Institute for Systems Research, May, 1996.

Andrew Newman, "Model Reduction via the Karhunen-Loeve Expansion Part I: An Exposition", Technical Report, T.R. 96-32, Institute for Systems Research, April, 1996.

Andrew Newman, "Model Reduction via the Karhunen-Loeve Expansion Part II: Some Elementary Examples", Technical Report, T.R. 96-32, Institute for Systems Research, April, 1996.

Vikram Manikonda and P.S. Krishnaprasad, "Dynamics and Controllability of a Planar Rigid Body with a Thruster", Conference on Information Sciences and Systems , March 20-22, 1996.

Kantor G, Manikonda V, Newman A, Tsakiris D, "Robotics for High-School Students in a University Environment", submitted to Computer Science Education Journal, Special issue on Robotics in Computer Science & Engineering Education 1996.

A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray "Nonholonomic Mechanical Systems with Symmetry", To appear Archive for Rational Mechanics and Analysis, Revised June 1995

N.E. Leonard and P.S. Krishnaprasad "Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups" IEEE Transactions on Automatic Control, 1995.

P.S. Krishnaprasad and D.P. Tsakiris, "Oscillations, SE(2)-Snakes and Motion Control", 34rd IEEE Conference on Decision and Control, New Orleans, Louisiana, December 13-15, 1995.

W. Dayawansa, B. Ghosh, C. Martin, and A.Wang, "A Necessary and Sufficient Condition for the Perspective Observability Problem," to apear in Systems and Control Letters.

F. Mazenc, L. Praly and W. P. Dayawansa, "Counter-examples on Global Stabilization by Dynamic Feedback," to appear in Systems and Control Letters.

S. Samelson and W. P. Dayawansa, "On the Existence of Global Tchebychev Nets," to appear in the Proceedings of the American Mathematical Society.

Vikram Manikonda, J. Hendler and P.S. Krishnaprasad : "Formalizing Behavior-based Planning for Nonholonomic Robots", appears in International Joint Conference on Artificial Intelligence, August 20-25, 1995.

Vikram Manikonda, P.S. Krishnaprasad and J. Hendler; "A Motion Description Language and a Hybrid Architecture for Motion Planning with Nonholonomic Robots". appears in IEEE Conference on Robotics and Automation, May 21-27, 1995

P.S. Krishnaprasad and D.P. Tsakiris, "2-Module Nonholonomic Variable Geometry Truss Assembly: Motion Control", 4th IFAC Symposium on Robot Control (SYROCO'94), Capri, Italy, September 19-21, 1994.

P.S. Krishnaprasad and D.P. Tsakiris, "G-Snakes: Nonholonomic Kinematic Chains on Lie Groups", 33rd IEEE Conference on Decision and Control, Lake Buena Vista, Florida, December 14-16, 1994.

N.E. Leonard and P.S. Krishnaprasad, "Control of Switched Electrical Networks Using Averaging on Lie Groups " in Proceedings of the 33rd IEEE Conference on Decision and Control,

, 1994, pp 1919-1924.

N.E. Leonard and P.S. Krishnaprasad, "Motion Control of an Autonomous Underwater Vehicle with an Adaptive Feature" in Proceedings of the 1994 Symposium on Autonomous Underwater Vehicle Technolog IEEE Oceanic Engineering Society, July, 1994, p.282-288.

Q. F. Wei, W. P. Dayawansa and W. S. Levine, "Nonlinear Controller for an Inverted Pendulum Having Restricted Travel," submitted to Automatica.

W. P. Dayawansa, C. F. Martin and S. Samelson, "Asymptotic Stabilization of a Generic Class of Three Dimensional Homogeneous Quadratic Systems," submitted to Systems and Control Letters.

P. So, E. Ott, W. P. Dayawansa, "Observing Chaos," to appear in Physics Review Letters.

N.E. Leonard and P.S. Krishnaprasad, "Averaging for Attitude Control and Motion Planning" in Proceedings of the 32rd IEEE Conference on Decision and Control, , 1993, pp 3098-3104.

N. E. Leonard and P.S. Krishnaprasad, "Averaging and Motion Control on Lie Groups," Institute for Systems Research Technical Report, TR 93-59, 47 pages.

Y.C. Pati and P.S. Krishnaprasad, "Analysis and Synthesis of Feedforward Neural Networks Using Discrete Affine Wavelet Transformations," IEEE Transactions on Neural Networks, 4, (1), 1993, , pp 73-85.

R. Rezaiifar, P. S. Krishnaprasad and W. P. Dayawansa, "Wavelet Based Identification of a Flexible Structure with Surface Mounted Smart Actuators and Sensors," in the proceedings of the 32nd IEEE Conf. on Decision and Control, San Antonio, Texas, Dec 1993.

Q.F. Wei, P. S. Krishnaprasad and W. P. Dayawansa, "Modelling of Impact on a Flexible Beam," in the proceedings of the 32nd IEEE Conf. on Decision and Control, San Antonio, Texas, Dec 1993.

N.E. Leonard and P.S. Krishnaprasad, "Adaptive Friction Compensation for Bi-Directional, Low-Velocity Position Tracking" in Proceedings of the 31st IEEE Conference on Decision and Control, , 1992, pp 267-273.

L-S. Wang and P.S. Krishnaprasad, "Gyroscopic Control and Stabilization," J. Nonlinear Science, 1992, 2, pp 367-415.

Y.C. Pati, P.S. Krishnaprasad and M. Peckerar, "An Analog Neural Network Solution to the Inverse Problem of `Early Taction,'" IEEE Trans. Robotics and Automation, 8, (2), 1992, pp 196-212.

P.S.Krishnaprasad and R. Yang, "Geometric Phases, Anholonomy and Optimal Movement," Proc. 1991 IEEE International Conference on Robotics and Automation, IEEE New York, pp 2185-2189.

R. Shahidi, M. Shayman and P.S. Krishnaprasad, "Mobile Robot Navigation using Potential Functions," Proc. 1991 IEEE International Conference on Robotics and Automation, IEEE, New York, pp. 2047-2053.

P.S. Krishnaprasad, R. Yang and W.P. Dayawansa, "Control Problems on Principal Bundles and Nonholonomic Mechanics," invited paper, in Proc. 30th IEEE Conference on Decision and Control, IEEE, New York, 1991, pp 1133-11.

P.S. Krishnaprasad, "Geometric Phases and Optimal Reconfiguration for Multibody Systems," invited paper, in Proc. 1990 American Control Conference, American Automatic Control Council, Philadelphia, pp. 2440-2444.

W. P. Dayawansa , C. F. Martin and G. Knowles, "Asymptotic Stabilization of a Class of Smooth Two Dimensional Systems," SIAM J. on Contr . and Optimization, 28, 1990, pp. 1321-1349.

J.C. Simo, J.E. Marsden and P.S. Krishnaprasad, "The Hamiltonian Structure of Nonlinear Elasticity: The Convective Representation of Solids, Rods, and Plates," Archive for Rational Mechanics and Analysis,, 104, (2), 1988, pp.125-183.

Y.G. Oh, N. Sreenath, P.S. Krishnaprasad and J.E. Marsden, "The Dynamics of Coupled Planar Rigid Bodies Part II: Bifurcations, Periodic Solutions, and Chaos," Journal of Dynamics and Differential Equations, 1, (3), 1989, pp. 269-298.