The ISL web site is maintained by Pamela L. White. Most recent update 03/16/07.

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

2002

• E. W. Justh and P.S. Krishnaprasad, "Analysis of a high-resolution optical wave-front control system," Abstract and complete PDF document

• E. W. Justh and P.S. Krishnaprasad, "A Simple control Law for UAV Formation Flying," Abstract and complete PDF document

• X. Tan, J.S. Baras and P.S. Krishnaprasad, "A Dynamic Model for Magnetostrictive Hysteresis," Abstract and complete PDF document

• F. Zhang and P.S. Krishnaprasad, "Coordinated Orbit Transfer for Satellite Clusters," Abstract and complete PDF document

• X. Tan, Control of Smart Actuators (Ph.D. Thesis) Abstract and complete PDF document

• S. Andersson and P.S. Krishnaprasad, "The Berry-Hannay Phase of the Equal-Sided, Spring-Jointed, Four-Bar Mechanism: A Detailed Story," Abstract and complete PDF document

• D. Napoletani, C.A. Berenstein and P.S. Krishnaprasad, "Quotient Signal Decomposition and Order Estimation," Abstract and complete PDF document

• D. Hristu and S. Andersson, "Directed Graphs and Motion Description Languages for Robot Navigation," IEEE International Conf. on Robotics and Automation, pp. 2689-2694, 2002.
  Abstract and complete PDF document

• F. Zhang and P.S. Krishnaprasad, "Formation Dynamics Under a Class of Control Laws," Proc. of 2002 Americal Control Conference, pp. 1678-1685, 2002. Abstract and complete PDF document

• X. Tan and J.S. Baras, "Optimal Control of Hysteresis in Smart Actuators: A Viscosity Solutions Approach," Proc. 5th International Workshop on Hybrid Systems: Computation and Control, pp. 451-464, 2002.
  Abstract and complete PDF document

  2001

• E.W. Justh and P.S. Krishnaprasad, "Analysis of a high-resolution optical wave-front control system," Proc. Conf. on Information Sciences and Systems, Vol 2. pp. 718-723, 2001.
  Abstract and complete PDF document

• M.A. Vorontsov, E.W. Justh, and L.A. Beresnev, "Adaptive Optics with Advanced Phase-Contrast Techniques: Part I. High-Resolution Wavefront Sensing," Journal of the Optical Society of Ameria A, Vol 18, No. 6, pp. 1289-1299, 2001.
  

• E.W. Justh, M.A. Vorontsov, G.W. Carhart, L.A. Beresnev, and P.S. Krishnaprasad, "Adaptive Optics with Advanced Phase-Contrast Techniques: Part II. High-Reslution Wavefront Control," Journal of the Optical Society of America A, Vol. 18, No. 6 pp. 1300-1311, 2001.
  

• E.W. Justh and P.S. Krishnaprasad, "Pattern-forming systems for control of large arrays of actuators," Journal of Nonlinear Science, vol. 11, No. 4, pp. 239-277, 2001.
  

• P.S. Krishnaprasad and D. Tsakiris, "Oscillations, SE(2)-Snakes and Motion Control: A Study of the Roller Racer," Dyanmics and Stability of Systems, vol. 16, no. 4, pp. 347-397, 2001.
  

• X. Tan, R. Venkataraman, and P.S. Krishnaprasad, "Control of Hysteresis: Theory and Experimental Results," Smart Structures and Materials, 2001, Modeling, Signal Processing, and Control in Smart Structures, Proc. of SPIE, vol. 4326, pp. 101-112, Newport Beach, CA, 2001.
  Abstract and complete PDF document

• P.S. Krishnaprasad and X. Tan, "Cayley Transforms in Micromagnetics," Physica B, Vol. 306, no. 1-4, pp. 195-199, 2001.
  Abstract and complete PDF document

• S. Andersson and P.S. Krishnaprasad, "The Berry-Hannay Phase of the Equal-Sided Spring-Jointed Four-Bar Mechanism," Proc. 40th IEEE Conf. on Decision and Control, pp. 3406-3407, 2001.
  Abstract and complete PDF document

• D. Hristu, "Feedback Control Systems as Users of a Shared Network: Communicatio Sequences that Guarantee Stability," Proc. 40th IEEE Conf. on Decision and Control, pp. , 2001.
  Abstract and complete PDF document

  2000

• G.W. Carhart, M.A. Vorontsov, and E.W. Justh, "Opto-electronic Zernike filter for high-resolution wavefront analysis using a phase-only liquid-crystal spatial light modulator," in High-Resolution Wavefront Control: Methods, Devices, and Applications II, J.D. Gonglewski, M.A. Vorontsov, and M.T. Gruneisen, eds., SPIE Proc. Vol 4124, pp. 138-147, 2000. Abstract and complete PDF document

• E.W. Justh, M.A. Vorontsov, G.W. Carhart, L.A. Beresnev, and P.S. Krishnaprasad, "Adaptive wavefront control using a nonlinear Zernike filter," in High-Resolution Wavefront Control: Methods, Devices, and Applications II, J.D. Gonglewski, M.A. Vorontsov, and M.T. Gruneisen, eds., SPIE Proc. Vol 4124, pp. 189-200, 2000. Abstract and complete PDF document

• M.A. Vorontsov, E.W.Justh, and L.A. Beresnev, "Advanced phase-contrast techniques for wavefront sensing and adaptive optics," in High-Resolution Wavefront Control: Methods, Devices, and Applications II, J.D. Gonglewski, M.A. Vorontsov, and M.T. Gruneisen, eds., SPIE Proc. Vol 4124, pp. 98-109, 2000. Abstract and complete PDF document

• E.W. Justh, P.S. Krishnaprasad, and M.A. Vorontsov, "Nonlinear Analysis of a High-Resolution Optical Wavefront Control System," Proc. 39th IEEE Conf. on Decision and Control, pp.3301-3306, 2000. Abstract and complete PDF document

• B. Azimi-Sadjadi and P.S. Krishnaprasad, "Approximate Nonlinear Filtering and Its Applications for GPS," Proc. 39th IEEE Conf. on Decision and Control, pp. 1579-1584, 2000.
  Abstract and complete PDF document

• D. Hristu, "The Dynamics of a Forced Sphere-Plate System," IEEE Transactions on Automatic Control, pp 678-687.
  Abstract and complete PDF document

• D. Hristu, "Robot Formations: Learning Minimum-length Paths on Uneven Terrain," Invited session on Sensor-based control in robotics, IEEE Mediterranean Conference on Control and Automation, 2000.
  Abstract and complete PDF document

• D. Hristu, "Stabilization of LTI systems with Communication Constraints," American Control Conference, pp 2342-2346, 2000.
  Abstract and complete PDF document

• X. Tan, J.S. Baras, and P.S. Krishnaprasad, "Computational Micromagnetics for Magnetostrictive Actuators," in Smart Structures and Materials 2000: Mathematics and Control in Smart Structures, V.V. Varadan, Editor, Proceedings of SPIE, Vol. 3984 pp 162-173, 2000.
  Abstract and complete PDF document

• X. Tan, J.S. Baras, and P.S. Krishnaprasad, "Fast Evaluation of Demagnetizing Field in Three Dimensional Micromagnetics using Multiple Approximation," in Smart Structures and Materials 2000: Mathematics and Control in Smart Structures, V.V. Varadan, Editor, Proceedings of SPIE, Vol. 3984 pp 195-201, 2000.
  Abstract and complete PDF document

  1999

• D. Hristu, "Generalized Inverses for Finite-Horizon Tracking," Proceedings of the 1999 IEEE CDC, pp 1397-1402, 1999.
  Abstract and complete PDF document

• D. Hristu, N.J. Ferrier, and R.W. Brockett, "The performance of a deformable-membrane tactile sensor: basic results on geometrically-defined tasks," IEEE International Converence on Robotics and Automation, vol. 1, pp 508-513, 2000.
  Abstract and complete PDF document

• E. W. Justh and P. S. Krishnaprasad, ``Analysis of a complex activator-inhibitor equation,'' Technical Report TR 99-13, Institute for Systems Research, 1998
  Abstract and complete PDF document

  1998

• E. W. Justh, ``Control of Large Actuator Arrays Using Pattern-Forming Systems,'' PhD Thesis PhD 98-6, Institute for Systems Research, 1998
  Abstract and complete PDF document

• E. W. Justh, P. S. Krishnaprasad, ``A Lyapunov Functional for the Cubic Nonlinearity Activator-Inhibitor Model Equation,'' Technical Report TR 98-36, Institute for Systems Research, 1998
  Abstract and complete PDF document

• George A. Kantor, P. S. Krishnaprasad, "Efficient Implementation of Controllers for Large Scale Linear Systems Via Wavelet Packet Transforms," Proceedings of the 32nd Conference on Information Sciences and Systems, Princeton, NJ, March 18-20, 1998
  Abstract and complete PDF document

• R. Venkataraman, J. Rameau and P.S. Krishnaprasad, ``Characterization of the ETREMA MP6 magnetostrictive actuator,'' Technical Report TR 98-1, Institute for Systems Research, 1998
  Abstract and complete PDF document

• R. Venkataraman and P.S. Krishnaprasad, ``Qualitative Analysis of a Bulk Ferromagnetic Hysteresis Model,'' Technical Report TR 98-38, Institute for Systems Research, 1998
  Abstract and complete PDF document

• R.Venkataraman, W.P. Dayawansa and P.S. Krishnaprasad, ``The Hybrid Motor Prototype: Design Details and Demonstration Results,'' Technical Report TR 98-2, Institute for Systems Research, 1998
  Abstract and complete PDF document

• R.Venkataraman and P.S. Krishnaprasad, ``A Model for a thin Magnetostrictive Actuator,'' Proceedings of the 32nd Conference on Information Sciences and Systems, Princeton, NJ, March 18-20, 1998
  Abstract and complete PDF document

• Andrew J. Newman, P. S. Krishnaprasad, "Nonlinear Model Reduction for RTCVD," Proceedings of the 32nd Conference on Information Sciences and Systems, Princeton, NJ, March 18-20, 1998
  Abstract and complete PDF document

• Andrew J. Newman, P. S. Krishnaprasad, ``Computation for Nonlinear Balancing,'' Proceedings of the 37th Conference on Decision and Control, Tampa, FL, December 16-18, 1998
  Abstract and complete PDF document

• Andrew J. Newman, P. S. Krishnaprasad, ``Modeling and Model Reduction for Control and Optimization of Epitaxial Growth in a Commercial Rapid Thermal Chemical Vapor Deposition Reactor,'' Technical Report TR 98-45, Institute for Systems Research, 1998.
  Abstract and complete PDF document

• Vikram Manikonda and P.S. Krishnaprasad, ``Control Problems of Hydrodynamic Type,'' Technical Report TR 98-43, Institute for Systems Research, 1998
  Abstract and complete PDF document

• Vikram Manikonda, J. Hendler, and P.S. Krishnaprasad, ``Languages, Behaviors, Hybrid Architectures, and Motion Control,'' Technical Report TR 98-3, Institute for Systems Research, 1998
  Abstract and complete PDF document

• Vikram Manikonda, ``Control and Stabilization of a Class of Nonlinear Systems with Symmetry,'' PhD Thesis PhD 98-2, Institute for Systems Research, 1998
  Abstract and complete PDF document

• H. Struemper and P.S. Krishnaprasad, ``Motion Control for Nonholonomic Systems on Matrix Lie Groups,'' Technical Report TR 98-1, Institute for Systems Research, 1998
  Abstract and complete PDF document

  1997

• 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, 1997
  Book and order info: National Academy Press

• R.Venkataraman and P.S. Krishnaprasad, ``Qualitative Analysis of the Bulk Ferromagnetic Hysteresis Model,'' Presented at the 3rd ARO Workshop on Smart Materials and Structures, Blacksburg, VA, August 27-29, 1997
  Abstract and complete PDF document

• 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, 1997
  Abstract and complete PDF document

• Herbert Struemper and P.S. Krishnaprasad : "Approximate tracking for systems on three-dimensional matrix Lie groups via feedback nipotentization ", Proceedings of the 1997 IFAC Symposium on Robot Control
  Download postscript file

• Vikram Manikonda and P.S. Krishnaprasad : "Controllability of Lie-Poisson Reduced Dynamics", Proceedings of the 1997 American Control Conference and Technical Report TR 97-59, Institute for Systems Research, May 1997
  Abstract and complete PDF document

• 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
  Abstract and complete PDF document

  1996

• 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

• 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 TR 96-37, Institute for Systems Research, May, 1996
  Abstract and complete PDF document

• Andrew Newman, "Model Reduction via the Karhunen-Loeve Expansion Part I: An Exposition", Technical Report TR 96-32, Institute for Systems Research, April, 1996
  Abstract and complete PDF document

• Andrew Newman, "Model Reduction via the Karhunen-Loeve Expansion Part II: Some Elementary Examples", Technical Report TR 96-33, Institute for Systems Research, April, 1996
  Abstract and complete PDF document

• 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
  Download postscript file

• George Kantor, Vikram Manikonda, Andrew Newman, Dimitris Tsakiris, "Robotics for High-School Students in a University Environment", Computer Science Education Journal, Volume 7, Number 2, pp. 257-278, 1996; and Technical Report TR 96-62, Institute for Systems Research
  Abstract and complete PDF document

• T. Kugarajah, P. S. Krishnaprasad, and W. P. Dayawansa, ``A Wavelet Approach to Wafer Temperature Measurement via Diffuse Reflectance Spectroscopy,'' Technical Report TR 96-61, Institute for Systems Research, 1996.
  Abstract and complete PDF document

  1995

• T. Kugarajah, ``Neural Modeling with Wavelets and Applications in Adaptive/Learning Control,'' MS Thesis MS 95-1, Institute for Systems Research, 1995.
  Abstract and complete PDF document

• T. Kugarajah and Q. Zhang, ``Multidimensional Wavelet Frames,'' Technical Report TR 95-31, Institute for Systems Research, 1995.
  Abstract and complete PDF document

• R. Venkataraman, A Hybrid Actuator, Master of Science Thesis, Electrical Engineering Department, University of Maryland, College Park; also Technical Report MS 95-4, Institute for Systems Research, 1995
  Abstract and complete PDF document

• George A. Kantor, "Linear Control Theory as Applied to Smart Structures", Technical Report MS 95-12, 1995
  Abstract and complete PDF document

• R. Venkataraman, J. Loncaric, W.P. Dayawansa and P.S. Krishnaprasad, ``A Smart Motor Concept Based on Piezoelectric-Magnetostrictive resonance,'' in I. Chopra ed. Proc. SPIE Conf. Smart Structures and Materials 1995: Special Conf. Smart Structures and Integrated Systems, SPIE vol. 2443, pp. 763-770, SPIE, Bellingham, 1995
  

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

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

• P.S. Krishnaprasad and D.P. Tsakiris, "Oscillations, SE(2)-Snakes and Motion Control", Proceedings of the 34th IEEE Conference on Decision and Control New Orleans, Louisiana, December 13-15, 1995
  Download postscript file

• W. Dayawansa, B. Ghosh, C. Martin, and A.Wang, "A Necessary and Sufficient Condition for the Perspective Observability Problem," to appear 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", Proceedings of the International Joint Conference on Artificial Intelligence, August 20-25, 1995
  Download postscript file

• Vikram Manikonda, P.S. Krishnaprasad and J. Hendler; "A Motion Description Language and a Hybrid Architecture for Motion Planning with Nonholonomic Robots", Proceedings of the IEEE Conference on Robotics and Automation, May 21-27, 1995
  Abstract and complete PDF document

  1994

• Vikram Manikonda, ``A Hybrid Control Strategy for Path Planning and Obstacle Avoidance with Nonholonomic Robots,'' Masters Thesis MS 94-8, Institute for Systems Research, 1994
  Abstract and complete PDF document

• E. W. Justh, ``Convergence Analysis of a Class of Networks of Nonlinear Coupled Oscillators,'' Masters Thesis MS 94-11, Institute for Systems Research, 1994
  Abstract and complete PDF document

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

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

• N.E. Leonard and P.S. Krishnaprasad, "Control of Switched Electrical Networks Using Averaging on Lie Groups," Proceedings of the 33rd IEEE Conference on Decision and Control, 1994, pp. 1919-1924
  Abstract and postscript file

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

• 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

  1993

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

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

• 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
  Abstract and complete PDF document

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

  1992

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

• L-S. Wang and P.S. Krishnaprasad, "Gyroscopic Control and Stabilization," Journal of Nonlinear Science, 1992, Volume 2, pp. 367-415
  Abstract and complete PDF document

• 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

  1991

• 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
  Abstract and complete PDF document

• 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, Proc. 30th IEEE Conference on Decision and Control, IEEE, New York, 1991, pp. 1133-11

  1990 and previous

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

• W. P. Dayawansa , C. F. Martin and G. Knowles, "Asymptotic Stabilization of a Class of Smooth Two Dimensional Systems," SIAM Journal on Control and Optimization, Volume 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
  Abstract and complete PDF document

• 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
  Abstract and complete PDF document