34 citations · 210 across the 68 of their papers we have counts for
5 papers · 1 filter
Invariant Funnels around Trajectories using Sum-of-Squares Programming
Mark M. Tobenkin, Ian R. Manchester, Russ Tedrake
This paper presents numerical methods for computing regions of finite-time invariance (funnels) around solutions of polynomial differential equations. First, we present a method wh…
Regions of Attraction for Hybrid Limit Cycles of Walking Robots
Ian R. Manchester, Mark M. Tobenkin, Michael Levashov +1
This paper illustrates the application of recent research in region-of-attraction analysis for nonlinear hybrid limit cycles. Three example systems are analyzed in detail: the van…
Transverse Dynamics and Regions of Stability for Nonlinear Hybrid Limit Cycles
Ian R. Manchester
This paper presents an algorithm for computing inner estimates of the regions of attraction of limit cycles of a nonlinear hybrid system. The basic procedure is: (1) compute the dy…
Input Design for System Identification via Convex Relaxation
Ian R. Manchester
This paper proposes a new framework for the optimization of excitation inputs for system identification. The optimization problem considered is to maximize a reduced Fisher informa…
Convex Optimization In Identification Of Stable Non-Linear State Space Models
Mark M. Tobenkin, Ian R. Manchester, Jennifer Wang +2
A new framework for nonlinear system identification is presented in terms of optimal fitting of stable nonlinear state space equations to input/output/state data, with a performanc…