34 citations · 210 across the 68 of their papers we have counts for
4 papers · 1 filter
Control Contraction Metrics and Universal Stabilizability
Ian R. Manchester, Jean-Jacques E. Slotine
In this paper we introduce the concept of universal stabilizability: the condition that every solution of a nonlinear system can be globally stabilized. We give sufficient conditio…
Input Design for Model Discrimination and Fault Detection via Convex Relaxation
Seunggyun Cheong, Ian R. Manchester
This paper addresses the design of input signals for the purpose of discriminating among a finite set of models dynamic systems within a given finite time interval. A motivating ap…
Real-Time Planning with Primitives for Dynamic Walking over Uneven Terrain
Ian R. Manchester, Jack Umenberger
We present an algorithm for receding-horizon motion planning using a finite family of motion primitives for underactuated dynamic walking over uneven terrain. The motion primitives…
Stable Nonlinear Identification From Noisy Repeated Experiments via Convex Optimization
Mark M. Tobenkin, Ian R. Manchester, Alexandre Megretski
This paper introduces new techniques for using convex optimization to fit input-output data to a class of stable nonlinear dynamical models. We present an algorithm that guarantees…