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A tunable multiresolution smoother for scattered data with application to particle filteringJun 16 2019A smoothing algorithm is presented that can reduce the small-scale content of data observed at scattered locations in a spatially extended domain. The smoother works by forming a Gaussian interpolant of the input data, and then convolving the interpolant ... More

Sliding Motions on SO(3), Sliding SubgroupsMay 14 2019We propose a sliding surface for systems on the Lie group $SO(3)\times \mathbb{R}^3$ . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable equilibrium. ... More

Structure-preserving model reduction for marginally stable LTI systemsApr 13 2017Apr 21 2017This work proposes a structure-preserving model reduction method for marginally stable linear time-invariant (LTI) systems. In contrast to Lyapunov-stability-based approaches---which ensure the poles of the reduced system remain in the open left-half ... More

Constraint Control of Nonholonomic Mechanical SystemsOct 08 2016Nov 30 2016We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection of the body ... More

Constraint Control of Nonholonomic Mechanical SystemsOct 08 2016Dec 07 2016We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection of the body ... More

Constraint Control of Nonholonomic Mechanical SystemsOct 08 2016Nov 10 2018We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection of the body ... More

Risk-sensitive Dissipativity of Linear Quantum Stochastic Systems under Lur'e Type Perturbations of HamiltoniansMay 16 2012This paper is concerned with a stochastic dissipativity theory using quadratic-exponential storage functions for open quantum systems with canonically commuting dynamic variables governed by quantum stochastic differential equations. The system is linearly ... More

A New Computationally Efficient Measure of Topological Redundancy of Biological and Social NetworksAug 31 2011Nov 05 2011It is well-known that biological and social interaction networks have a varying degree of redundancy, though a consensus of the precise cause of this is so far lacking. In this paper, we introduce a topological redundancy measure for labeled directed ... More

Biochemical network decomposition reveals absolute concentration robustnessMay 03 2011Mar 27 2012Robustness of biochemical systems has become one of the central questions in Systems Biology, although it is notoriously difficult to formally capture its multifaceted nature. Maintenance of normal system function depends not only on the stoichiometry ... More

Synchronization with partial state coupling on SO(n)Nov 29 2010This paper studies autonomous synchronization of k agents whose states evolve on SO(n), but which are only coupled through the action of their states on one "reference vector" in Rn for each link. Thus each link conveys only partial state information ... More