Search Results - "Tobenkin, Mark M."

Convex optimization of nonlinear feedback controllers via occupation measures by Majumdar, Anirudha, Vasudevan, Ram, Tobenkin, Mark M., Tedrake, Russ

“…The construction of feedback control laws for underactuated nonlinear robotic systems with input saturation limits is crucial for dynamic robotic tasks such as…”
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Convex Parameterizations and Fidelity Bounds for Nonlinear Identification and Reduced-Order Modelling by Tobenkin, Mark M., Manchester, Ian R., Megretski, Alexandre

“…Model instability and poor prediction of long-term behavior are common problems when modeling dynamical systems using nonlinear "black-box" techniques. Direct…”
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Convex Parameterizations and Fidelity Bounds for Nonlinear Identification and Reduced-Order Modelling by Tobenkin, Mark M, Manchester, Ian R, Megretski, Alexandre

“…Model instability and poor prediction of long-term behavior are common problems when modeling dynamical systems using nonlinear "black-box" techniques. Direct…”
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Stable nonlinear identification from noisy repeated experiments via convex optimization by Tobenkin, Mark M., Manchester, Ian R., Megretski, Alexandre

“…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…”
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Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures by Majumdar, Anirudha, Vasudevan, Ram, Tobenkin, Mark M, Tedrake, Russ

“…In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable…”
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Stable Nonlinear Identification From Noisy Repeated Experiments via Convex Optimization by Tobenkin, Mark M, Manchester, Ian R, Megretski, Alexandre

“…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…”
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Identification of nonlinear systems with stable oscillations by Manchester, I. R., Tobenkin, M. M., Wang, J.

“…We propose a convex optimization procedure for identification of nonlinear systems that exhibit stable limit cycles. It extends the "robust identification…”
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Convex optimization in identification of stable non-linear state space models by Tobenkin, M M, Manchester, I R, Wang, J, Megretski, A, Tedrake, R

“…A new framework for nonlinear system identification is presented in terms of optimal fitting of stable nonlinear state space equations to input/output/state…”
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Identification of Nonlinear Systems with Stable Limit Cycles via Convex Optimization by Manchester, Ian R, Tobenkin, Mark M, Wang, Jennifer

“…We propose a convex optimization procedure for black-box identification of nonlinear state-space models for systems that exhibit stable limit cycles (unforced…”
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Invariant Funnels around Trajectories using Sum-of-Squares Programming by Tobenkin, Mark M, Manchester, Ian R, Tedrake, Russ

“…This paper presents numerical methods for computing regions of finite-time invariance (funnels) around solutions of polynomial differential equations. First,…”
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Regions of Attraction for Hybrid Limit Cycles of Walking Robots by Manchester, Ian R, Tobenkin, Mark M, Levashov, Michael, Tedrake, Russ

“…This paper illustrates the application of recent research in region-of-attraction analysis for nonlinear hybrid limit cycles. Three example systems are…”
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Convex Optimization In Identification Of Stable Non-Linear State Space Models by Tobenkin, Mark M, Manchester, Ian R, Wang, Jennifer, Megretski, Alexandre, Tedrake, Russ

“…A new framework for nonlinear system identification is presented in terms of optimal fitting of stable nonlinear state space equations to input/output/state…”
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