We provide an exact solution to two performance problems-one of disturbance attenuation
and one of windowed variance minimization-subject to exponential stability. Considered are …

In this dissertation, we seek to improve the dynamic modeling and control of autonomous
underwater vehicles (AUVs). We address nonlinear hydrodynamic modeling, simplifying …

This dissertation presents a framework for analysis and controller synthesis problems for
switched linear systems. These are multi-modal systems whose parameters vary within a …

We address a discrete-time LQG control problem over a fixed performance window and
apply a receding-horizon type control strategy, resulting in an exact solution to the problem …

In this paper we provide a scheme for estimating the minimum achievable exponential
decay rate of a switched linear system via output feedback control. The output feedback …

We address stability analysis and control synthesis for time-inhomogeneous Markov jump
linear systems with partial observations of the Markov chain where the Markov parameter …

We apply a distributed, message-passing scheme for sparsely-coupled linear programming
problems to the stabilization of positive switched linear systems. We first develop exact …

Obstacle-Avoidance Verification for a Switched Control Strategy Page 1 ObstacleAvoidance
Verification for a Switched Control Strategy Ray Essick Motivation Control of Switched …

The overall program provided systematic and computationally responsive research aimed at
control of multi-agent systems, and more generally systems that have both discrete and …