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—We develop a face recognition algorithm which is insensitive to large variation in lighting direction and facial expression. Taking a pattern classification approach, we consider each pixel in an image as a coordinate in a high-dimensional space. We take advantage of the observation that the images of a particular face, under varying illumination but fixed… (More)

- João P Hespanha, Payam Naghshtabrizi, Yonggang Xu
- 2007

When sensors and actuators communicate with a remote controller over a multipurpose network, improved techniques are needed for state estimation, determination of closed-loop stability and controller synthesis. ABSTRACT | Networked control systems (NCSs) are spatially distributed systems for which the communication between sensors, actuators, and… (More)

We establish exponential stability of nonlinear time-varying impulsive systems by employing Lyapunov functions with discontinuity at the impulse times. Our stability conditions have the property that when specialized to linear impulsive systems, the stability tests can be formulated as Linear Matrix Inequalities (LMIs). Then we consider LTI uncertain… (More)

— This paper addresses the uniform stability of switched linear systems, where uniformity refers to the convergence rate of the multiple solutions that one obtains as the switching signal ranges over a given set. We provide a collection of results that can be viewed as extensions of LaSalle's Invariance Principle to certain classes of switched linear… (More)

— We highlight an essential difference between path-following and reference-tracking for non-minimum phase systems. It is well-known that in the reference-tracking, for non-minimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L 2-norm of the tracking error, even when the control effort is free. We show… (More)

—This note is concerned with the problem of stabilizing a non-linear continuous-time system by using sampled encoded measurements of the state. We demonstrate that global asymptotic stabilization is possible if a suitable relationship holds between the number of values taken by the encoder, the sampling period, and a system parameter, provided that a… (More)

— We address the problem of position trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either two or three-dimensional space, we demonstrate how adaptive switching supervisory control can be combined with a… (More)

This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a specific LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to find realizations for any given family of controller transfer… (More)

Most standard implementations of TCP perform poorly when packets are reordered. In this paper, we propose a new version of TCP that maintains high throughput when reordering occurs and yet, when packet reordering does not occur, is friendly to other versions of TCP. The proposed TCP variant, or TCP-PR, does not rely on duplicate acknowledgments to detect a… (More)

- João P Hespanha
- 2006