Roy S. Smith

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The control of cooperative formations of vehicles can be based on parallel estimation, where each vehicle determines its control action from a locally maintained estimate of the entire observable formation state. Vehicles may communicate with one another allowing the local estimates to incorporate information from other estimators in the formation. This(More)
We provide convex necessary and sufficient conditions for the robust stability of linear positively dominated systems. In particular, we show that the structured singular value is always equal to its convex upper bound for nonnegative matrices and we use this result to derive necessary and sufficient Linear Matrix Inequality (LMI) conditions for robust(More)
Can driver steering behaviors, such as a lane change, be executed without visual feedback? In a recent study with a fixed-base driving simulator, drivers failed to execute the return phase of a lane change when steering without vision, resulting in systematic final heading errors biased in the direction of the lane change. Here we challenge the generality(More)
A new algorithm is proposed for solving large LMI feasibility problems, which exploits the structure of the LMI and avoids forming and manipulating large matrices. It is derived from the spectral bundle method of Helmberg and Rendl, but modified to properly handle inexact eigenvalues and eigenvectors obtained from Lanczos iterations. The complexity is(More)
A novel adaptive output feedback control technique for uncertain linear systems is proposed, able to cope with input and output constraints and measurement noise. At each time step, the collected input-output data are exploited to refine the set of models that are consistent with the available information on the system. Then, the control input is computed(More)