CRRL

Control/Robotics Research Laboratory

Publications During the Past 15 Years

Books

Refereed Journal Papers (appeared and accepted)

  • P. Krishnamurthy and F. Khorrami, "A singular perturbation based global dynamic high gain scaling control design for systems with nonlinear input uncertainties," IEEE Trans. on Automatic Control, vol. 58, no. 10, pp. 2686-2692, Oct. 2013.
     
  • P. Krishnamurthy, F. Khorrami,T.L. Ng and I. Cherepinsky, ``Control design and implementation for Sawyer motors used in manufacturing systems'' IEEE Transactions on Control Systems Technology, vol. 19, no. 6, pp. 1467-1478, Nov. 2011.
     
  • P. Krishnamurthy and F. Khorrami, ``Adaptive output-feedback control of a general class of uncertain feedforward systems via a dynamic scaling approach,'' IET Control Theory and Applications, vol. 5, no. 5, pp. 681-692, March 2011.
     
  • P. Krishnamurthy and F. Khorrami, ``Decentralized output-feedback control of large-scale interconnected systems via dynamic high-gain scaling,'' Chapter in Edited Book: Efficient Modeling and Control of Large-Scale Systems. Springer, pp. 135-165, 2010.
     
  • P. Krishnamurthy and F. Khorrami, ``Output-feedback control of nonlinear delayed systems: A dynamic high-gain scaling approach,'' Dynamics of Continuous, Discrete and Impulsive Systems. Special Issue. vol. 17, no. 6, pp. 909-934, 2010.
     
  • S. Puranik, A. Keyhani, and F. Khorrami, ``State-space modeling of proton exchange membrane fuel cell,'' IEEE Transactions on Energy Conversion. vol. 25, no. 3, pp. 804-813, July 2010.
     
  • S. Puranik, A. Keyhani, and F. Khorrami, ``Neural network modeling of proton exchange membrane fuel cell ,'' IEEE Transactions on Energy Conversion. vol. 25, no. 2, pp. 474-483, June 2010.
     
  • P. Krishnamurthy, W. Lu, F. Khorrami, and A. Keyhani, ``Robust force control of an SRM-based electromechanical brake and experimental results,'' IEEE Transactions on Control Systems Technology, vol. 17, no. 6, pp. 1306-1317, Dec. 2009.
     
  • P. Krishnamurthy and F. Khorrami, ``Application of a dynamic high-gain scaling methodology to servocompensator design ,'' International Journal of Robust and Nonlinear Control, vol. 19, no. 8, pp. 937-964, May 2009.
     
  • P. Krishnamurthy, F. Khorrami, and D. Schoenwald, ``Decentralized inventory control for large-scale reverse supply chains: A computationally tractable approach,'' IEEE Transactions on Systems, Man, and Cybernetics, Part C, vol. 38, no. 4, pp. 551-561, July 2008.
     
  • P. Krishnamurthy and F. Khorrami, ``Feedforward systems with ISS appended dynamics: Adaptive output-feedback stabilization and disturbance attenuation ,'' IEEE Transactions on Automatic Control, vol. 53, no. 1, pp. 405-412, Feb. 2008.
     
  • P. Krishnamurthy and F. Khorrami, ``Dual High-Gain Based Adaptive Output-Feedback Control for a Class of Nonlinear systems,'' International Journal of Adaptive Control and Signal Processing, vol. 22, no. 1, pp. 23-42, Feb. 2008.
     
  • P. Krishnamurthy and F. Khorrami, ``TRIM: An ultra-accurate high-speed six-degree-of-freedom manipulator using step motors," Journal of Intelligent and Robotic Systems, vol. 51, pp. 137-157, Feb. 2008.
     
  • P. Krishnamurthy and F. Khorrami, ``An analysis of the effects of closed-loop commutation delay on stepper motor control and application to parameter estimation,'' IEEE Transactions on Control Systems Technology, vol.16, no.1, pp. 70-77, Jan. 2008.
     
  • P. Krishnamurthy and F. Khorrami, ``GODZILA: A low-resource algorithm for path planning in unknown environments,'' Journal of Intelligent and Robotic Systems, vol. 48, no. 3, pp. 357-356, March 2007.
     
  • P. Krishnamurthy and F. Khorrami, ``Generalized state scaling and applications to feedback, feedforward, and non-triangular nonlinear systems,'' IEEE Transactions on Automatic Control, vol. 52, no. 1, pp. 102-108, Jan. 2007.
     
  • P. Krishnamurthy and F. Khorrami, ``High-gain output-feedback control for nonlinear systems based on multiple time scaling,'' Systems and Control Letters, vol. 56, no. 1, pp. 7-15, 2007.
     
  • P. Krishnamurthy and F. Khorrami, ``On uniform solvability of parameter-dependent Lyapunov inequalities and applications to various problems,'' SIAM Journal of Control and Optimization, vol. 45, no. 4, pp. 1147-1164, 2006.
     
  • P. Krishnamurthy and F. Khorrami, ``Robust adaptive control of Sawyer motors without current measurements,'' IEEE/ASME Transactions on Mechatronics, vol. 9, no. 4, pp. 689-696, Dec. 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``Dynamic high-gain scaling: state and output feedback with application to systems with ISS appended dynamics driven by all states,'' IEEE Transactions on Automatic Control, vol. 49, no. 12, pp. 2219-2239, Dec. 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``A high-gain scaling technique for adaptive output feedback control of feedforward systems,'' IEEE Transactions on Automatic Control, vol. 49, no. 12, pp. 2286-2292, Dec. 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``Voltage-fed permanent-magnet stepper motor control via position-only feedback,'' IEE Proceedings on Control Theory and Applications, vol. 151, no. 4, pp. 499-510, July 2004.
     
  • P. Krishnamurthy, F. Khorrami, and R. S. Chandra, ``Global high-gain based observer and backstepping controller for generalized output-feedback canonical form,'' IEEE Transactions on Automatic Control, vol. 48, no. 12, pp. 2277-2284, Dec. 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` Decentralized control and disturbance attenuation for large-scale nonlinear systems in generalized output-feedback canonical form,'' Automatica, vol. 39, no. 11, pp. 1923-1933, Nov. 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` Robust adaptive voltage-fed permanent magnet step motor control without current measurements,'' IEEE Transactions on Control Systems Technology, vol. 11, no. 3, pp. 415-425, May 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` Robust adaptive control for non-linear systems in generalized output-feedback canonical form,'' International Journal of Adaptive Control and Signal Processing, vol. 17, no. 4, pp. 285-311, May 2003.
     
  • P. Krishnamurthy, F. Khorrami, and Z. P. Jiang, `` Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form,'' IEEE Transactions on Automatic Control, vol. 47, no. 5, pp. 814-819, May 2002.
     
  • H. Melkote and F. Khorrami, `` Robust adaptive control of variable reluctance stepper motors,'' IEEE Transactions on Control Systems Technology, vol. 7, no. 2, pp. 212-221, March 1999.
     
  • H. Melkote and F. Khorrami, `` Nonlinear adaptive control of direct drive brushless DC motors and applications to robotic manipulators,'' IEEE/ASME Transactions on Mechatronics, vol. 4, no. 1, pp. 71-81, March 1999.
     
  • H. Melkote and F. Khorrami, `` Robust nonlinear control and torque ripple reduction for permanent magnet stepper motors,'' IEE Proceedings on Control Theory and Applications, vol. 146, no. 2, March 1999.
     
  • S. Jain and F. Khorrami, `` Robust adaptive control of flexible joint manipulators,'' Automatica, vol. 34, no. 5, March 1998.
     
  • J. J. Bongiorno, F. Khorrami, and T. C. Lin, ``A Wiener-Hopf approach to tradeoffs between stability margin and performance in two and three degree-of-freedom multivariable control systems," International Journal of Control vol. 68, no. 6, pp. 1337-1366, Dec. 1997.
     
  • S. Jain and F. Khorrami, "Decentralized adaptive output feedback design for large scale nonlinear systems," IEEE Trans. on Automatic Control, vol. 42, no. 5, pp. 729-735, May 1997.
     
  • S. Jain and F. Khorrami, "Robust decentralized control of power systems utilizing only swing angle measurements," International Journal of Control, vol. 66, no. 4, pp. 581-601, March 1997.
     
  • S. Jain and F. Khorrami, "Decentralized adaptive control of a class of large scale interconnected nonlinear systems," IEEE Trans. on Automatic Control, vol. 42, no. 2, pp. 136-154, Feb. 1997.
     
  • S. Jain, F. Khorrami, and B. Fardanesh, "Decentralized stabilization and control of large-scale power systems with unknown interconnections," International Journal of Control ,vol. 63, no. 3 , pp. 591-608, Feb. 1996.
     
  • S. Jain, P.Y. Peng, A. Tzes, and F. Khorrami, "Genetic neural network based control of flexible link manipulators," Journal of Intelligent and Robotic Systems, vol. 15, pp. 135-151, 1996.
     
  • S. Jain and F. Khorrami, "Positioning of unknown flexible payloads for robotic arms using a wrist-mounted force/torque sensor," IEEE Trans. on Control Systems Technology, vol. 3, no. 2, pp. 189-201, June 1995.
     
  • F. Khorrami, S. Jain, and A. Tzes, "Experimental results on adaptive nonlinear control and input preshaping for flexible link manipulators," Automatica, vol. 31, no. 1, pp. 83-97, Feb. 1995.
     
  • S. Jain, F. Khorrami, and B. Fardanesh, "Adaptive nonlinear excitation control of power systems with unknown interconnections," IEEE Trans. on Control Systems Technology, vol. 2, no. 4, pp. 436-446, Dec. 1994.
     
  • I. J. Zeinoun and F. Khorrami, "An adaptive control scheme based on fuzzy and its application to smart structures," Journal of Smart Materials and Structures, vol. 3, no. 3, pp. 266-276, 1994.
     
  • F. Khorrami, S. Jain, and A. Tzes, "Experiments on rigid body based controllers with input preshaping for a two-link flexible manipulator," IEEE Transaction on Robotics and Automation, vol. 10, no. 1, pp. 55-65, Feb. 1994.
     
  • A. Tzes, P. Y. Peng, and F. Khorrami, "Fuzzy neural network control for a single flexible link manipulator," Journal of Intelligent and Fuzzy Systems, vol. 1, no. 4, pp. 319-334, Nov. 1993.
     
  • F. Khorrami and S. Jain, "Nonlinear control with endpoint acceleration feedback for a two-link flexible manipulator: experimental results," Journal of Robotic Systems, vol. 10, no. 4, pp. 505-530, June 1993.

Refereed Conference Papers (appeared and accepted)

  • P. Krishnamurthy and F. Khorrami, "A Dynamic Scaling Based Control Redesign Procedure for Uncertain Nonlinear Systems with Input Unmodeled Dynamics," in Proceedings of the IFAC World Congress , (Cape Town, South Africa), August 2014. (To appear).
     
  • P. Krishnamurthy and F. Khorrami, "Output-Feedback Control for Nonlinear Systems with Fully Coupled Input Unmodeled Dynamics Via Dual Dynamic Scaling," in Proceedings of the European Control Conference , (Strasbourg, France), June 2014.
     
  • P. Krishnamurthy and F. Khorrami, "Dynamic High Gain Scaling Based Output Feedback for Nonlinear Systems with Time-Delayed Input Unmodeled Dynamics," in Proceedings of the American Control Conference , (Portland, OR), June 2014.
     
  • G. Brooks, P. Krishnamurthy, and F. Khorrami, "A Multi-Gait Approach for Humanoid Navigation in Cluttered Environments," in Proceedings of the Chinese Conference on Decision and Control , (Changsha, China), May 2014.
     
  • G. Brooks, P. Krishnamurthy, and F. Khorrami, "Humanoid robot navigation and obstacle avoidance in unknown environments," in Proceedings of the Asian Control Conference , (Istanbul, Turkey), June 2013.
     
  • P. Krishnamurthy and F. Khorrami, "A self-aligning underwater navigation system based on fusion of multiple sensors including DVL and IMU," in Proceedings of the Asian Control Conference , (Istanbul, Turkey), June 2013.
     
  • J. Overstreet and F. Khorrami, "Multi-ordered short-range mover prediction models for tracking and avoidance," in Proceedings of the IEEE Conference on Decision and Control , (Maui, HI), pp. 1770-1775, Dec. 2012.
     
  • J. Overstreet, F. Khorrami, and P. Krishnamurthy, "Belief convergence to facilitate cooperative behaviors," in Proceedings of the IEEE Conference on Decision and Control , (Maui, HI), pp. 124-129, Dec. 2012.
     
  • P. Krishnamurthy and F. Khorrami, "A hierarchical control and obstacle avoidance system for Unmanned Sea Surface Vehicles," in Proceedings of the IEEE Conference on Decision and Control and European Control Conference , (Orlando, FL), pp. 2070-2075, Dec. 2011.
     
  • P. Krishnamurthy and F. Khorrami, "Adaptive output-feedback control of planar hybrid step motors using position-only feedback," in Proceedings of the IEEE International Conference on Control and Automation , (Santiago, Chile), pp. 567-572, Sep. 2011.
     
  • P. Krishnamurthy and F. Khorrami, "A generalized scaling based control design for nonlinear nontriangular systems with input and state time delays," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
     
  • F. Khorrami, "Smart grid panel: challenges and issues," Presentation at the American Control Conference , (San Francisco, CA), June 2011.
     
  • J. Overstreet and F. Khorrami, "First-order short-range mover prediction model (SRMPM)," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
     
  • J. Overstreet and F. Khorrami, "Decentralized swarming beliefs of distributed autonomous heterogeneous system," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
     
  • P. Krishnamurthy and F. Khorrami, "Autonomous navigation and obstacle avoidance systems for unmanned vehicles," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
     
  • P. Krishnamurthy and F. Khorrami, "Adaptive backstepping and theta-D based controllers for a tilt-rotor aircraft," in Proceedings of the Mediterranean Control Conference , (Corfu, Greece), June 2011.
     
  • P. Krishnamurthy and F. Khorrami, "A singular perturbation based approach for systems with nonlinear input uncertainties," in Proceedings of the Chinese Conference on Decision and Control , (Mianyang, China), May 2011.
     
  • P. Krishnamurthy and F. Khorrami, ``Dynamic scaling based global output feedback for systems with input uncertainties via a singular perturbation redesign,'' in Proceedings of the IEEE Conference on Decision and Control , (Atlanta, GA), Dec. 2010.
     
  • P. Krishnamurthy and F. Khorrami, ``Adaptive output feedback for nonlinear feedforward systems with multiple state and input delays via dynamic high-gain scaling,'' in Proceedings of the Chinese Control Conference , (Beijing, China), July 2010.
     
  • P. Krishnamurthy and F. Khorrami, ``Adaptive dynamic high-gain scaling based output-feedback control of nonlinear feedforward systems with time delays in input and state,'' in Proceedings of the American Control Conference, (Baltimore, MD), pp.5794-5799, June 2010.
     
  • P. Krishnamurthy, F. Khorrami, J. de Leeuw, M. E. Porter, K. Livingston, J. H. Long, Jr., ``An electric ray inspired biomimetic autonomous underwater vehicle,'' in Proceedings of the American Control Conference, (Baltimore, MD), pp. 5224-5229, June 2010.
     
  • P. Krishnamurthy and F. Khorrami, ``Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling,'' in Proceedings of the IASTED Conference on Control, Diagnostics, and Automation, (Novosibirsk, Russia), June 2010.
     
  • F. Khorrami, S. Puranik, A. Keyhani, P. Krishnamurthy, and Y. She, ``PEM fuel cell distributed generation system: modeling and robust nonlinear control,'' in Proceedings of the 2009 IEEE Conference on Decision and Control, (Shanghai, China), pp. 7860-7865, Dec. 2009.
     
  • P. Krishnamurthy and F. Khorrami, ``Output-feedback control of feedforward nonlinear delayed systems through dynamic high-gain scaling,'' in Proceedings of the 2009 IEEE Conference on Decision and Control, (Shanghai, China), pp. 7-12, Dec. 2009.
     
  • P. Krishnamurthy and F. Khorrami, ``Dynamic high-gain scaling based output-feedback control of nonlinear delayed systems,'' in Proceedings of the 2009 European Control Conference, (Budapest, Hungary), Aug. 2009.
     
  • P. Krishnamurthy, F. Khorrami, J. de Leeuw, M. E. Porter, K. Livingston, J. H. Long, Jr., ``A multi-body approach for 6DOF modeling of biomimetic autonomous underwater vehicles with simulation and experimental results,'' in Proceedings of the IEEE Multi-Conference on Systems and Control, (St. Petersburg, Russia), pp. 1282-1287, July 2009.
     
  • Q. Lam, P. Krishnamurthy, and F. Khorrami, ``Enhancing flight control system performance using SDRE based controller as an augmentation layer,'' in Proceedings of the 2009 AIAA GN&C Conference, (Chicago, IL), Aug. 2009.
     
  • P. Krishnamurthy and F. Khorrami, ``Decentralized output-feedback control of large-scale nonlinear systems based on high-gain multiple time scaling,'' in Proceedings of the 2009 American Control Conference, (St. Louis, MO), June 2009.
     
  • F. Khorrami and P. Krishnamurthy, ``A hierarchical path planning and obstacle avoidance system for an autonomous underwater vehicle,'' in Proceedings of the 2009 American Control Conference, (St. Louis, MO), pp.3579-3584, June 2009.
     
  • P. Krishnamurthy, F. Khorrami, and Q. Lam, ``Robust adaptive control and motion planning of twin-rotor aircraft in shipboard operation,'' in Proceedings of the 2009 American Helicopter Society 65th Annual Forum, (Grapevine, TX), May 2009.
     
  • P. Krishnamurthy, F. Khorrami, and Q. Lam, ``Robust adaptive control of a twin-rotor aircraft,'' in Proceedings of the 2008 IEEE Conference on Decision and Control, (Cancun, Mexico), pp. 590-595, Dec. 2008.
     
  • P. Krishnamurthy, F. Khorrami, and T. L. Ng, ``Obstacle avoidance for unmanned sea surface vehicles: a hierarchical approach,'' in Proceedings of the 2008 IFAC World Congress , (Seoul, Korea), July 2008.
     
  • P. Krishnamurthy and F. Khorrami, ``Decentralized robust adaptive control of uncertain nonlinear systems using dual high gain,'' in Proceedings of the 2008 Chinese Control Conference , (Kunming, China), pp. 735-739, July 2008.
     
  • P. Krishnamurthy, F. Khorrami, and T. L. Ng, ``Control design for unmanned sea surface vehicles: Hardware-in-the-loop simulator and experimental results,'' in Proceedings of the 2007 International Conference on Robots and Systems, (San Diego, CA), pp. 3660-3665, Oct. 2007.
     
  •  P. Krishnamurthy and F. Khorrami, ``Adaptive output feedback servocompensator design using high-gain scaling,'' in Proceedings of the 2007 IFAC Workshop on Adaptive and Learning in Control and Signal Processing, (St. Petersburg, Russia), Aug. 2007.
     
  •  P. Krishnamurthy and F. Khorrami, ``Adaptive output-feedback control of feedforward system with uncertain parameters coupled with all states,'' in Proceedings of the 2007 American Control Conference, (New York, New York), pp. 480-485, July 2007.
     
  •  P. Krishnamurthy and F. Khorrami, ``An Adaptive high-gain multiple time scalig based output feedback controller and application to servocompensator design,'' in Proceedings of the 2007 European Control Conference, (Kos, Greece), July 2007.
     
  •  P. Krishnamurthy and F. Khorrami, ``A time-invariant dual high-gain based adaptive output-feedback controller for nonlinear systems,'' in Proceedings of the 2006 IEEE Conference on Decision and Control, (San Diego, CA), pp. 4633-4638, Dec. 2006. [Pdf preprint]
     
  •  P. Krishnamurthy and F. Khorrami, ``Application of the dual high-gain scaling technique to decentralized control and disturbance attenuation,'' in Proceedings of the 2006 IEEE Conference on Decision and Control, (San Diego, CA), pp.4639-4644,Dec. 2006.
     
  •  P. Krishnamurthy and F. Khorrami, ``Effects of closed-loop commutation delay for various types of motors,'' in Proceedings of the 2006 IEEE Conference on Decision and Control, (San Diego, CA), Dec. 2006.
     
  •  P. Krishnamurthy and F. Khorrami, ``Adaptive dual high-gain output feedback global in unknown parameters for a class of nonlinear systems,'' in Proceedings of the 2006 Chinese Control Conference , (Harbin, China), pp. 2075-2080, Aug. 2006.
     
  •  P. Krishnamurthy, F. Khorrami, and D. Schoenwald, ``Computationally tractable inventory control for large-scale reverse supply chains,'' in Proceedings of the 2006 American Control Conference , (Minneapolis, MN), pp. 550-555, June 2006.
     
  •  P. Krishnamurthy and F. Khorrami, ``On intriguing effects of closed-loop commutation delay in stepper motor control with application to parameter estimation,'' in Proceedings of the 2006 American Control Conference , (Minneapolis, MN), pp. 3170-3175,June 2006.
     
  •  P. Krishnamurthy and F. Khorrami, ``Adaptive output-feedback stabilization and disturbance attenuation for feedforward systems with ISS appended dynamics,'' in Proceedings of the 2005 IEEE Conference on Decision and Control/ European Control Conference , (Seville, Spain), pp. 7781-7786, Dec. 2005.
     
  •  P. Krishnamurthy, F. Khorrami, and S. Fujikawa, ``A modeling framework for six degree-of-freedom control of unmanned sea surface vehicles,'' in Proceedings of the 2005 IEEE Conference on Decision and Control/ European Control Conference , (Seville, Spain), pp. 2676-2681, Dec. 2005.
     
  •  P. Krishnamurthy, W. Lu, F. Khorrami, and A. Keyhani, ``A robust force controller for an SRM based electromechanical brake system,'' in Proceedings of the 2005 IEEE Conference on Decision and Control/ European Control Conference , (Seville, Spain), pp. 2006-2011, Dec. 2005.
     
  • T. L. Ng, P. Krishnamurthy, F. Khorrami, and S. Fujikawa, ``Autonomous flight control and hardware-in-the-loop simulator for a small helicopter," in Proceedings of the 2005 IFAC World Congress, (Prague, Czech Republic), July 2005.
     
  • P. Krishnamurthy and F. Khorrami, ``GODZILA: A low-resource algorithm for path planning in unknown environments," in Proceedings of the 2005 American Control Conference, (Portland, OR), pp. 110-115, June 2005.
     
  • P. Krishnamurthy, F. Khorrami, T. L. Ng, and I. Cherepinsky, ``Control design implementation for Sawyer motors used in manufacturing systems," in Proceedings of the 2005 American Control Conference, (Portland, OR), pp. 3054-3059, June 2005.
     
  • P. Krishnamurthy and F. Khorrami, ``Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems," in Proceedings of the 2005 American Control Conference, (Portland, OR), pp. 3427-3432, June 2005.
     
  • P. Krishnamurthy and F. Khorrami, ``Adaptive output-feedback for nonlinear systems with no a priori bounds on parameters," in Proceedings of the 2005 American Control Conference, (Portland, OR), pp. 3713-3718, June 2005.
     
  • P. Krishnamurthy and F. Khorrami, ``Dynamic high gain scaling: An application to robust adaptive output feedback for feedforward systems," in Proceedings of the 2004 Asian Control Conference, (Melbourne, Australia), pp. 2039-2047, July 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``Conditions for uniform solvability of parameter-dependent Lyapunov equations with applications," in Proceedings of the 2004 American Control Conference, (Boston, MA), pp. 3896-3901, July 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``A high gain multiple time-scaling technique for global control of nonlinear systems," in Proceedings of the 2004 American Control Conference, (Boston, MA), pp. 2385-2390, July 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``Global adaptive control of feedforward systems using dynamic high gain scaling," in Proceedings of the 2004 American Control Conference, (Boston, MA), pp. 4354-4359, July 2004.
     
  • P. Krishnamurthy and F. Khorrami, ``Global robust control of feedforward systems: state-feedback and output-feedback," in Proceedings of the 2003 IEEE Conference on Decision and Control, (Maui, HI), pp. 6145-6150, Dec. 2003.
     
  • P. Krishnamurthy and F. Khorrami, ``Global robust state-feedback for nonlinear systems via dynamic high-gain scaling," in Proceedings of the 2003 IEEE Conference on Decision and Control, (Maui, HI), pp. 6139-6144, Dec. 2003.
     
  • A. J. Spivack, F. Khorrami, R. J. Cava, D. B. Dowling, and O. Kocabayoglu, ``ZETAn -- Corrosion protection of steel," in Proceedings of the 13th Asian-Pacific Corrosion Control Conference, , (Osaka, Japan), Nov. 2003.
     
  • P. Krishnamurthy and F. Khorrami, ``TriM: An ultra-accurate high-speed six degree-of-freedom manipulator using linear motors," in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, ( Las Vegas, NV), Oct. 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` Decentralized disturbance attenuating control for large-scale nonlinear interconnected systems," in Proceedings of the 2003 American Control Conference, (Denver, CO), pp. 5028-5033, June 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` A dual high gain controller for the uncertain generalized output-feedback canonical form with appended dynamics driven by all states," in Proceedings of the 2003 American Control Conference, (Denver, CO), pp. 4766-4771, June 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` Adaptive partial-state feedback control for induction motors," in Proceedings of the 2003 American Control Conference, (Denver, CO), pp. 4059-4064, June 2003.
     
  • P. Krishnamurthy and F. Khorrami, `` Generalized adaptive output-feedback form with unknown parameters multiplying high output relative-degree states," in Proceedings of the 2002 IEEE Conference on Decision and Control, (Las Vegas, NV), pp. 1503-1508, Dec. 2002.
     
  • P. Krishnamurthy, F. Khorrami, and R. S. Chandra `` A global high-gain based scaling method for the generalized output-feedback canonical form," in Proceedings of the 2002 IEEE Conference on Decision and Control, (Las Vegas, NV), pp. 3849-3854, Dec. 2002.
     
  • P. Krishnamurthy and F. Khorrami, `` Permanent magnet stepper motor control via position-only feedback," in Proceedings of the 2002 American Control Conference, (Anchorage, AK), pp. 3180-3185,May 2002.
     
  • P. Krishnamurthy and F. Khorrami, `` Robust control of permanent magnet stepper motors using only rotor position and velocity," in Proceedings of the 2001 IEEE Conference on Decision and Control, (Orlando, FL), pp. 2637-2642, Dec. 2001.
     
  • P. Krishnamurthy, F. Khorrami, and Z. P. Jiang, `` Generalized nonlinear output-feedback canonical form: global output tracking," in Proceedings of the 2001 IEEE Conference on Decision and Control, (Orlando, FL), pp. 1380-1385, Dec. 2001.
     
  • P. Krishnamurthy and F. Khorrami, `` Decentralized control of large-scale nonlinear systems in generalized output-feedback canonical form," in Proceedings of the 2001 IEEE Conference on Decision and Control, (Orlando, FL), pp. 1322-1327, Dec. 2001.
     
  • P. Krishnamurthy and F. Khorrami, ``Robust adaptive control of Sawyer motors without current measurements," in Proceedings of the 2001 IASTED International Conference on Intelligent Systems and Control, (Clearwater, FL), Nov. 2001.
     
  • P. Krishnamurthy and F. Khorrami, ``Voltage-fed permanent magnet stepper motor control with position only feedback," in Proceedings of the 2001 IEEE International Conference on Control Applications, (Mexico City), pp. 265-270, Sep. 2001.
     
  • P. Krishnamurthy and F. Khorrami, ``Adaptive control of stepper motors without current measurements," in Proceedings of the 2001 American Control Conference, (Arlington, VA), pp. 1563-1568, June 2001.
     
  • P. Krishnamurthy and F. Khorrami, ``Global adaptive output feedback tracking for nonlinear systems linear in unmeasured states," in Proceedings of the 2001 American Control Conference, (Arlington, VA), pp. 4814-4819, June 2001.
     
  • P. Krishnamurthy, F. Khorrami, and Z. P. Jiang, ``Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form," in Proceedings of the 2001 American Control Conference, (Arlington, VA), pp. 4241-4246, June 2001.
     
  • Z. Wang and F. Khorrami, ``Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics," in Proceedings of the 2000 IEEE Conference on Decision and Control, (Sydney, Australia), pp. 3025-3030, December 2000.
     
  • Z. Wang, H. Melkote, and F. Khorrami, ``Robust adaptive friction compensation in servo-drives using position measurement only," in Proceedings of the 2000 IEEE International Conference on Control Applications, (Anchorage, AK), pp. 178-183, September 2000.
     
  • Z. Wang and F. Khorrami, ``Robust trajectory tracking for manipulators with joint flexibility via backstepping," in Proceedings of the 2000 American Control Conference, (Chicago, IL), pp. 2849-2853, June 2000.
     
  • Z. Wang, F. Khorrami, and W. Grossman, ``Robust adaptive control of formationkeeping for a pair of satellites," in Proceedings of the 2000 American Control Conference, (Chicago, IL), pp. 834-838, June 2000.
     
  • Z. Wang, F. Khorrami, and Z. P. Jiang, ``Adaptive robust decentralized control for interconnected large-scale nonlinear systems," in Proceedings of the 2000 American Control Conference, (Chicago, IL), pp. 347-351, June 2000.
     
  • Z. Wang, F. Khorrami, and Z. P. Jiang, ``Decentralized robust control for a class of large-scale nonlinear systems," in Proceedings of the 1999 IEEE Conference on Decision and Control, (Phoenix, AZ), pp. 3289-3294, December 1999.
     
  • Z. P. Jiang, F. Khorrami, and D. Hill, ``Decentralized output feedback control with disturbance attenuation for a class of large-scale nonlinear systems," in Proceedings of the 1999 IEEE Conference on Decision and Control, (Phoenix, AZ), pp. 3271-3276, December 1999.
     
  • H. Melkote and F. Khorrami, ``Nonlinear output feedback control for stepper motors: A robust adaptive approach," in Proceedings of the 1999 IEEE Conference on Control Applications, Hawaii, pp. 755-760, August 1999.
     
  • H. Melkote and F. Khorrami, ``Output feedback control of a three degree-of-freedom linear stepper motor with position measurements only,'' in Proceedings of the 1999 American Control Conference , (San Diego, CA), pp. 2531-2535, June 1999.
     
  • N. Ahmad and F. Khorrami, ``Adaptive control of systems with backlash hysteresis at the input,'' in Proceedings of the 1999 American Control Conference, (San Diego, CA), pp. 3018-3022, June 1999.
     
  •  S. Sankaranarayanan, H. Melkote and F. Khorrami, ``Adaptive variable structure control of a class of nonlinear systems with nonvanishing perturbations via backstepping,'' in Proceedings of the 1999 American Control Conference, (San Diego, CA), pp. 4491-4495, June 1999.
     
  • H. Melkote and F. Khorrami, ``Closed-loop control of a base XY stage with rotational degree-of-freedom for a high-speed ultra-accurate manufacturing system,'' in Proceedings of the 1999 International Conference on Robotics and Automation (ICRA), (Detroit, Michigan), pp. 1812-1817, May 1999.
     
  • H. Melkote and F. Khorrami, ``Torque ripple attenuation for brushless DC motors via adaptive variable structure control,'' in Proceedings of the 1998 IEEE Conference on Decision and Control, (Tampa, FL), pp. 4640-4645, Dec. 1998.
     
  • S. Jain and F. Khorrami ``Robust nonlinear control of hydraulic actuators including drive flexibility and friction,'' in Proceedings of the 1998 IEEE Conference on Control Applications, (Trieste, Italy), pp. 1409-1413, Sept. 1998.
     
  • S. Sankaranarayanan and F. Khorrami, ``Model independent dynamic friction compensation,'' in Proceedings of the 1998 American Control Conference, (Philadelphia, PA), pp. 463-467, June 1998.
     
  • H. Melkote and F. Khorrami, ``Adaptive variable structure torque ripple cancellation for permanent magnet stepper motors,'' in Proceedings of the 1998 American Control Conference, (Philadelphia, PA), pp. 1033-1037, June 1998.
     
  • J. Rastegar, F. Khorrami, and M. Mattice, ``Development of a class of quasi-distributed vibration damping and micro-positioning piezo-electric ceramic based actuators,'' in Proceedings of the International Symposium on Smart Structures and Materials, (San Diego, CA), March 1998.
     
  • S. Sankaranarayanan and F. Khorrami, ``Adaptive variable structure control and applications to friction compensation,'' in Proceedings of the 1997 IEEE Conference on Decision and Control, pp. 4159-4164, (San Diego, CA), Dec. 1997.
     
  • H. Melkote and F. Khorrami, ``A unified approach to adaptive nonlinear control of stepper motors,'' in Proceedings of the 1997 IEEE Conference on Decision and Control, (San Diego, CA), pp. 2495-2500, Dec. 1997.
     
  • S. Sankaranarayanan and F. Khorrami, ``Friction compensation via variable structure control: regulation and low-velocity tracking,'' in Proceedings of the 1997 IEEE Conference on Control Applications, (Hartford, Connecticut), pp. 645-650, Oct. 1997.
     
  • H. Melkote and F. Khorrami, ``Closed-loop control of a three degree-of-freedom ultra accurate linear stepper motor,'' in Proceedings of the 1997 IEEE Conference on Control Applications, (Hartford, Connecticut), pp. 639-644, Oct. 1997.
     
  • H. Melkote and F. Khorrami, ``Robust adaptive control of direct drive brushless DC motors and applications to robotic manipulators,'' in Proceedings of the 1997 IEEE Conference on Control Applications, (Hartford, Connecticut), pp. 288-293, Oct. 1997.
     
  • H. Melkote and F. Khorrami, ``Robust adaptive control of permanent magnet stepper motors,'' in Proceedings of the 1997 European Control Conference, (Brussels, Belgium), July 1997.
     
  • S. Jain, F. Khorrami, N. Ahmad, and S. Sankaranarayanan, `` Friction compensation for drives with and without transmission compliance,'' in Proceedings of the 1997 American Control Conference, (Albuquerque, New Mexico), pp. 2925-2929, June 1997.
     
  • F. Khorrami, H. Melkote, and J. Ish-Shalom, ``Advanced control system design for high speed ultra accurate manufacturing systems,'' in Proceedings of the 1997 American Control Conference, (Albuquerque, New Mexico), pp. 164-165, June 1997.
     
  • F. Khorrami and N. Das, ``Microstrip antennas for wireless communication in smart structures and active damping,'' in Proceedings of the 1996 Conference on Smart Structures and Materials,'' (San Diego, CA), Feb. 1997.
     
  • H. Melkote, F. Khorrami, S. Jain, and M. Mattice, "Adaptive nonlinear control of variable reluctance stepper motors," in Proceedings of the 1996 IEEE Conference on Decision and Control, (Kobe, Japan), pp. 4721-4724, Dec. 1996.
     
  • F. Khorrami and N. Das, "Utilization of microstrip antennas for wireless communication in smart structures," in Proceedings of the 1996 Workshop on Smart Electromagnetic Antenna Structures, (Brussels, Belgium), pp. 21.1-21.13, Nov. 1996.
     
  • Y. Qin, J. Rastegar, and F. Khorrami, "Design of a cleaning and homogenization robot for large oil storage tanks," 1996 ASME Design Technical Conference, Irvine, CA, August 1996.
     
  • Z. Retchkiman and F. Khorrami, "The time optimal control problem for a class of nonholonomic systems: A case study ," in Proceedings of the 13th Triennial IFAC World Congress, (San Francisco, CA), pp. 449-453, July 1996.
     
  • H. Melkote, S. Jain, and F. Khorrami, "Robust adaptive nonlinear control for electromechanical systems with structured and unstructured perturbations," in Proceedings of the 1996 World Automation Conference, (Montpellier, France), May. 1996.
     
  • Y. Qin, J. Rastegar, F. Khorrami and H. Melkote, "Design of a telerobotic cleaning and inspection robotic system for large oil storage tanks," in Proceedings of the 1996 World Automation Conference, (Montpellier, France), May. 1996.
     
  • F. Khorrami, S. Jain and N. Das, "Active vibration damping and pointing of a flexible structure with piezoceramic stack actuators," in Proceedings of the SPIE 1996 Symposium on Smart Structures and Materials," (San Diego, CA), Feb. 1996.
     
  • S. Jain and F. Khorrami, "Application of a decentralized adaptive output feedback based on backstepping to power systems," in Proceedings of the IEEE Conference on Decision and Control, (New Orleans, Louisiana), pp. 1585-1590, Dec. 1995.
     
  • F. Khorrami, J. A. Lewinsohn, J. Rastegar, and S. Jain, "Inversion of flexible manipulator dynamics via the Trajectory Pattern Method," in Proceedings of the IEEE Conference on Decision and Control, (New Orleans, Louisiana), pp. 3325-3330, Dec. 1995.
     
  • S. Jain and F. Khorrami, "Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators," in Proceedings of the IEEE Conference on Decision and Control, (New Orleans, Louisiana), pp. 2829-2834, Dec. 1995.
     
  • F. Khorrami and J. Rastegar, "Simultaneous structure and control design for a flexible pointing system actuated by active materials," in Proceedings of the IEEE Conference on Decision and Control, (New Orleans, Louisiana), pp. 4374-4379, Dec. 1995.
     
  • S. Jain and F. Khorrami, "Decentralized Control of Large Scale Power Systems with Unknown Interconnections," in Proceedings of the IEEE Conference on Control Applications, (New Albany, New York), pp. 618-623, Sept. 1995.
     
  • S. Jain and F. Khorrami, "Robust adaptive control of a class of nonlinear systems: state and output feedback," in Proceedings of the American Control Conference, (Seattle, Washington), pp. 1580-1584, June, 1995.
     
  • J. J. Bongiorno, F. Khorrami, and T. C. Lin, "A WienerHopf approach to tradeoffs between stability margin and performance in two and three degreeoffreedom multivariable control systems," in Proceedings of the American Control Conference, (Seattle, Washington), pp. 982-987, June, 1995.
     
  • F. Khorrami and J. J. Bongiorno, "Application of H2 Design for vibration damping and pointing of flexible structures with embedded smart materials," in Proceedings of the American Control Conference, (Seattle, Washington), pp. 4178-4182, June, 1995.
     
  • S. Jain and F. Khorrami, "Decentralized adaptive control of mismatched large scale interconnected nonlinear systems," in Proceedings of the Symposium on Nonlinear Control Systems Design, (Tahoe City, CA), pp. 314-319, June, 1995.
     
  • F. Khorrami, "Adaptive nonlinear control for endeffector position tracking of multilink flexible manipulators with embedded active materials," in Proceedings of the IEEE Conference on Decision and Control, (Orlando, Florida), pp. 103-108, Dec. 1994.
     
  • J. Rastegar, F. Khorrami, and Z. Retchkiman, "Inversion of nonlinear systems via the trajectory pattern method," in Proceedings of the IEEE Conference on Decision and Control, (Orlando, Florida), pp. 2382-2387, Dec. 1994.
     
  • F. Khorrami, "Adaptive control of flexiblelink manipulators with piezoelectric ceramic sensors and actuators," in Proceedings of the IFAC Symposium on Robot Control, (Capri, Italy), pp. 593-598, Sept. 1994.
     
  • Z. Retchkiman, F. Khorrami, and J. Rastegar "Trajectory planning and openloop control for nonholonomic control systems," in Proceedings of the 1994 ASME Design Technical Conference, (Minneapolis, Minnesota), Sept. 1994.
     
  • F. Khorrami, J. Rastegar, Q. Tu, "A neural network based learning algorithm for trajectory patterns and its experimental implementation," in Proceedings of the 5th International Symposium on Robotics and Manufacturing, (Maui, Hawaii), Aug. 1994.
     
  •  J. Rastegar, F. Khorrami, Q. Tu, and M. Bahrami, "Redundancy Resolution Based on Dynamic Response Limitations of the Actuators," in Proceedings of the 5th International Symposium on Robotics and Manufacturing, (Maui, Hawaii), Aug. 1994.
     
  • I. Zeinoun and F. Khorrami, "An adaptive fuzzy based controller and its application to smart structures," in Proceedings of the American Control Conference, (Baltimore, Maryland), pp. 575-579, June 1994.
     
  • S. Jain, P.Y. Peng, A. Tzes, and F. Khorrami, "Control of a singlelink flexible manipulator with genetic neural networks," in Proceedings of the American Control Conference, (Baltimore, Maryland), pp. 2570-2574, June 1994.
     
  • F. Khorrami, A. Gornez, and M. Hills, "Utilization of torque wheels for active damping of flexible manipulators" in Proceedings of the IEEE International Conference on Robotics and Automation, (San Diego, CA), pp. 1816-1821, May 1994.
     
  • F. Khorrami, S. Jain, "Vibration damping of flexible payloads through force sensing for remote manipulator systems." in Proceedings of the IEEE International Conference on Robotics and Automation, (San Diego, CA), pp. 2119-2124, May 1994.
     
  • I. Zeinoun and F. Khorrami, "Fuzzy based adaptive control for flexiblelink manipulators actuated by piezoceramics," in Proceedings of the IEEE International Conference on Robotics and Automation, (San Diego, CA), pp. 643-648, May 1994.
     
  • F. Khorrami and I. Zeinoun, "Fuzzyneural network based controls for smart structures with piezoceramics sensors and actuators." in Proceedings of the Smart Structures and Materials Conference, (Orlando, Florida), pp. 684-695, Feb. 1994.
     
  • S. Jain and F. Khorrami, "Adaptive nonlinear excitation control of largescale power systems with unknown interconnections," in Proceedings of the IEEE Conference on Decision and Control, (San Antonio, Texas), pp. 3710-3715, Dec. 1993.
     
  • J. Borowiec, A. Tzes, and F. Khorrami, "Adaptive hybrid positionforce control for flexiblelink manipulators," in Proceedings of the 1993 ASME Winter Annual Meeting, (New Orleans, LA), Nov. 1993.
     
  • F. Khorrami, "Control designs for smart structures and their experimental verification," in Proceedings of the ARO Meetings on Dynamic Response of Composite Structures, (New Orleans, Louisiana), Aug. 1993.
     
  • F. Khorrami, A. Gomez, M. Hills, "Positioning of flexible manipulators using angular momentum exchange devices," in Proceedings of the 1993 IEEE Regional Control Conference, (Newark, New Jersey), Aug. 1993.
     
  • F. Khorrami, S. Jain, M. Mattice, and N. Coleman, "Rapid retargeting of a flexible pointing system with structure mounted sensors and actuators," in Proceedings of the 1993 American Control Conference, (San Francisco, CA), pp. 1632-1637, June 1993.
     
  • F. Khorrami, S. Jain, and A. Tzes, "Adaptive nonlinear control and input preshaping for flexiblelink manipulators," in Proceedings of the 1993 American Control Conference, (San Francisco, CA), pp. 2705-2710, June 1993.