134
Boffi, N.M., and Slotine, J.J.E., "Implicit Regularization and Higher Order Algorithms for Nonlinearly Parameterized Adaptive Control," Neural Computation, 2020.
133
Wensing, P.M. and Slotine, J.J.E., "Beyond Convexity -- Contraction and Global Convergence of Gradient Descent," PLoS 1, 15(8), 2020.
132
Tsukamoto, H., Chung S. J., and Slotine, J.J E., "Neural Stochastic Contraction
Metrics for Learning-Based Control and Estimation,"
I.E.E.E. Control Systems Letters, 2020.
131
Lopez, B.T., Slotine, J.J.E., and How, J.P., "Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety," I.E.E.E. Control Systems Letters, 5(3), 2020.
130
Singh, S., Richards, S.M., Sindhwani, V., Slotine, J.J.E., and Pavone, M.,
"Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization,"
International Journal of Robotics Research, 2020.
129
Shnitzer, T., Talmon, R., and Slotine, J.J.E., "Diffusion Maps Kalman Filter for a Class of Systems with Gradient Flows," I.E.E.E. Transactions on Signal Processing 68, 2020.
128
Lopez, B.T., and Slotine, J.J.E., "Adaptive Nonlinear Control with Contraction Metrics," I.E.E.E. Control Systems Letters, 5(1), 2020.
127
Boffi, N.M., and Slotine, J.J.E., "A Continuous-Time Analysis of Distributed Stochastic Gradient," Neural Computation, 32(1), 2020.
126
Nguyen, H.D., Vu, T.L., Slotine, J.J.E., and Turitsyn, K., "Contraction Analysis of Nonlinear DAE Systems," I.E.E.E. Transactions on Automatic Control, 2020.
125
Kozachkov, L., Lundqvist, M., Slotine, J.J.E, and Miller, E.K.,
"How Neural Circuits Achieve and Use Stable Dynamics," NEURON, D, 2019.
124
Huber, L., Billard, A., and Slotine, J.J.E., "Avoidance of Convex and Concave Obstacles with Convergence Ensured Through Contraction," Robotics and Automation Letters, 4(2), 2019.
123
Haji Hosseinloo, A., Slotine, J.J.E., and Turitsyn, K.,
"Robust Adaptive Control of Coexisting Attractors in Nonlinear Vibratory Energy Harvesters,"
Journal of Vibration and Control, 24(12), 2018.
122
Nguyen, H.D., Vu, T.L., Turitsyn, K., and Slotine, J.J.E, "Contraction and Robustness of Continuous Time Primal-Dual Dynamics," I.E.E.E. Control Systems Letters, 2(4), 2018.
121
Manchester, I.R., and Slotine, J.J.E., "Robust Control Contraction Metrics: A Convex Approach to Nonlinear State-Feedback Control," I.E.E.E. Control Systems Letters. 2(3), 2018.
120
Bousquet, G.D., Triantafyllou, M.S., and Slotine, J.J.E.,
"Optimal Dynamic Soaring Consists of Successive Shallow Arcs,"
Journal of The Royal Society Interface, 14(135), 2017.
119
Rutishauser, U., Slotine, J.J.E., and Douglas, R.,
"Solving Large Constraint-Satisfaction Problems with
Distributed Neocortical-Like Networks,"
Neural Computation, 2017.
118
Wensing, P., and Slotine, J.J.E., "Linear Matrix Inequalities for
Physically Consistent System Identification,"
I.E.E.E. Robotics and Automation Letters, 3(1), 2017.
117
Tan, F., Lohmiller, W., and Slotine, J.J.E., "Analytical SLAM Without Linearization,"
International Journal of Robotics Research, 2017.
116
Manchester, I.R., and Slotine, J.J.E.,
"Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design,"
I.E.E.E. Transactions on Automatic Control, 62(6), 2017.
115
Dewolf, T., Stewart, T., Slotine, J.J.E., and Eliasmith, C.,
"A Spiking Neural Model of Adaptive Arm Control," Proceedings of the Royal Society B,
283, 2016.
114
Shnitzer, T., Talmon, R., and Slotine, J.J.E., "Manifold Learning with
Contracting Observers for Data-Driven Time Series,"
I.E.E.E. Transactions on Signal Processing, 23, 2016.
113
Angulo, M.T., and Slotine, J.J.E., "Qualitative Stability of
Nonlinear Networked Systems," I.E.E.E. Transactions on Automatic Control, 61(12), 2016.
112
Angulo, M.T., Liu, Y.Y., and Slotine, J.J.E., "Network Motifs Emerge
from Interconnections that Favor Stability," Nature Physics, 11(10), 2015.
111
Rutishauser, U., Slotine, J.J.E., and Douglas, R.,
"Computation in Dynamically Bounded Asymmetric Systems,"
PLoS Computational Biology, 11(1), 2015.
110
Yan, G., Tsekenis, G., Barzel, B., Slotine, J.J.E., Liu, Y.Y., and Barabasi, A.L.,
"Spectrum of Controlling and Observing Complex Networks," Nature Physics, 11(9), 2015.
109
Bonnabel, S., and Slotine, J.J.E.,
"A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended
Kalman Filter,"
I.E.E.E. Transactions on Automatic Control,
60(2), 2015.
108
Zhao, C., Wang, W.X., Liu, Y.Y., and Slotine, J.J.E.,
"Intrinsic Dynamics Induce Global Symmetry in Network Controllability,"
Scientific Reports, 5, 2015.
107
Manchester, I.R., and Slotine, J.J.E.,
"Transverse Contraction Criteria for Existence, Stability, and Robustness of a Limit Cycle,"
Systems & Control Letters, 63, 2014.
106
Dydek, Z.T., Annaswamy, A., Slotine, J.J.E., Lavretsky, E.,
"Composite Adaptive Posicast Control,"
Automatica, 49(6), 2014.
105
Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L.,
"Observability of Complex Systems,"
Proceedings of the National Academy of Sciences, 110(2460), 2013. (Cover article)
104
Mukovskiy, A., Slotine, J.J.E., and Giese, M.A.,
"Dynamically Stable Control of Articulated Crowds,"
Journal of Computational Science, 4(4), 2013.
103
Jia, T., Liu, Y.Y., Csoka, E., Posfai, M., Slotine, J.J.E., and Barabasi, A.L.,
"Emergence of Bimodality in Controlling Complex Networks,"
Nature Communications 4:2002, 1-6, 2013.
102
Perie, L, Aru, J., Kourilsky, P., and Slotine, J.J.E.,
"Does a Quorum Sensing Mechanism Direct the Behavior of Immune Cells,"
C.R. Biologies, 2013.
101
Del Vecchio, D., and Slotine, J.J.E.,
"A Contraction Theory Approach to Singularly Perturbed Systems,"
I.E.E.E. Transactions on Automatic Control, 58(3), 2013.
100
Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L.,
"Control Centrality and Hierarchical Structure in Complex Networks,"
PLoS One 7(10), 2012.
99
Landsman, A.S., and Slotine, J.J.E.,
"Control of Traveling-Wave Oscillations and Bifurcation Behavior in Central Pattern Generators,"
Physical Review E 86(4), 2012.
98
Laflamme, S. , Slotine, J.J.E., and Connor, J.J.,
"Self-Organizing Input Space for Control of Structures,"
Smart Materials and Structures, 11, 2012.
97
Rutishauser, U., Slotine, J.J.E., and Douglas, R.J.,
"Competition through Selective Inhibitory Synchrony,"
Neural Computation, 24(8), 2012.
96
Slotine, J.J.E., and Liu, Y.Y.,
"Complex networks: The Missing Link,"
Nature Physics, 8(7), 2012.
95
Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L.,
"Controllability of Complex Networks,"
Nature, 473(7346), 2011. (Cover article)
94
Bouvrie, J., and Slotine, J.J.E.,
"Synchronization and Redundancy: Implications for Robustness of Neural Learning and Decision Making,"
Neural Computation, 23(10), 2011.
93
Russo, G., and Slotine, J.J.E.,
"Symmetries, Stability, and Control in Nonlinear Systems and Networks,"
Physical Review E 84(4), 2011.
92
Laflamme, S. , Slotine, J.J.E., and Connor, J.J.,
"Wavelet Network for Semi-Active Control," A.S.C.E. Journal of Mechanics, 137(7), 2011.
91
Russo, G., and Slotine J.J.E.,
"Global Convergence of Quorum Sensing Networks,"
Physical Review E 82(4), 2010.
90
Cheah, C.C., Hou, S.P., Zhao, Y., and Slotine, J.J.E., "Adaptive
Vision and Force Tracking Control for Robots with Constraint
Uncertainty," I.E.E.E. Transactions on Mechatronics, 15(3), 2010.
89
Rutishauser, U., Douglas, R.J., and Slotine, J.J.E.,
"Collective Stability of Networks of Winner-take-all Circuits,"
Neural Computation, 22(12), 2010.
88
Schwager, M., Rus, D., and Slotine, J.J.E.,
"Unifying Geometric, Probabilistic, and Potential Field Approaches to Multi-Robot Deployment,"
International Journal of Robotics Research, 29(11), 2010.
87
Russo, G., di Bernardo, M., and Slotine, J.J.E.,
"A Graphical Approach to Prove Contraction of Nonlinear Circuits and Systems,"
I.E.E.E. Transactions on Circuits and Systems II, 57(11), 2010.
86
Tabareau, N., Slotine, J.J.E., and Pham, Q.C.,
"How Synchronization Protects from Noise,"
PLoS Computational Biology 6(1), 2010.
85 Seo, K., Chung, S.J., and Slotine, J.J.E.,
"CPG-Based Control of a Turtle-like Underwater Vehicle,"
Autonomous Robots, 28(3), 2010.
84
Yu, G., and Slotine, J.J.E.,
"Visual Grouping by Oscillator Networks,"
I.E.E.E. Transactions on Neural Networks, 20(12), 2009.
83
Pham, Q.C., Tabareau, N., and Slotine, J.J.E.,
"A Contraction Theory Approach to Stochastic Incremental Stability,"
I.E.E.E. Transactions on Automatic Control, 54(4), 2009.
82
Cheah, C.C., Hou, S.P., and Slotine, J.J.E.,
"Region-based Shape Control of Robotic Swarms,"
Automatica, 45(9), 2009.
81 Chung, S.J., and Slotine, J.J.E.,
"Cooperative Robot Control and
Concurrent Synchronization of Lagrangian Systems,"
I.E.E.E. Transactions on Robotics, 25(3), 2009.
80
Schwager, M., Rus, D., and Slotine, J.J.E.,
"Adaptation and Consensus Learning for Decentralized Coverage Control of Networked Robots,"
International Journal of Robotics Research, 28(2), 2009.
79 Chung, S.J., Ahsun, U., and Slotine, J.J.E.,
"Synchronization of Formation Flying Spacecraft,"
A.I.A.A. Journal of Guidance, Control and Dynamics, 32(2), 2009.
78
Faugeras, O., Grimbert, F., and Slotine, J.J.E.,
"Stability and Synchronization in a Class of Neural Fields Models,"
S.I.A.M. Journal on Applied Mathematics, 69(1), 2008.
77
Chung, S.J., Slotine, J.J.E., and Miller, D.W.,
"Propellant-Free Tethered Formation Flight: Nonlinear Underactuated Control",
A.I.A.A. Journal of Guidance, Control, and Dynamics, 31(5), 2008.
76
Aylward, E., Parrilo,P., and Slotine, J.J.E.,
"Robustness Analysis of
Nonlinear Systems via Contraction Metrics and SOS Programming,"
Automatica, 44(8), 2008.
75
Girard, B., Tabareau, N., Pham, Q.C., Berthoz, A., and Slotine, J.J.E.,
"A Contracting Basal Ganglia Model for Action Selection,"
Neural Networks, 21(5), 2008.
74
Liu, C., Cheah, C.C., and Slotine, J.J.E.,
"Adaptive Task-Space Regulation of Flexible-Joint Robots with
Uncertain Kinematics,"
Automatica, 43, 2007.
73
Tabareau, N., Bennequin, D., Berthoz A., Slotine J.J.E., and Girard, B.,
"Geometry of the
Superior Colliculus Mapping and Efficient Oculomotor Computation,"
Biological Cybernetics, 97(4), 2007.
72
McIntyre, J.A., and Slotine, J.J.E.,
"Does the Brain Use Wave Variables to Improve Stability?"
Brain Research Bulletin, 68, 2007.
71
Pham, Q.C., and Slotine, J.J.E.,
"Stable Concurrent Synchronization in Dynamic System Networks,"
Neural Networks, 20(1), 2007.
70
Chung, S.J., Slotine, J.J.E., and Miller, D.W.,
"Nonlinear Model Reduction and Decentralized Control of
Tethered Formation Flight,"
A.I.A.A. Journal of Guidance, Control and Dynamics, 30(2), 2007.
69
El Rifai, K., and Slotine, J.J.E.,
"Compositional Contraction Analysis of Hybrid Nonlinear Systems,"
I.E.E.E. Transactions on Automatic Control, 51(9), 2006.
68
Wang, W., and Slotine, J.J.E.,
"A Theoretical Study of Different Leader Roles in Networks,"
I.E.E.E. Transactions on Automatic Control, 51(7), 2006.
67
Cheah, C.C., Liu, C., and Slotine, J.J.E.,
"Adaptive Tracking Control for Robots with
Uncertainties in Kinematic, Dynamic and Actuator Models,"
I.E.E.E. Transactions on Automatic Control, 51(6), 2006.
66
Wang, W., and Slotine, J.J.E.,
"Contraction Analysis of Time-Delayed Communications and Group Cooperation,"
I.E.E.E. Transactions on Automatic Control, 51(4), 2006.
65
Cheah, C.C., Liu, C., and Slotine, J.J.E.,
"Adaptive Tracking Control for Robots with Unknown Kinematic and
Dynamic Properties,"
International Journal of Robotics Research, 25(3), 2006.
64
Lohmiller, W., and Slotine, J.J.E.,
"Contraction Analysis of Nonlinear Distributed Systems,"
International Journal of Control, 78(9), 2005.
63
Zhao, Y., and Slotine, J.J.E.,
"Discrete Nonlinear Observers for Inertial Navigation,"
Systems and Control Letters, 54(6), 2005.
62
Wang, W., and Slotine, J.J.E.,
"Fast Computation with Neural Oscillators,"
Neurocomputing, 63, 2005.
61
Richardson, A., Slotine, J.J.E., Bizzi, E., and Tresch, M.,
"Intrinsic Musculoskeletal Properties Stabilize Wiping Movements
in the Spinalized Frog," Journal of Neuroscience, 25(12), 2005.
60
Zuo, L., Slotine, J.J.E., and Nayfeh, S.,
"Model Reaching Adaptive Control for Vibration Isolation,"
I.E.E.E. Transactions on Control Systems Technology, 2005.
59 Wang, W., and Slotine, J.J.E., "On Partial Contraction Analysis for
Coupled Nonlinear Oscillators," Biological Cybernetics, 92(1),
2005.
58
Niemeyer, G., and Slotine J.J.E.,
"Telemanipulation with Time Delays,"
International Journal of Robotics Research, 23(9), 2004.
57
Lloyd, S., Landahl, A., and Slotine J.J.E.,
"Universal Quantum Interfaces," Physical Review A, 69, 2004.
56
Zuo, L., and Slotine, J.J.E.,
"Robust Vibration Isolation via Frequency-Shaped Sliding Control and
Modal Decomposition," Journal of Sound and Vibration, 2004.
55
Slotine, J.J.E.,
"Modular Stability Tools for Distributed Computation and Control,"
Int. J. Adaptive Control and Signal Processing, 17(6), 2003.
54
Hahnloser, R.H., Seung, H.S., and Slotine, J.J.E.,
"Permitted and Forbidden Sets in Symmetric Threshold-Linear Networks,"
Neural Computation, 15, 2003.
53
Slotine, J.J.E.,
"La Robotique à l'Heure des Neurosciences,"
La Recherche, 350, February 2002.
52
Slotine, J.J.E., and Lohmiller, W., "Modularity, Evolution, and the
Binding Problem: A View from Stability Theory," Neural Networks, 14(2),
February 2001.
51
Lloyd, S., and Slotine, J.J.E., "Feedback Control of Quantum Systems
Using Ensemble Measurements,"
Physical Review A, July 2000.
50
Lohmiller, W., and Slotine, J.J.E., "Nonlinear Process Control Using
Contraction Theory," A.I.Ch.E. Journal, March 2000.
49
Lohmiller, W., and Slotine, J.J.E., "Control System Design for
Mechanical Systems Using Contraction Theory," I.E.E.E. Transactions on Automatic Control,
45(5), 2000.
48
Lloyd, S., and Slotine, J.J.E., "Analog Quantum Error Correction,"
Physical Review Letters, 80(18), 1998.
47
Lohmiller, W., and Slotine, J.J.E., "On Contraction Analysis for
Nonlinear Systems," Automatica, 34(6), 1998.
46
Hanneton, S., Berthoz, A., Droulez, D., and Slotine J.J.E.,
"Does the brain use sliding variables for the control of movements,"
Biological Cybernetics, 77(6), 1998.
45
Massaquoi, S., and Slotine, J.J.E., "The Intermediate Cerebellum
may function as a Wave Variable Processor," Neuroscience Letters, 215,
1996.
44
Lloyd, S., and Slotine, J.J.E., "Information Theoretic Tools for
Stable Adaptation and Learning," Int. J. Adaptive Systems, 5(5), Oct. 1996.
43
Cannon, M., and Slotine, J.J.E.,
"Space-Frequency Localized Basis Function Networks for Nonlinear
Estimation and Control,"
Neurocomputing,
9(3), 1995 (best paper award).
42
Sanner, R., and Slotine, J.J.E., "Stable Robotic Learning using
'Neural' Networks," Neural Computation, 7(4), 1995.
41
Yang, H.S., and Slotine, J.J.E., "Fast Algorithms for
Near-Minimum-Time Robot Motion," Int. J. Robotics
Research, 13(6), 1994.
40
Slotine, J.J.E., and Hedrick, J.K., "Robust Input-Output Feedback
Linearization," Int. J. Control, 57(5), 1993.
39
Sanner, R., and Slotine, J.J.E., "Gaussian Networks for Direct
Adaptive Control," I.E.E.E. Transactions on Neural Networks, 3(6), 1992 (best
paper award).
38
Niemeyer, G., and Slotine, J.J.E., "Stable Adaptive Teleoperation,,"
I.E.E.E. J. of Oceanic Engineering, 16(1), 1991.
37
Canudas, C., and Slotine, J.J.E., "Nonlinear Observers for Robot
Manipulators," Automatica, 27(5), 1991.
36
Niemeyer, G., and Slotine, J.J.E.,
"Performance in Adaptive Manipulator Control,"
Int. J. Robotics Research, 10(2), 1991.
35
Yoerger, D.R., Cooke, J.G., and Slotine, J.J.E., "The Influence of
Nonlinear Thruster Dynamics on Underwater Vehicle Behavior," I.E.E.E. J.
of Oceanic Engineering, 15(3), 1990.
34
Slotine, J.J.E., and di Benedetto, M.D., "Hamiltonian Adaptive
Control of Spacecraft," I.E.E.E. Transactions on Automatic
Control, 35(7), 1990.
33
Slotine, J.J.E., and Li, W., "Composite Adaptive Control of Robot
Manipulators," Automatica, 25(4), 1989.
32
Slotine, J.J.E., and Yang, H.S., "Improving the Efficiency of
Time-Optimal Path-Following Algorithms," I.E.E.E. J.
Robotics and Automation, 5(1), 1989.
31
Li, W., and J.J.E. Slotine, "An Indirect Adaptive Robot
Controller," Systems and Control Letters, 12(3),1989.
30
Slotine, J.J.E., and Li, W., "Adaptive Manipulator Control: A Case
Study," I.E.E.E. Transactions on Automatic Control, 11(3), 1988.
29
Slotine, J.J.E., "Putting Physics in Control," I.E.E.E. Control Systems
Magazine, 8(6), 1988.
28
Slotine, J.J.E., and Khatib, O., "Robust Control in Operational Space
for Goal-Positioned Manipulator Tasks," Int. J. Robotics and Automation,
3(1), 1988.
27
Yoerger, D.R., and Slotine, J.J.E., "Task-Resolved Motion Control of
Vehicle-Manipulator Systems," Int. J. Robotics and Automation, 2(3),
1987.
26
Slotine, J.J.E., Hedrick, J.K., and Misawa, E., "On Sliding
Observers for Nonlinear Systems," A.S.M.E. J. Dynamic Systems,
Measurement, and Control, 109(3), 1987.
25
Slotine, J.J.E., and Li, W., "On The Adaptive Control of Robot
Manipulators," Int. J. Robotics Research, 6(3), 1987.
24
Slotine, J.J.E., and Yoerger, D.R., "A General Inverse Kinematics
Algorithm for Redundant Manipulators," Int. J. Robotics and Automation,
2(2), 1987.
23
Yoerger, D.R., Newman, J.B., and Slotine, J.J.E., "Supervisory
Control System for the Jason ROV," I.E.E.E. J. Oceanic Eng., 11(6),
1986.
22
Slotine, J.J.E., and Coetsee, J.A., "Adaptive Sliding Controller
Synthesis for Nonlinear Systems," Int. J. Control, 43(4), 1986.
21
Slotine, J.J.E., and Spong, M.S., "Robust Feedback Control of Robot
Manipulators with Bounded Input Torques," Int. J. Robotics Systems,
2(3), 1985.
20
Yoerger, D.R., and Slotine, J.J.E., "Robust Trajectory Control of
Underwater Vehicles," I.E.E.E. J. Oceanic Eng., 10(4), 1985.
19
Slotine, J.J.E., "The Robust Control of Robot Manipulators," Int. J.
Robotics Res., 4(2), 1985.
18
Slotine, J.J.E., "Sliding Controller Design for Nonlinear Systems,"
Int. J. Control, 40(2), 1984.
17
Slotine, J.J.E., and Sastry, S.S., "Tracking Control of Nonlinear
Systems using Sliding Surfaces with Application to Robot Manipulators,"
Int. J. Control, 38(2), 1983.
Nick Boffi (boffi@g.harvard.edu)
Slotine Lectures on Nonlinear Systems
Robotic Catching of a Plastic Ball