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 Publications of year 2000
 Thesis
1. G. J. Toussaint. Robust Control and Motion Planning for Nonlinear Underactuated Systems using ${H}^{\infty}$ Techniques. PhD thesis, Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, May 2000.
@PhDThesis{ gjt:00,
author = {G. J. Toussaint},
title = {Robust Control and Motion Planning for Nonlinear Underactuated Systems using ${H}^{\infty}$ Techniques},
school = {Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign},
year = 2000,
month = may,
pdf = {http://motion.me.ucsb.edu/pdf/phd-gjt-may00.pdf}
}


 Articles in journal, book chapters
1. F. Bullo. Stabilization of Relative Equilibria for Underactuated Systems on Riemannian Manifolds. Automatica, 36(12):1819-1834, 2000. Keyword(s): Mechanical Control Systems.
@Article{ fb:98d,
author = {F. Bullo},
title = {Stabilization of Relative Equilibria for Underactuated Systems on {R}iemannian Manifolds},
journal = automatica,
year = 2000,
pages = {1819-1834},
doi = "10.1016/S0005-1098(00)00115-1",
volume = 36,
number = 12,
pdf = {http://motion.me.ucsb.edu/pdf/1998d-b.pdf},
keywords = {Mechanical Control Systems}
}


2. F. Bullo, N. E. Leonard, and A. D. Lewis. Controllability and Motion Algorithms for Underactuated Lagrangian Systems on Lie Groups. IEEE Transactions on Automatic Control, 45(8):1437-1454, 2000. Keyword(s): Mechanical Control Systems, Motion Planning.
@Article{ fb-nel-adl:00,
author = "F. Bullo and N. E. Leonard and A. D. Lewis",
title = "Controllability and Motion Algorithms for Underactuated {L}agrangian Systems on {L}ie Groups",
journal = tac,
volume = 45,
number = 8,
year = 2000,
pages = {1437-1454},
doi = {10.1109/9.871753},
pdf = {http://motion.me.ucsb.edu/pdf/2000-bll.pdf},
keywords = {Mechanical Control Systems, Motion Planning}
}


 Conference articles
1. F. Bullo. On perturbation methods for mechanical control systems. In N. E. Leonard and R. Ortega, editors, Proceedings of the First IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, USA, pages 163-164, March 2000.
@InProceedings{ fb:99c,
author = {F. Bullo},
title = {On perturbation methods for mechanical control systems},
booktitle = {Proceedings of the First IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control},
year = 2000,
month = mar,
pages = {163-164},
pdf = {http://motion.me.ucsb.edu/pdf/1999c-b.pdf},
editor = "N. E. Leonard and R. Ortega"
}


2. F. Bullo. Series expansions for analytic systems linear in the controls. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 3392-3397, December 2000.
@InProceedings{ fb:00b,
author = {F. Bullo},
title = {Series expansions for analytic systems linear in the controls},
pages = {3392-3397},
doi = {10.1109/CDC.2000.912227},
booktitle = cdc,
year = 2000,
month = dec,
pdf = {http://motion.me.ucsb.edu/pdf/2000b-b.pdf}
}


3. F. Bullo and W. T. Cerven. On trajectory optimization for polynomial systems via series expansions. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 772-777, December 2000.
@InProceedings{ fb-wtc:00a,
author = {F. Bullo and W. T. Cerven},
title = {On trajectory optimization for polynomial systems via series expansions},
pages = {772-777},
doi = {10.1109/CDC.2000.912862},
booktitle = cdc,
year = 2000,
month = dec,
pdf = {http://motion.me.ucsb.edu/pdf/2000a-bc.pdf}
}


4. F. Bullo and A. D. Lewis. On the homogeneity of the affine connection model for mechanical control systems. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 1260-1265, December 2000.
@InProceedings{ fb-adl:00d,
author = {F. Bullo and A. D. Lewis},
title = {On the homogeneity of the affine connection model for mechanical control systems},
pages = {1260-1265},
doi = {10.1109/CDC.2000.912028},
booktitle = cdc,
year = 2000,
month = dec,
pdf = {http://motion.me.ucsb.edu/pdf/2000d-bl.pdf}
}


5. J. W. Melody, T. Basar, and F. Bullo. On nonlinear controllability of homogeneous systems linear in the controls. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 3971-3976, December 2000.
@InProceedings{ jwm-tb-fb:00l,
author = {J. W. Melody and T. Ba{\c s}ar and F. Bullo},
title = {On nonlinear controllability of homogeneous systems linear in the controls},
booktitle = cdc,
year = 2000,
month = dec,
pages = {3971-3976},
doi = {10.1109/CDC.2000.912335},
pdf = {http://motion.me.ucsb.edu/pdf/2000l-mbb.pdf}
}


6. G. J. Toussaint, T. Basar, and F. Bullo. ${H}^{\infty}$-Optimal tracking control techniques for nonlinear underactuated systems. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 2078-2083, December 2000.
@InProceedings{ gjt-tb-fb:00e,
author = {G. J. Toussaint and T. Ba{\c s}ar and F. Bullo},
title = {${H}^{\infty}$-Optimal tracking control techniques for nonlinear underactuated systems},
booktitle = cdc,
year = 2000,
month = dec,
pages = {2078-2083},
doi = {10.1109/CDC.2000.914100},
pdf = {http://motion.me.ucsb.edu/pdf/2000e-tbb.pdf}
}


7. G. J. Toussaint, T. Basar, and F. Bullo. Tracking for nonlinear underactuated surface vessels with generalized forces. In IEEE Int. Conf. on Control Applications, Anchorage, AK, USA, pages 355-360, September 2000.
@InProceedings{ gjt-tb-fb:00c,
author = {G. J. Toussaint and T. Ba{\c s}ar and F. Bullo},
title = {Tracking for nonlinear underactuated surface vessels with generalized forces},
booktitle = cca,
year = 2000,