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Robert E. Skelton

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affiliation: University of California San Diego, La Jolla, CA, USA
affiliation (former): Purdue University, West Lafayette, IN, USA

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Journal Articles

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2022
[j28]
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Shuo Ma, Muhao Chen, Robert E. Skelton:
TsgFEM: Tensegrity Finite Element Method. J. Open Source Softw. 7(75): 3390 (2022)
2020
[j27]
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Raman Goyal, Muhao Chen, Manoranjan Majji, Robert E. Skelton:
Gyroscopic Tensegrity Robots. IEEE Robotics Autom. Lett. 5(2): 1239-1246 (2020)
[j26]
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Ran Wang, Raman Goyal, Suman Chakravorty, Robert E. Skelton:
Model and Data Based Approaches to the Control of Tensegrity Robots. IEEE Robotics Autom. Lett. 5(3): 3846-3853 (2020)
2019
[j25]
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Raman Goyal, Muhao Chen, Manoranjan Majji, Robert E. Skelton:
MOTES: Modeling of Tensegrity Structures. J. Open Source Softw. 4(42): 1613 (2019)
2010
[j24]
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Robert E. Skelton, Maurício C. de Oliveira:
Optimal complexity of deployable compressive structures. J. Frankl. Inst. 347(1): 228-256 (2010)
[j23]
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Robert E. Skelton, Maurício C. de Oliveira:
Optimal tensegrity structures in bending: The discrete Michell truss. J. Frankl. Inst. 347(1): 257-283 (2010)
2009
[j22]
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Anders S. Wroldsen, Maurício C. de Oliveira, Robert E. Skelton:
Modelling and control of non-minimal non-linear realisations of tensegrity systems. Int. J. Control 82(3): 389-407 (2009)
2008
[j21]
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Faming Li, Robert E. Skelton:
q-Markov covariance equivalent realizations in fixed and floating point computations. Int. J. Control 81(4): 607-625 (2008)
2006
[j20]
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Jeongheon Han, Maurício C. de Oliveira, Robert E. Skelton:
Linearization Algorithm for a Reduced Order H_∞ Control Design of an Active Suspension System. Eur. J. Control 12(2): 205-219 (2006)
[j19]
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Juan F. Camino, J. William Helton, Robert E. Skelton:
Solving Matrix Inequalities whose Unknowns are Matrices. SIAM J. Optim. 17(1): 1-36 (2006)
2005
[j18]
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Bram de Jager, Robert E. Skelton:
Input-output selection for planar tensegrity models. IEEE Trans. Control. Syst. Technol. 13(5): 778-785 (2005)
2002
[j17]
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Jianbo Lu, Robert E. Skelton:
Mean-square small gain theorem for stochastic control: discrete-time case. IEEE Trans. Autom. Control. 47(3): 490-494 (2002)
2001
[j16]
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Robert E. Skelton, Jean Paul Pinaud, D. Lewis Mingori:
Dynamics of the shell class of tensegrity structures. J. Frankl. Inst. 338(2-3): 255-320 (2001)
2000
[j15]
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Jianbo Lu, Robert E. Skelton:
Robust variance control for systems with finite-signal-to-noise uncertainty. Autom. 36(4): 511-525 (2000)
1998
[j14]
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José Claudio Geromel, Cid C. de Souza, Robert E. Skelton:
Static output feedback controllers: stability and convexity. IEEE Trans. Autom. Control. 43(1): 120-125 (1998)
[j13]
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Tetsuya Iwasaki, Robert E. Skelton, Martin J. Corless:
A recursive construction algorithm for covariance control. IEEE Trans. Autom. Control. 43(2): 268-272 (1998)
1997
[j12]
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Karolos M. Grigoriadis, Robert E. Skelton:
Minimum-energy covariance controllers. Autom. 33(4): 569-578 (1997)
1996
[j11]
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Karolos M. Grigoriadis, Robert E. Skelton:
Low-order control design for LMI problems using alternating projection methods. Autom. 32(8): 1117-1125 (1996)
[j10]
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Robert E. Skelton, Guojun Shi:
Iterative identification and control using a weighted q-Markov cover with measurement noise. Signal Process. 52(2): 217-234 (1996)
1995
[j9]
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Tetsuya Iwasaki, Robert E. Skelton:
All fixed-order H_∞ controllers: observer-based structure and covariance bounds. IEEE Trans. Autom. Control. 40(3): 512-516 (1995)
1994
[j8]
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Edwin Engin Yaz, Robert E. Skelton:
Parametrization of all linear compensators for discrete-time stochastic parameter systems. Autom. 30(6): 945-955 (1994)
[j7]
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Tetsuya Iwasaki, Robert E. Skelton:
All controllers for the general H_∞ control problem: LMI existence conditions and state space formulas. Autom. 30(8): 1307-1317 (1994)
[j6]
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Karolos M. Grigoriadis, Arthur E. Frazho, Robert E. Skelton:
Application of alternating convex projection methods for computation of positive Toeplitz matrices. IEEE Trans. Signal Process. 42(7): 1873-1875 (1994)
1993
[j5]
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Kazunori Yasuda, Robert E. Skelton, Karolos M. Grigoriadis:
Covariance controllers: A new parametrization of the class of all stabilizing controllers. Autom. 29(3): 785-788 (1993)
[j4]
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Ketao Liu, Robert E. Skelton:
Integrated modeling and controller design with application to flexible structure control. Autom. 29(5): 1291-1314 (1993)
1989
[j3]
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  - journals/mst/WilliamsonS89
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Darrell Williamson, Robert E. Skelton:
Optimal q-Markov COVER for Finite Wordlength Implementation. Math. Syst. Theory 22(4): 255-273 (1989)
1988
[j2]
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A. M. King, Uday B. Desai, Robert E. Skelton:
A generalized approach to q-Markov covariance equivalent realizations for discrete systems. Autom. 24(4): 507-515 (1988)
1986
[j1]
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David A. Wagie, Robert E. Skelton:
Model reduction and controller synthesis in the presence of parameter uncertainty. Autom. 22(3): 295-308 (1986)

Conference and Workshop Papers

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2021
[c31]
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Raman Goyal, Manoranjan Majji, Robert E. Skelton:
Optimal Actuator/Sensor Precision for Covariance Steering with Soft Convex Constraints on State and Control. ACC 2021: 5015-5022
[c30]
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Ran Wang, Raman Goyal, Suman Chakravorty, Robert E. Skelton:
Data-based Control of Partially-Observed Robotic Systems. ICRA 2021: 8104-8110
2019
[c29]
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Raman Goyal, Robert E. Skelton:
Joint Optimization of Plant, Controller, and Sensor/Actuator Design. ACC 2019: 1507-1512
2017
[c28]
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Robert E. Skelton:
Keynote address I: Tensegrity engineering: Integrating the design of structure, control, and signal processing. AHS 2017: ix
[c27]
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Radhika Saraf, Raktim Bhattacharya, Robert E. Skelton:
ℋ2 optimal sensing architecture with model uncertainty. ACC 2017: 2429-2434
[c26]
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  - conf/iros/KarnanGMSS17
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Haresh Karnan, Raman Goyal, Manoranjan Majji, Robert E. Skelton, Puneet Singla:
Visual feedback control of tensegrity robotic systems. IROS 2017: 2048-2053
2014
[c25]
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Jeffrey M. Friesen, Alexandra Pogue, Thomas Bewley, Maurício C. de Oliveira, Robert E. Skelton, Vytas SunSpiral:
DuCTT: A tensegrity robot for exploring duct systems. ICRA 2014: 4222-4228
[c24]
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Ani Luo, Robert E. Skelton, Heping Liu, Rongqiang Liu, Hongwei Guo, Longkun Wang:
Structure of the ball tensegrity robot. ROBIO 2014: 1781-1786
2009
[c23]
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  - conf/cdc/SkeltonT09
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Robert E. Skelton, Josep M. Mirats Tur:
Nonlinear control of non-minimal tensegrity models. CDC 2009: 6662-6667
2006
[c22]
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Robert E. Skelton:
Dynamics of Tensegrity Systems: Compact Forms. CDC 2006: 2276-2281
[c21]
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J. T. Scruggs, Robert E. Skelton:
Regenerative Tensegrity Structures for Energy Harvesting Applications. CDC 2006: 2282-2287
[c20]
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Jack B. Aldrich, Robert E. Skelton:
Backlash-free motion control of robotic manipulators driven by tensegrity motor networks. CDC 2006: 2300-2306
[c19]
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Anders S. Wroldsen, Maurício C. de Oliveira, Robert E. Skelton:
A Discussion on Control of Tensegrity Systems. CDC 2006: 2307-2313
[c18]
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Maurício C. de Oliveira, Robert E. Skelton, Waileung Chan:
Minimum Mass Design of Tensegrity Towers and Plates. CDC 2006: 2314-2319
[c17]
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Faming Li, Robert E. Skelton:
Sensor/actuator selection for tensegrity structures. CDC 2006: 2332-2337
[c16]
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Faming Li, Maurício C. de Oliveira, Robert E. Skelton:
Integrating control design and sensor/actuator selection. CDC 2006: 6612-6617
2005
[c15]
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Weiwei Li, Emanuel Todorov, Robert E. Skelton:
Estimation and control of systems with multiplicative noise via linear matrix inequalities. ACC 2005: 1811-1816
[c14]
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Milenko Masic, Robert E. Skelton, Maurício Carvalho de Oliveira:
Integrated Structure and Control Design of Modular Tensegrities. CDC/ECC 2005: 8240-8245
[c13]
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Jack B. Aldrich, Robert E. Skelton:
Time-energy optimal control of hyper-actuated mechanical systems with geometric path constraints. CDC/ECC 2005: 8246-8253
2004
[c12]
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Faming Li, Robert E. Skelton:
Fixed point simulation design using q-Markov covariance equivalent realizations. ACC 2004: 752-757
[c11]
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Faming Li, Robert E. Skelton:
Simulation study via output feedback control design. CDC 2004: 784-789
[c10]
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Juan F. Camino, J. William Helton, Robert E. Skelton:
Solving matrix inequalities whose unknowns are matrices. CDC 2004: 3160-3166
2003
[c9]
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Jack B. Aldrich, Robert E. Skelton, Kenneth Kreutz-Delgado:
Control synthesis for a class of light and agile robotic tensegrity structures. ACC 2003: 5245-5251
[c8]
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Faming Li, Robert E. Skelton:
The economical simulation problem. CDC 2003: 4991-4996
[c7]
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Jeongheon Han, Robert E. Skelton:
An LMI optimization approach for structured linear controllers. CDC 2003: 5143-5148
[c6]
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Weiwei Li, Robert E. Skelton:
State estimation with finite signal-to-noise models. CDC 2003: 5378-5383
2001
[c5]
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  - conf/cdc/SkeltonAPCH01
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Robert E. Skelton, Rajesh Adhikari, Jean Paul Pinaud, Waileung Chan, J. William Helton:
An introduction to the mechanics of tensegrity structures. CDC 2001: 4254-4259
[c4]
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Bram de Jager, Robert E. Skelton:
Input/output selection for planar tensegrity models. CDC 2001: 4280-4285
2000
[c3]
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  - conf/cdc/OliveiraCS00
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Maurício C. de Oliveira, Juan F. Camino, Robert E. Skelton:
A convexifying algorithm for the design of structured linear controllers. CDC 2000: 2781-2786
[c2]
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Maurício C. de Oliveira, Robert E. Skelton:
State feedback control of linear systems in the presence of devices with finite signal-to-noise ratio. CDC 2000: 4711-4716
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Juan F. Camino, J. William Helton, Robert E. Skelton:
A symbolic algorithm for determining convexity of a matrix function: how to get Schur complements out of your life. CDC 2000: 5023-5026

Reference Works

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2015
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Robert E. Skelton:
Linear Matrix Inequality Techniques in Optimal Control. Encyclopedia of Systems and Control 2015

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2022
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  - journals/corr/abs-2206-05048
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Shuo Ma, Yiqian Chen, Muhao Chen, Robert E. Skelton:
Equilibrium and stiffness study of clustered tensegrity structures with the consideration of pulley sizes. CoRR abs/2206.05048 (2022)
[i10]
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  - journals/corr/abs-2206-13511
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Shuo Ma, Kai Lu, Muhao Chen, Robert E. Skelton:
Design and control analysis of a deployable clustered hyperbolic paraboloid cable net. CoRR abs/2206.13511 (2022)
[i9]
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  - journals/corr/abs-2207-06497
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Qibang Liu, Muhao Chen, Robert E. Skelton:
An extended ordinary state-based peridynamics for non-spherical horizons. CoRR abs/2207.06497 (2022)
2021
[i8]
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  - journals/corr/abs-2106-02176
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Shuo Ma, Muhao Chen, Robert E. Skelton:
Tensegrity system dynamics based on finite element method. CoRR abs/2106.02176 (2021)
[i7]
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  - journals/corr/abs-2106-05874
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Mohamed Khaled, Srivignesh Srinivasan, Alkassoum Toure, Muhao Chen, Emily Kincaid, Thomas Lopaz, Luis Rodriguez, Jessica Ezemba, Ayodeji Adeniran, Teresa Valdez, Uthej Vattipalli, Le Linh, Ahmed Madi, Eduardo Gildin, Robert E. Skelton, Sam Noynaert, George Moridis:
DREAMS: Drilling and Extraction Automated System. CoRR abs/2106.05874 (2021)
[i6]
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  - journals/corr/abs-2106-08424
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Shuo Ma, Muhao Chen, Xingfei Yuan, Robert E. Skelton:
Design and analysis of deployable clustered tensegrity cable domes. CoRR abs/2106.08424 (2021)
[i5]
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  - journals/corr/abs-2107-08086
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Raman Goyal, Ran Wang, Suman Chakravorty, Robert E. Skelton:
Partially-Observed Decoupled Data-based Control (POD2C) for Complex Robotic Systems. CoRR abs/2107.08086 (2021)
[i4]
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  - journals/corr/abs-2110-09898
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Shuo Ma, Muhao Chen, Robert E. Skelton:
Dynamics and control of clustered tensegrity systems. CoRR abs/2110.09898 (2021)
2020
[i3]
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  - journals/corr/abs-2010-10710
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Yuling Shen, Muhao Chen, Manoranjan Majji, Robert E. Skelton:
Markov Data-Based Reference Tracking of Tensegrity Morphing Airfoils. CoRR abs/2010.10710 (2020)
[i2]
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  - journals/corr/abs-2011-03829
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Raman Goyal, Manoranjan Majji, Robert E. Skelton:
Robust Shape Control of Gyroscopic Tensegrity Robotic Arm. CoRR abs/2011.03829 (2020)
[i1]
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  - journals/corr/abs-2011-10838
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Raman Goyal, Manoranjan Majji, Robert E. Skelton:
Integrating Structure, Information Architecture and Control Design for Tensegrity Systems. CoRR abs/2011.10838 (2020)

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