Herbert Struemper Postdoctoral Research Fellow Control and Dynamical Systems, 107-81 California Institute of Technology Pasadena, CA 91125 Office: 135A Steele Lab, (626) 395-3380 email: herb@cds.caltech.edu

RESEARCH INTERESTS

• Geometric, nonlinear control theory
• Control in the presence of actuator limitations
• Methods of intelligent control (neural networks,fuzzy logic)
• Optimization
• Applications to robotics and motion control
• Computational techniques for modeling, simulation, and visualization

TEACHING

• CDS 102: The Geometry of Nonlinear Systems.

PUBLICATIONS

• Herbert Struemper, P. S. Krishnaprasad, ``Nilpotentization and Motion Control for Under-Actuated Systems on Matrix Lie Groups'', Journal paper in preparation, 1999.
• Herbert Struemper, ``Nilpotent Approximation and Nilpotentization for Under-Actuated Systems on Matrix Lie Groups,'' Proceedings of the IEEE CDC '98, Tampa Bay, Florida, 1998.
• Herbert Struemper, P. S. Krishnaprasad, ``Tracking and Stabilization for Control Systems on Matrix Lie Groups,'' Institute for Systems Research Technical Report, TR 97-34, 1997.
• Herbert Struemper, ``Nilpotentization and Feedback Stabilization of Control Systems on Lie Groups,'' submitted to Proceedings of the MTNS '98, Padova, Italy, 1998.
• Herbert Struemper, "Motion Control for Nonholonomic Systems on Matrix Lie Groups," Technical Report PhD 98-1, Institute of Systems Research, (also available as PhD thesis, University of Maryland, College Park), 1998.
• Herbert Struemper, P. S. Krishnaprasad, ``Approximate tracking for systems on three-dimensional matrix Lie groups via feedback nilpotentization,'' Preprints of the Fifth IFAC Symposium on Robot Control, Nantes, France, September 1997.
• Herbert Struemper, P. S. Krishnaprasad, ``On Approximate Inversion and Feedback Stabilization for Systems on Matrix Lie Groups,'' Proceedings of the American Control Conference '97, Albuquerque, June 1997.