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Jean-Jacques E. Slotine

Bio: Jean-Jacques E. Slotine is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Adaptive control & Nonlinear system. The author has an hindex of 81, co-authored 400 publications receiving 51351 citations. Previous affiliations of Jean-Jacques E. Slotine include Picower Institute for Learning and Memory & Google.


Papers
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Book
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

15,545 citations

Journal ArticleDOI
12 May 2011-Nature
TL;DR: In this article, the authors developed analytical tools to study the controllability of an arbitrary complex directed network, identifying the set of driver nodes with time-dependent control that can guide the system's entire dynamics.
Abstract: The ultimate proof of our understanding of natural or technological systems is reflected in our ability to control them. Although control theory offers mathematical tools for steering engineered and natural systems towards a desired state, a framework to control complex self-organized systems is lacking. Here we develop analytical tools to study the controllability of an arbitrary complex directed network, identifying the set of driver nodes with time-dependent control that can guide the system's entire dynamics. We apply these tools to several real networks, finding that the number of driver nodes is determined mainly by the network's degree distribution. We show that sparse inhomogeneous networks, which emerge in many real complex systems, are the most difficult to control, but that dense and homogeneous networks can be controlled using a few driver nodes. Counterintuitively, we find that in both model and real systems the driver nodes tend to avoid the high-degree nodes.

2,889 citations

Journal ArticleDOI
TL;DR: A direct adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible.
Abstract: A direct adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible. The architecture uses a network of Gaussian radial basis functions to adaptively compensate for the plant nonlinearities. Under mild assumptions about the degree of smoothness exhibit by the nonlinear functions, the algorithm is proven to be globally stable, with tracking errors converging to a neighborhood of zero. A constructive procedure is detailed, which directly translates the assumed smoothness properties of the nonlinearities involved into a specification of the network required to represent the plant to a chosen degree of accuracy. A stable weight adjustment mechanism is determined using Lyapunov theory. The network construction and performance of the resulting controller are illustrated through simulations with example systems. >

2,254 citations

Journal ArticleDOI
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Abstract: A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.

2,117 citations

Journal ArticleDOI
22 Jun 1983
TL;DR: In this paper, the authors present a methodology of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations.
Abstract: A methodology is presented of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations. The methodology uses in its idealized form piecewise continuous feedback control laws, resulting in the state trajectory `sliding' along a discontinuity surface in the state space. The idealized form of the methodology results in perfect tracking of the required signals; however certain non-idealities associated with its implementation cause the trajectory to 'chatter' along the sliding surface resulting in the generation of an undesirable high-frequency component which may excite high-frequency unmodelled dynamics of the control systems. To rectify this situation, it is shown how continuous control laws which approximate the discontinuous control law may be used to obtain disturbance and parameter variation insensitive tracking. At the same time, the continuous control laws decrease the extent of unwanted high-frequency signals.

1,636 citations


Cited by
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Journal ArticleDOI

[...]

08 Dec 2001-BMJ
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality. Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

33,785 citations

Book
01 Jan 1998
TL;DR: An introduction to a Transient World and an Approximation Tour of Wavelet Packet and Local Cosine Bases.
Abstract: Introduction to a Transient World. Fourier Kingdom. Discrete Revolution. Time Meets Frequency. Frames. Wavelet Zoom. Wavelet Bases. Wavelet Packet and Local Cosine Bases. An Approximation Tour. Estimations are Approximations. Transform Coding. Appendix A: Mathematical Complements. Appendix B: Software Toolboxes.

17,693 citations

01 Dec 2010
TL;DR: This chapter discusses quantum information theory, public-key cryptography and the RSA cryptosystem, and the proof of Lieb's theorem.
Abstract: Part I. Fundamental Concepts: 1. Introduction and overview 2. Introduction to quantum mechanics 3. Introduction to computer science Part II. Quantum Computation: 4. Quantum circuits 5. The quantum Fourier transform and its application 6. Quantum search algorithms 7. Quantum computers: physical realization Part III. Quantum Information: 8. Quantum noise and quantum operations 9. Distance measures for quantum information 10. Quantum error-correction 11. Entropy and information 12. Quantum information theory Appendices References Index.

14,825 citations

Journal ArticleDOI
TL;DR: This historical survey compactly summarizes relevant work, much of it from the previous millennium, review deep supervised learning, unsupervised learning, reinforcement learning & evolutionary computation, and indirect search for short programs encoding deep and large networks.

14,635 citations

Journal ArticleDOI
06 Jun 1986-JAMA
TL;DR: The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or her own research.
Abstract: I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

7,563 citations