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Richard H. Middleton
Researcher at University of Newcastle
Publications - 396
Citations - 13068
Richard H. Middleton is an academic researcher from University of Newcastle. The author has contributed to research in topics: Control theory & Linear system. The author has an hindex of 48, co-authored 393 publications receiving 12037 citations. Previous affiliations of Richard H. Middleton include Hamilton Institute & University of California.
Papers
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Book ChapterDOI
Traction Monitoring for Collision Detection with Legged Robots
TL;DR: In this article, a generic software method for detection of abnormalities in the robots' locomotion is proposed, using a bare minimum amount of hardware feedback; in most cases they are able to detect faults using only the joint angle sensors.
Proceedings ArticleDOI
Cheap control tracking performance for non-right-invertible systems
TL;DR: The cheap control tracking cost is shown to be a function of the plant non-minimum phase zeros and of the variation with frequency of the plants direction.
Journal ArticleDOI
An Application of the Extended Kalman Filter to Robot Soccer Localisation and World Modelling
TL;DR: The application of the extended Kalman filter to robot soccer is reviewed, with particular attention to the enhancements, tuning and fixes needed make to the basic algorithm to ensure adequate performance in the competition.
Journal ArticleDOI
On the AIMD Algorithm Under Saturation Constraints
TL;DR: The objective in this note is to demonstrate that the dynamic system arising from AIMD in this extended form has system theoretic properties similar to the classical algorithm.
Proceedings ArticleDOI
String stability analysis of a vehicle platoon with communication range 2 using the two-dimensional induced operator norm
TL;DR: A unidirectional vehicle string with communication range 2 is analysed and simulated and a structural nonessential singularity on the stability boundary is identified.