I. TECHNICAL PUBLICATIONS

Jay A. Farrell                                                                                                                                                                                                         May 2001

             A. Books

  1. Farrell, J. A and M. Barth. "The Global Positioning System and Inertial Navigation: Theory and Practice," ISBN-0-07-022045-X, McGraw-Hill, January 1999.


    2. B. Journal Articles

  2. Michel, A.N., J. A. Farrell, and W. Porod. 1989. Qualitative analysis of neural networks. IEEE Trans. Circuits & Syst. 36: 229-243.
  3. Miller, R.K., A. N. Michel, and J. A. Farrell. 1989. Quantizer effects on steady-state error specifications of digital feedback control systems. IEEE Trans. Automat. Contr. 34: 651-654.
  4. Farrell, J. A. and A. N. Michel. 1989. Estimates of asymptotic trajectory bounds in digital implementations of linear feedback control systems. IEEE Trans. Automat. Contr. 34: 1319-1324.
  5. Michel, A. N. and J. A. Farrell. 1990. Associative memories via artificial neural networks. IEEE Contr. Syst. Mag. 10(3): 6-17.
  6. Farrell, J. A. and A. N. Michel. 1990. A synthesis procedure for Hopfield’s continuous-time associative memory. IEEE Trans. Circuits & Syst. 37: 877-884.
  7. Michel, A.N., J. A. Farrell, and H-F. Sun. 1990. Analysis and synthesis techniques for Hopfield type synchronous discrete time neural networks with application to associative memory. IEEE Trans. Circuits & Syst. 37: 1356-1366.
  8. Farrell, J., T. Berger, and B. Appleby. 1993. Using learning techniques to accommodate unanticipated faults. IEEE Contr. Syst. Mag. (Special Issue on Intelligent Control, June) 13(3): 40-49. [Invited contribution]
  9. Farrell, J. and B. Clauberg. 1993. Issues in the implementation of an indirect adaptive control system. IEEE J. Oceanic Eng. 18: 311-318.
  10. Livstone, M. M., J. A. Farrell, and M. A. Dahleh. 1994. Comments on "Least squares methods for H? control oriented system identification," IEEE Trans. Automat. Contr. 39: 1531.
  11. Farrell, J. and M. Livstone. 1996. Calculation of discrete-time process noise statistics for hybrid continuous/discrete-time applications. Optimal Control: Application and Methods. John Wiley, 17(2): 151-155.
  12. Farrell, J. 1996. Motivations for local approximators in passive learning control. Journal of Intelligent Systems and Control, 1(2): 195-210.
  13. Chen, J., J. Farrell, C. Nett, and K. Zhou. H? identification of multivariable systems by tangential interpolation methods. IEEE Transactions on Automatic Control. 41(12):1822-1827.
  14. Farrell, J. 1997. Persistence of Excitation Conditions in Passive Learning Control. Automatica. 33(4): 699-703.
  15. Farrell, J., M. Djodat, M. Barth and M. Grewel. Latency compensation for differential GPS. Navigation: The Institute of Navigation. 44(1):99-107.
  16. Wistrom, A. and J. Farrell. 1998. Simulation And System Identification Of Dynamic Models For Flocculation Control. IAWQ Journal Water Science and Technology (ISSN: 0273-1223). 37 (12):181-192. September 23.
  17. Farrell, J. On Performance Evaluation in On-line Approximation for Control, IEEE Transactions on Neural Networks, September 1998, pp. 1001-1007.
  18. Farrell, J. Stability and Approximator Convergence in Nonparametric Nonlinear Adaptive Control. IEEE Transactions on Neural Networks, September 1998, pp. 1008-1020.
  19. Sureshbabu N. and J. Farrell. Wavelet based system identification for nonlinear control applications. IEEE Trans. Automatic Control. Vol. 44 (2), February 1999, pp. 412-417.
  20. Farrell, J. and T. Givargis. Differential GPS Reference Station Algorithm: Design and Analysis. IEEE Transactions on Control Systems Technology. Submitted August 1998. May 2000, Vol. 8 (3), pp 519-531.
  21. J. Y. Choi and J. A. Farrell, "Nonlinear Adaptive Control Using Networks of Piecewise Linear Approximators," IEEE Transactions on Neural Networks, March 2000, Vol. 11 (2).
  22. Farrell, J., T. Givargis, and M. Barth. 2000. Real-time differential carrier phase GPS-aided INS.  IEEE Transactions on Control Systems Technology, 8(4):709-721.
  23. Li, W., X.G. Chang, F. Wahl and J. Farrell. Tracking control of a manipulator under uncertainty by FUZZY P+I D controller. Fuzzy Sets and Systems, North Holland, ELSEVIER SCIENCE (in press). Accepted November 17, 1999, Elsevier, 13 m.s.pages.
  24. Li, W., S. Chang, J. Farrell, R. Wahl, Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator. Accepted to IEEE Systems, Man, and Cybernetics, March 6, 2001, 21 m.s.pages.
  25. Choi, J.Y. and J.A. Farrell. Adaptive observer based backstepping control using neural networks. Submitted to IEEE Transactions on Neural Networks,accepted April 25, 2001; submitted July 2000, 19 m.s.pages.


    26. C. Symposia/Conference Proceedings

  26. Michel, A., J. Farrell and W. Porod. 1987. Qualitative theory of neural networks. Int. Symp. Mathematical Theory of Networks and Systems, Phoenix, AZ, June 17-19, 1987.
  27. Michel, A., J. Farrell, and W. Porod. 1987. Qualitative analysis of neural networks: Local theory. Proc. 25th Ann. Allerton Conf., University of Illinois, Urbana, IL, September 30-October 2, 1987.
  28. Michel, A., W. Porod, and J. Farrell. 1987. Stability results for neural networks. IEEE Conf. Neural Inform. Proc. Syst., Denver, CO, November 1987.
  29. Farrell, J. and A. Michel. 1988. Asymptotic trajectory bounds in digital implementations of linear feedback control systems. Proc. 22nd Ann. Conf. Inform., Sciences & Systems, Princeton, NJ, March 16-18, 1988.
  30. Michel, A. N., J. A. Farrell, and W. Porod. 1988. Qualitative analysis of neural networks, pp. 989-992. Proc. IEEE Int. Symp. Circuits & Syst., Helsinki, Finland, June 6-9, 1988.
  31. Farrell, J. and A. Michel. 1988. New estimates of asymptotic trajectory bounds for digital filters: Improved results. Proc. 26th Annual Allerton Conf. Communication, Control, & Computing, University of Illinois, Urbana, IL, September 28-30, 1988.
  32. Miller, R. K., A. N. Michel, and J. A. Farrell. 1988. Quantizer effects on steady-state error specifications of digital feedback control systems, pp. 1897-1901. Proc. 27th IEEE Conf. Decision & Control, Austin, TX, December 7-9, 1988.
  33. Farrell, J. A. and A. N. Michel. 1988. Estimates of asymptotic trajectory bounds in digital implementations of linear feedback control systems, pp. 1877-1881. Proc. 27th IEEE Conf. Decision & Control, Austin, TX, December 7-9, 1988.
  34. Michel, A. N. , J. A. Farrell, and H. F. Sun. 1989. Analysis techniques for Hopfield type synchronous discrete time neural networks, pp. 597-602. Proc. 1989 Conf. Information Sciences & Systems, Baltimore, MD, March 22-24, 1989.
  35. Michel, A. N., J. A. Farrell, D. L. Gray, and W. Porod. 1989. Some results on the modelling, analysis, and design of neural networks, pp. 482-485. Proc. IEEE Int. Symp. Circuits & Systems, Portland, OR, May 1989.
  36. Farrell, J. A. and A. N. Michel. 1989. A synthesis procedure for Hopfield’s continuous time content addressable memory, pp. 2173-2176. Proc. IEEE Int. Symp. Circuits & Systems , Portland, OR, May 1989.
  37. Michel, A. N. and J. A. Farrell. 1989. Design techniques of neural networks for associative memories, pp. 252-259. Proc. 28th IEEE Conf. Decision & Control, Tampa, FL, December 1989.
  38. Michel, A. N., J. A. Farrell, and H. F. Sun, 1989. Synthesis techniques for discrete time neural network models, pp. 773-778. Proc. 28th IEEE Conf. Decision & Control, Tampa, FL, December 1989.
  39. Michel, A. N. and J. A. Farrell. 1989. Digital implementations of linear feedback controllers: Qualitative properties and limitations, pp. 2233-2237. Proc. 28th IEEE Conf. Decision & Control, Tampa, FL, December 1989.
  40. Goldenthal, W. and J. Farrell. 1990. Application of neural networks to automatic control, pp. 1108-1112. Proc. AIAA Guidance, Navigation, & Control Conf., Portland, OR., August 20-22, 1990.
  41. Baker, W. L. and J. A. Farrell. 1990. Connectionist learning systems for control, 1382: 181-198. Proc. SPIE Int. Soc. of Optical Eng., Boston, MA, November 4-9, 1990. (Invited contribution)
  42. Farrell, J., B. Goldenthal, and K. Govindarajan. 1990. Connectionist learning control systems: Submarine depth control, p. 2362-2367. Proc. 29th Ann. IEEE Conf. Decision & Control, Honolulu, HI, December 1990.
  43. Alexander, J. S., L. C. Baird, W. L. Baker, and J. A. Farrell. 1991. A design & simulation tool for connectionist learning control systems: Application to autonomous underwater vehicles, pp. 771-776. Proc. SCS Summer Computer Simulation Conf., Baltimore, MD, July 22-24, 1991.
  44. Baker, W. L. and J. A. Farrell. 1991. Learning augmented flight control for high performance aircraft, pp. 347-358. Proc. AIAA Conf. Guidance, Navigation, & Control, New Orleans, LA, August 12-14, 1991.
  45. Farrell, J. and W. Baker. 1991. Learning augmented control for advanced autonomous underwater vehicles, pp. 462-468. Proc. 18th Ann. Symp. & Exhibit Assoc. Unmanned Vehicle Systems, Washington, DC, August 13-15, 1991.
  46. Livstone, M. M., J. A. Farrell, and W. L. Baker. 1992. A computationally efficient algorithm for training recurrent connectionist networks, pp. 555-561. Proc. Amer. Controls Conf., Chicago, IL, June 24-26, 1992.
  47. Farrell, J., B. Appleby, and T. Berger. 1992. On the detection and accommodation of unanticipated faults, pp. 1045-1054. Proc. AIAA Conf. Guidance, Navigation, & Control, Hilton Head, SC, August 10-12, 1992. [Invited contribution]
  48. Clauberg, B.and J. Farrell. 1992. Issues in the implementation of an indirect adaptive control system, 2: 1068-1075. Proc. 1st IEEE Conf. Control Applications, Dayton, OH, September 13-15, 1992.
  49. Mangoubi, R., B. Appleby, and J. Farrell. 1992. Robust estimation in fault detection, pp. 2317-2322. Proc. 31st IEEE Conf. Decision & Control, Tucson, AZ, December 16-18, 1992. [Invited contribution]
  50. Farrell, J. and J. Plump. 1993. Adaptive ballast control, pp. 322-329. Proc. 20th Ann. Symp. & Exhibit Assoc. Unmanned Vehicle Systems, Washington DC, June 28-30, 1993.
  51. Farrell, J. and M. Livstone. 1993. Exact calculation of discrete-time process noise statistics for hybrid continuous/discrete time applications, pp. 857-858. Proc. 32nd IEEE Conf. Decision & Control, San Antonio, TX, December 15-17, 1993.
  52. Livstone, M. M., M. A. Dahleh, and J. A. Farrell. 1994. A framework for robust control based model invalidation, pp. 3017-3020. Proc. 1994 Amer. Control Conf., Baltimore, MD., June 29-July 1, 1994.
  53. Hall, W. D. and J. A. Farrell. 1994. Activity-based mission planning and plan management for autonomous vehicles, pp. 45-53. Proc. 1994 IEEE Symp. Autonomous Underwater Vehicle Tech., Cambridge, MA, July 1994.
  54. Chen, J., J. Farrell, C. N. Nett, and K. Zhou. 1994. H• identification of multivariable systems by tangential interpolation methods, pp. 4158-4163. Proc. 32nd IEEE Conf. Decision & Control, Lake Buena Vista, FL, December 1994.
  55. Farrell, J. A. and T. Berger. 1995. On the effects of the training sample density in passive learning control, pp. 872-877. Proc. 1995 American Control Conf., Portland, OR, June 1995. [Invited Contribution]
  56. Livstone, M. M., M. A. Dahleh, and J. A. Farrell. 1995. A new framework for iterative identification and control, pp. 3546-50. Proc. 1995 IEEE American Control Conference. ACC '95, Seattle, WA, June 21-23, 1995.
  57. Sureshbabu, N. and J. A. Farrell. 1995. Wavelet based system identification for nonlinear control applications, pp. 236-241. Proc. 10th IEEE Int. Symp. Intelligent Control, Monterey, CA, August 1995.
  58. Farrell, J. A. 1996. Persistence of excitation conditions in passive learning control, pp. 313-318. Proc. Int. Federation Automatic Control Conf., San Francisco, CA, June 1996. [Invited Contribution]
  59. Wistrom, A. and J. Farrell. 1996. Automatic control of flocculation processes. ASCE Proc. North American Water Environ. Congress '96, Anaheim, CA, June 1996.
  60. Grewal, M., J. Farrell, and M. Barth. 1996. Application of DGPS/INS to automobile navigation with latency compensation, pp. 433-436. 1996 IEEE Position Location & Navigation Symp., Atlanta, GA, April 24, 1996.
  61. Farrell, J. A. 1996. Approximator characteristics and their effect on training misbehavior in passive learning control, pp. 181-187. 1996 IEEE Int. Symp. Intelligent Control, Detroit, MI, September 1996.
  62. Farrell, J., M. Djodat, M. Grewal, and M. Barth. 1996. Differential GPS with latency compensation for autonomous navigation, pp. 20-25. 1996 IEEE Int. Symp. Intelligent Control, Detroit, MI, September 1996.
  63. Farrell, J. 1997. Exponential Convergence Conditions for Passive Learning Control, pp. 1809-1813. Proc. 1997 American Control Conference, NM, June 1997.
  64. Farrell, J. 1997. On Performance Evaluation in On-line Approximation for Control, pp. 1585-1590. Proc. 1997 IEEE CDC.
  65. Farrell, J. and A. Wistrom. Flocculation Control: System Identification - Experimental Results, pp. 373-380. Proc. 7th IAWQ ICAWorkshop, Brighton, UK, July 6-9, 1997.
  66. Wistrom, A. and J. Farrell. Simulation of Dynamic Models for Automatic Flocculation Control, pp. 381-386. Proc. 7th IAWQ ICAWorkshop, Brighton, UK, July 6-9, 1997.
  67. Farrell, J., T. Givargis. Differential GPS Base Station Design and Experimental Analysis, pp. 3645-3649. Proceedings of the 1999 American Control Conference, San Diego, CA, June 1999.
  68. Farrell, J., T. Givargis, and M. Barth. Differential Carrier Phase GPS Aided INS for Automotive Applications, pp. 3660-3664. Proceedings of the 1999 American Control Conference, San Diego, CA, June 1999.
  69. X. G. Chang, W. Li, J. Z. Zhou, and J. A. Farrell. Dynamic Behavior Modeling of Stoker-Fired Boilers by Recurrent Fuzzy-Neuro Networks. Accepted for presentation at the Int. Conf. on Computational Intelligence for Modeling Control, and Automation, Vienna, Austria February 17-19, 1999.
  70. W. Li, F. M. Wahl, B. Krebs, and J. A. Farrell. Extraction of line and step edges by Fuzzy Reasoning. Accepted for presentation at the Int. Conf. on Computational Intelligence for Modeling Control, and Automation, Vienna, Austria February 17-19, 1999.
  71. Choi, J. Y. and J. A. Farrell. Adaptive Observer for a Class of Nonlinear Systems Using Neural Networks. Accepted for presentation at the 1999 IEEE International Symposium on Intelligent Control, Cambridge, MA, September 15-17, 1999.
  72. Choi, J. Y. and J. A. Farrell. Nonlinear adaptive control using networks of piecewise linear approximators. 38th IEEE Conference on Decision and Control, Pheonix, Arizona, December 7-10, 1999.
  73. Yang, Y., J. Farrell, and M. Barth, High-Accuracy, High-Frequency Differential Carrier Phase GPS Aided Low-Cost INS, IEEE PLANS, San Diego, CA March 13-16, 2000.
  74. Choi, J. and J. Farrell, Observer Based Backstepping Control Using On-line Approximation, Proceedings of the 2000 IEEE American Controls Conference.
  75. Williamson W., J. Min, J. Speyer, and J. Farrell. 2000. A comparison of state space, range space, and carrier phase differential GPS/INS relative navigation, pp. 2932-2938. Proceedings of the 2000 IEEE American Controls Conference. Chicago, IL. June 28-30, 2000.
  76. Li, W., J. Farrell, F.M. Wahl and K.R. Kozlowski. 2000. A nonholonomic mobile robot navigation in uncertain environments based on behavior control, 7 m.s.p. in CD-ROM (no hard copy) Proceedings of World Automation Congress, Maui, Hawaii, June 11-16, 2000.
  77. Chang, X., W. Li, and J. Farrell. 2000. A C-means clustering based fuzzy modeling method.  Proceedings of the 2000 IEEE International Conference on Fuzzy Systems, Vol.2, p.937-40, 2000.San Antonio, TX. May 7-10 2000.
  78. Y. Yang, J. Farrell, H.-S. Tan, Carrier Phase Differential GPS-aided INS based Vehicle Control, ION NTM 2001.
  79. Y. Yang, J. Farrell, Magnetometer and Carrier Phase DGPS aided INS, ION NTM 2001.
  80. Yang, Y., J. Farrell, and H.-S. Tan. 2001. GPS-aided INS Based Control State Calculation for AHS. 2001 American Control Conference. 6 pages.
  81. Pang, S., J. Farrell, J. Du, and M. Barth. 2001. Battery State-of-Charge Estimation. 2001 American Control Conference. 6 pages.
  82. W. Li, X. Chang, and J. Farrell. 2001. Stability and performance analysis of an enhanced hybrid fuzzy p+id controller, 2001 American Control Conference. 6 pages.
  83. Stoev, J., J.-Y. Choi, J. A. Farrell, Adaptive Neuro-Control for Output Feedback Nonlinear Systems, 2001 American Control Conference
  84. Gazi, V, K. M. Passino and J. A. Farrell. 2001. Adaptive Control of Discrete Time Nonlinear Systems Using Dynamic Structure Approximators. 2001 American Control Conference. 6 pages.


    85. D. Book Chapters

  85. Michel, A., J. Farrell, and W. Porod. 1988. Stability results for neural networks, pp. 554-563. In Anderson, D. Z. (ed.), Neural Information Processing Systems, American Institute of Physics, New York.
  86. Michel, A. N., J. A. Farrell, and W. Porod. 1988. Qualitative analysis of neural networks, pp. 349-358. In Byrnes, C. I., C. F. Martin, and R. E. Saeks (eds.), Analysis and Control of Nonlinear Systems, Elsevier Science Publishers B. V., North-Holland.
  87. Baker, W. L. and J. A. Farrell. 1992. An introduction to connectionist learning control systems, pp. 35-63. In White, D. and D. Sofge (eds.), Handbook of Intelligent Control: Neural Network, Fuzzy Logic, and Adaptive Implementations, Van Nostrand Reinhold Publishers. [Invited Chapter]
  88. Farrell, J. and W. Baker. 1992. Learning control systems, pp. 237-262. In Antsaklis, P. and K. Passino (eds.), An Introduction to Intelligent & Autonomous Control, Kluwer Academic Publishers.
  89. Farrell, J. and W. Baker. 1995. Learning control systems: Motivation and implementation, pp. 445-478. In Gupta, M. and N. Sinha, (eds.), Intelligent Control Systems: Theory & Practice, IEEE Press. [Invited Chapter]
  90. Farrell, J. 1996. Neural control systems, pp. 1017-1030. In W. S. Levine (ed.), The Controls Handbook, CRC Press. (See Document #9 in the Other Section) [Invited Chapter]
  91. Li, W., F.M. Wahl, B. Krebs and J. Farrell, 1999. Extraction of Line and Step Edges by Fuzzy Reasoning, Computational Intelligence for Modeling, Control and Automation, pp. 507-512. In Evolutionary Computation & Fuzzy Logic for Intelligent Control, Knowledge Acquisition & Information Retrieval, M. Mohammadian (ed.), IOS Press, Netherlands.
  92. Chang, X., W. Li, J.Z. Zhou and J. Farrell. 1999. Dynamic Behavior Modeling of Stoker-Fired Boilers by Recurrent Fuzzy-Neuro Networks, pp. 190-195. Computational Intelligence for Modeling, Control and Automation. In Neural Networks & Advanced Control Strategies, M. Mohammadian (ed.), IOS Press, Netherlands.
  93. Farrell, J. and M. Polycarpou, 2000. Chapter 6: Neural, Fuzzy, and Approximation Based Control, pp. 134-164. In Perspectives in Control Engineering: Technologies, Applications, and New Directions, (ISBN 0-7803-5356-0), T. Samad (ed.), IEEE Press.
  94. F. Vahid, and T. Givargis, “Control Systems”, Ch. 9 in Embedded System Design authored by F. Vahid and T. Givargis. Submitted January 2001.
  95. Farrell, J., “State Estimation”, in Electrical Engineering Handbook, W.-K. Chen (ed.), Academic Press. Submitted April 2001.


    96. E. Technical Reports

  96. Farrell, J. 1989. Intelligent control and vehicle assessment for autonomous systems. CSDL Report R-2180, Independent Research and Development Technical Plan #302. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1989.
  97. Farrell, J. 1989. Application of neural networks to automatic control. CSDL Report R-2180, Independent Research and Development Technical Plan #276. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1989.
  98. Farrell, J. 1990. Intelligent control and vehicle assessment for autonomous systems. CSDL Report R-2267, Independent Research and Development Technical Plan #302. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1990.
  99. Farrell, J. and W. Baker. 1990. Connectionist systems and learning control. CSDL Report R-2267, Independent Research and Development Technical Plan #276. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1990, 22 pp.
  100. Farrell, J. 1991. Intelligent control and vehicle assessment for autonomous systems. Independent Research and Development Technical Plan #302. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1991, 6 pp.
  101. Baker, W. and J. Farrell. 1991. Connectionist systems and learning control. Independent Research and Development Technical Plan #276. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1991, 6 pp.
  102. Farrell, J. and K. Flueckiger. 1991. Adaptive robust control. Independent Research and Development Technical Plan #369. The Charles Stark Draper Laboratory, Inc., Cambridge, MA, September 1991, 6 pp.
  103. Farrell, J. and W. Baker. 1993. Connectionist learning control systems. National Science Foundation Final Report, CSDL-R-2475, 131 pp.
  104. Farrell, J. and M. Barth. 1996. Hybrid electric vehicle energy management strategies. ISE Research Final Report, 28 pp.
  105. Barth, M. and J. Farrell, et al. 1996. University Zero Emission Vehicle Project, Final Technical Report to the South Coast Air Quality Management District, May 1996, 16 pp.
  106. Farrell, J. and M. Barth. 1996. Hybrid Electric Vehicle Project, Final Technical Report to the University of California Energy Institute (UCEI) Energy Science and Tecnology Program (EST), September 1996, 23 pp.
  107. Barth, M., J. Farrell, and J. Heffel. 1996. Development and evaluation of a hydrogen fuel powerplant for a hybrid electric vehicle-phase 2. Final report to South Coast Air Quality Management District. November, 1996, 58 p.
  108. Farrell, J., and M. Barth. 1997. GPS/INS-based lateral and longitudinal control demonstration. Final report to the California PATH Program. PATH Research Report UCB-ITS-PRR-98-28. Submitted September, 1997, Accepted July, 1998. 51 p. (Reviewed)
  109. Farrell, J., M. Barth, and J. Heffel. 1998. Hydrogen-Powered Advanced Hybrid-Electric Vehicles. Final report to the South Coast Air Quality Management District. August, 1998. 187 p.
  110. Farrell, J., and M. Barth.  2000.  Integration of GPS-aided INS into AVCSS, MOU 374 Final Report the California PATH Program. October 2000, 62 pp.