Dr Ian Manchester

B. Eng (Electrical) Hons, PhD UNSW

J04 - Rose Street Building
The University of Sydney


Website Aust Centre for Field Robotics

Teaching and supervision

AMME3500 - System Dynamics and Control

AMME4500 - Guidance, Navigation and Control

AMME5501 - Foundations of System Dynamics and Control

Selected grants

2015

  • A New Approach to High-Performance Control of Nonlinear Systems; Manchester I, Slotine J; Australian Research Council (ARC)/Discovery Projects (DP).

2013

  • Remotely operated vehicle; Williams S, Pizarro O, Manchester I, Webster J, Ferrari R; DVC Research/Equipment Grant.
  • Reliable and efficient algorithms for modelling dynamical systems from data; Manchester I, Megretski A; Australian Research Council (ARC)/Discovery Projects (DP).

2009

  • Cognitive Optimization And Prediction: From Neural Systems To Neurotechnology; Manchester I; National Science Foundation/Research Grant.

2008

  • Forestry crane automation with hydraulic sensors only; Manchester I; Swedish Foundation for Strategic Research/Research Support.

2006

  • Towards Non-invasive Measurement of the Cerebrospinal Fluid System Dynamics using Magnetic Resonance Imaging; Manchester I; Swedish Research Council/Research Support.

Selected publications

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Journals

  • Manchester, I., Slotine, J. (2014). Transverse contraction criteria for existence, stability, and robustness of a limit cycle. Systems and Control Letters, 63(1), 32-38. [More Information]
  • Shkolnik, A., Levashov, M., Manchester, I., Tedrake, R. (2011). Bounding on Rough Terrain with the LittleDog Robot. International Journal of Robotics Research, 30(2), 192-215. [More Information]
  • Manchester, I., Mettin, E., Iida, F., Tedrake, R. (2011). Stable dynamic walking over uneven terrain. International Journal of Robotics Research, 30(3), 265-279. [More Information]
  • Tedrake, R., Manchester, I., Tobenkin, M., Roberts, J. (2010). LQR-Trees: Feedback Motion Planning via Sums of Squares Verication. International Journal of Robotics Research, 29(8), 1038-1052. [More Information]
  • Andersson, K., Manchester, I., Malm, J., Eklund, A. (2010). Real-time Estimation of Cerebrospinal Fluid System Parameters via Oscillating Pressure Infusion. Medical & Biological Engineering & Computing, 48(11), 1123-1131. [More Information]
  • Manchester, I., Andersson, K., Andersson, N., Shiriaev, A., Eklund, A. (2008). A nonlinear observer for on-line estimation of the cerebrospinal fluid outflow resistance. Automatica, 44(5), 1426-1430. [More Information]
  • Shiriaev, A., Friedovich, L., Manchester, I. (2008). Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems. Annual Reviews in Control, 32(2), 200-211. [More Information]
  • Manchester, I., Savkin, A., Faruqi, F. (2008). Method for Optical-Flow-Based Precision Missile Guidance. IEEE Transactions on Aerospace and Electronic Systems, 44(3), 835-851. [More Information]
  • Low, E., Manchester, I., Savkin, A. (2007). A biologically inspired method for vision-based docking of wheeled mobile robots. Robotics and Autonomous Systems, 55(10), 769-784. [More Information]
  • Andersson, K., Manchester, I., Andersson, N., Shiriaev, A., Malm, J., Eklund, A. (2007). Assessment of cerebrospinal fluid outflow conductance using an adaptive observer—experimental and clinical evaluation. Physiological Measurement, 28(11), 1355-1368. [More Information]

Conferences

  • Cheong, S., Manchester, I. (2014). Input design for model discrimination and fault detection via convex relaxation. 2014 American Control Conference (ACC), Portland, Orgeon, USA: IEEE. [More Information]
  • Cheong, S., Manchester, I. (2014). Unfalsified adaptive control with MPC candidates. 2014 American Control Conference (ACC), Portland, Orgeon, USA: IEEE. [More Information]
  • Tobenkin, M., Manchester, I., Megretski, A. (2013). Stable nonlinear identification from noisy repeated experiments via convex optimization. 1st American Control Conference (ACC 2013), Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Slotine, J. (2013). Transverse contraction criteria for existence, stability, and robustness of a limit cycle. 52nd IEEE Conference on Decision and Control, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I. (2012). Amplitude-constrained input design: convex relaxation and application to clinical neurology. 16th IFAC Symposium on System Identification, SYSID 2012, Brussels, Belgium: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Tobenkin, M., Megretski, A. (2012). Stable Nonlinear System Identication: Convexity,Model Class, and Consistency. 16th IFAC Symposium on System Identification, SYSID 2012, Brussels, Belgium: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Roberts, J., Tedrake, R. (2011). Feedback Controller Parameterizations for Reinforcement Learning. IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Tobenkin, M., Wang, J. (2011). Identification of nonlinear systems with stable oscillations. 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), New York, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Tobenkin, M., Manchester, I., Tedrake, R. (2011). Invariant Funnels around Trajectories using Sum-of-Squares Programming. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Tobenkin, M., Levashov, M., Tedrake, R. (2011). Regions of Attraction for Hybrid Limit Cycles of Walking Robots. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I. (2011). Transverse Dynamics and Regions of Stability for Nonlinear Hybrid Limit Cycles. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano: International Federation of Automatic Control (IFAC). [More Information]
  • Tobenkin, M., Manchester, I., Wang, J., Megretski, A., Tedrake, R. (2010). Convex Optimization In Identification Of Stable Non-Linear State Space Models. 49th IEEE Conference on Decision and Control (CDC 2010), Atlanta: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I. (2010). Input Design for System Identification via Convex Relaxation. 49th IEEE Conference on Decision and Control (CDC 2010), Atlanta: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I., Andersson, K., Malm, J., Eklund, A. (2010). System Identification for Clinical Diagnosis of Hydrocephalus. 49th IEEE Conference on Decision and Control (CDC 2010), Atlanta: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I. (2009). An Algorithm for Amplitude-Constrained Input Design for System Identification. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference CDC/CCC 2009, Shanghai: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I., Mettin, U., Iida, F., Tedrake, R. (2009). Stable Dynamic Walking over Rough Terrain: Theory and Experiment. International Symposium on Robotics Research, Lucerne, Switzerland: Springer.
  • La Hera, P., Mettin, U., Manchester, I., Shiriaev, A. (2008). Identification and Control of a Hydraulic Forestry Crane. 17th International Federation of Automatic Control (IFAC) World Congress, Seoul: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Low, E., Savkin, A. (2008). Interception of a moving object with a specified approach angle by a wheeled robot: theory and experiment. 47th IEEE Conference on Decision and Control CDC 2008, Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Shiriaev, A., Freidovich, L., Manchester, I. (2008). Periodic Motion Planning and Analytical Computation of Transverse Linearizations for Hybrid Mechanical Systems. 47th IEEE Conference on Decision and Control CDC 2008, Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Freidovich, L., Shiriaev, A., Manchester, I. (2008). Stability Analysis and Control Design for an Underactuated Walking Robot via Computation of a Transverse Linearization. 17th International Federation of Automatic Control (IFAC) World Congress, Seoul: International Federation of Automatic Control (IFAC). [More Information]
  • Westerberg, S., Manchester, I., Mettin, U., La Hera, P., Shiriaev, A. (2008). Virtual Environment Teleoperation of a Hydraulic Forestry Crane. 2008 IEEE International Conference on Robotics and Automation ICRA 2008, Pasadena: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Freidovich, L., Shiriaev, A., Manchester, I. (2007). Experimental implementation of stable oscillations of the Furuta pendulum around the upward equilibrium. IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS 2007), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Andersson, K., Eklund, A., Shiriaev, A. (2007). Experimental Testing of a Method for On-Line Identification of the Cerebrospinal Fluid System,. 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Andersson, K., Eklund, A., Shiriaev, A. (2007). Identifiability of the Parameters of a Nonlinear Model of the Cerebrospinal Fluid System. 7th IFAC Symposium on Nonlinear Control Systems, Pretoria, South Africa: Ifac.
  • Manchester, I., Shiriaev, A., Savkin, A. (2007). On Motion Planning for an Underactuated Ship: Fundamental Limitations and a Bearings-Only Navigation Strategy. 46th IEEE Conference on Decision and Control (CDC), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Freidovich, L., Shiriaev, A., Manchester, I. (2007). Transitions between limit cycles for an underactuated system: virtual constraints approach. 7th IFAC Symposium on Nonlinear Control Systems, Pretoria, South Africa: Ifac.
  • Manchester, I., Low, E., Savkin, A. (2007). Vision-Based Interception of a Moving Target by a Mobile Robot. 16th IEEE International Conference on Control Applications CCA 2007: Part of IEEE Multi-conference on Systems and Control, United States: IEEE Xplore.

2014

  • Cheong, S., Manchester, I. (2014). Input design for model discrimination and fault detection via convex relaxation. 2014 American Control Conference (ACC), Portland, Orgeon, USA: IEEE. [More Information]
  • Manchester, I., Slotine, J. (2014). Transverse contraction criteria for existence, stability, and robustness of a limit cycle. Systems and Control Letters, 63(1), 32-38. [More Information]
  • Cheong, S., Manchester, I. (2014). Unfalsified adaptive control with MPC candidates. 2014 American Control Conference (ACC), Portland, Orgeon, USA: IEEE. [More Information]

2013

  • Tobenkin, M., Manchester, I., Megretski, A. (2013). Stable nonlinear identification from noisy repeated experiments via convex optimization. 1st American Control Conference (ACC 2013), Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Slotine, J. (2013). Transverse contraction criteria for existence, stability, and robustness of a limit cycle. 52nd IEEE Conference on Decision and Control, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2012

  • Manchester, I. (2012). Amplitude-constrained input design: convex relaxation and application to clinical neurology. 16th IFAC Symposium on System Identification, SYSID 2012, Brussels, Belgium: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Tobenkin, M., Megretski, A. (2012). Stable Nonlinear System Identication: Convexity,Model Class, and Consistency. 16th IFAC Symposium on System Identification, SYSID 2012, Brussels, Belgium: International Federation of Automatic Control (IFAC). [More Information]

2011

  • Shkolnik, A., Levashov, M., Manchester, I., Tedrake, R. (2011). Bounding on Rough Terrain with the LittleDog Robot. International Journal of Robotics Research, 30(2), 192-215. [More Information]
  • Manchester, I., Roberts, J., Tedrake, R. (2011). Feedback Controller Parameterizations for Reinforcement Learning. IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Tobenkin, M., Wang, J. (2011). Identification of nonlinear systems with stable oscillations. 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), New York, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Tobenkin, M., Manchester, I., Tedrake, R. (2011). Invariant Funnels around Trajectories using Sum-of-Squares Programming. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Tobenkin, M., Levashov, M., Tedrake, R. (2011). Regions of Attraction for Hybrid Limit Cycles of Walking Robots. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Mettin, E., Iida, F., Tedrake, R. (2011). Stable dynamic walking over uneven terrain. International Journal of Robotics Research, 30(3), 265-279. [More Information]
  • Manchester, I. (2011). Transverse Dynamics and Regions of Stability for Nonlinear Hybrid Limit Cycles. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano: International Federation of Automatic Control (IFAC). [More Information]

2010

  • Tobenkin, M., Manchester, I., Wang, J., Megretski, A., Tedrake, R. (2010). Convex Optimization In Identification Of Stable Non-Linear State Space Models. 49th IEEE Conference on Decision and Control (CDC 2010), Atlanta: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I. (2010). Input Design for System Identification via Convex Relaxation. 49th IEEE Conference on Decision and Control (CDC 2010), Atlanta: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Tedrake, R., Manchester, I., Tobenkin, M., Roberts, J. (2010). LQR-Trees: Feedback Motion Planning via Sums of Squares Verication. International Journal of Robotics Research, 29(8), 1038-1052. [More Information]
  • Andersson, K., Manchester, I., Malm, J., Eklund, A. (2010). Real-time Estimation of Cerebrospinal Fluid System Parameters via Oscillating Pressure Infusion. Medical & Biological Engineering & Computing, 48(11), 1123-1131. [More Information]
  • Manchester, I., Andersson, K., Malm, J., Eklund, A. (2010). System Identification for Clinical Diagnosis of Hydrocephalus. 49th IEEE Conference on Decision and Control (CDC 2010), Atlanta: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2009

  • Manchester, I. (2009). An Algorithm for Amplitude-Constrained Input Design for System Identification. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference CDC/CCC 2009, Shanghai: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I., Mettin, U., Iida, F., Tedrake, R. (2009). Stable Dynamic Walking over Rough Terrain: Theory and Experiment. International Symposium on Robotics Research, Lucerne, Switzerland: Springer.

2008

  • Manchester, I., Andersson, K., Andersson, N., Shiriaev, A., Eklund, A. (2008). A nonlinear observer for on-line estimation of the cerebrospinal fluid outflow resistance. Automatica, 44(5), 1426-1430. [More Information]
  • Shiriaev, A., Friedovich, L., Manchester, I. (2008). Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems. Annual Reviews in Control, 32(2), 200-211. [More Information]
  • La Hera, P., Mettin, U., Manchester, I., Shiriaev, A. (2008). Identification and Control of a Hydraulic Forestry Crane. 17th International Federation of Automatic Control (IFAC) World Congress, Seoul: International Federation of Automatic Control (IFAC). [More Information]
  • Manchester, I., Low, E., Savkin, A. (2008). Interception of a moving object with a specified approach angle by a wheeled robot: theory and experiment. 47th IEEE Conference on Decision and Control CDC 2008, Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Manchester, I., Savkin, A., Faruqi, F. (2008). Method for Optical-Flow-Based Precision Missile Guidance. IEEE Transactions on Aerospace and Electronic Systems, 44(3), 835-851. [More Information]
  • Shiriaev, A., Freidovich, L., Manchester, I. (2008). Periodic Motion Planning and Analytical Computation of Transverse Linearizations for Hybrid Mechanical Systems. 47th IEEE Conference on Decision and Control CDC 2008, Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Freidovich, L., Shiriaev, A., Manchester, I. (2008). Stability Analysis and Control Design for an Underactuated Walking Robot via Computation of a Transverse Linearization. 17th International Federation of Automatic Control (IFAC) World Congress, Seoul: International Federation of Automatic Control (IFAC). [More Information]
  • Westerberg, S., Manchester, I., Mettin, U., La Hera, P., Shiriaev, A. (2008). Virtual Environment Teleoperation of a Hydraulic Forestry Crane. 2008 IEEE International Conference on Robotics and Automation ICRA 2008, Pasadena: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2007

  • Low, E., Manchester, I., Savkin, A. (2007). A biologically inspired method for vision-based docking of wheeled mobile robots. Robotics and Autonomous Systems, 55(10), 769-784. [More Information]
  • Andersson, K., Manchester, I., Andersson, N., Shiriaev, A., Malm, J., Eklund, A. (2007). Assessment of cerebrospinal fluid outflow conductance using an adaptive observer—experimental and clinical evaluation. Physiological Measurement, 28(11), 1355-1368. [More Information]
  • Freidovich, L., Shiriaev, A., Manchester, I. (2007). Experimental implementation of stable oscillations of the Furuta pendulum around the upward equilibrium. IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS 2007), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Andersson, K., Eklund, A., Shiriaev, A. (2007). Experimental Testing of a Method for On-Line Identification of the Cerebrospinal Fluid System,. 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Manchester, I., Andersson, K., Eklund, A., Shiriaev, A. (2007). Identifiability of the Parameters of a Nonlinear Model of the Cerebrospinal Fluid System. 7th IFAC Symposium on Nonlinear Control Systems, Pretoria, South Africa: Ifac.
  • Manchester, I., Shiriaev, A., Savkin, A. (2007). On Motion Planning for an Underactuated Ship: Fundamental Limitations and a Bearings-Only Navigation Strategy. 46th IEEE Conference on Decision and Control (CDC), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Freidovich, L., Shiriaev, A., Manchester, I. (2007). Transitions between limit cycles for an underactuated system: virtual constraints approach. 7th IFAC Symposium on Nonlinear Control Systems, Pretoria, South Africa: Ifac.
  • Manchester, I., Low, E., Savkin, A. (2007). Vision-Based Interception of a Moving Target by a Mobile Robot. 16th IEEE International Conference on Control Applications CCA 2007: Part of IEEE Multi-conference on Systems and Control, United States: IEEE Xplore.

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