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Keith Dupree, Ph.D.

Keith Dupree received his Bachelor of Science Degree in Aerospace Engineering with a minor in Physics in May of 2005, his Masters of Science in Mechanical Engineering in May of 2007, his Masters of Science in Electrical and Computer Engineering in August of 2008, and his Doctor of Philosophy in Mechanical Engineering; all from the University of Florida. He is currently employed as a Systems Engineer by Raytheon. His research interests include Nonlinear Controls, Image Processing, State Estimation, and Optimal Control.
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Monographs

  1. P. M. Patre, W. MacKunis, K. Dupree, and W. E. Dixon, “RISE Based Robust and Adaptive Control of Nonlinear Systems,” Birkhδuser: Boston, under contract.

Book Chapters

  1. S. Bhasin, K. Dupree, and W. E. Dixon, “Control of Robotic Systems Undergoing a Non-Contact to Contact Transition,” in Robot Manipulators: Design, Programming and Control, Edited by Marco Ceccarelli, I-Tech Education and Publishing, September 2008, pp. 113-136.

Journal Papers

  1. K. Dupree, P. M. Patre, Z. Wilcox, and W. E. Dixon, “Optimal Control of Uncertain Nonlinear Systems using RISE Feedback and Neural Networks,” Automatica, submitted.
  2. P. M. Patre, W. MacKunis, K. Dupree, and W. E. Dixon, “Modular Adaptation for Neural Network-Based Control of Euler-Lagrange Systems,” IEEE Transactions on Neural Networks, submitted.
  3. S. Bhasin, K. Dupree, P. M. Patre, and W. E. Dixon, “Neural Network Control of a Robot Interacting with an Uncertain Viscoelastic Environment,” IEEE Transactions on Robotics, submitted.
  4. P. M. Patre, W. MacKunis, K. Dupree, and W. E. Dixon, “Modular Adaptive Control of Uncertain Euler-Lagrange Systems with Additive Disturbances,” IEEE Transactions on Automatic Control, submitted.
  5. W. MacKunis, K. Dupree, N. Fitz-Coy and W. E.Dixon, “Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties,” Journal of the Astronautical Sciences, Vol. 56, No. 1, pp. 121-134, (2008).
  6. K. Dupree, N. Gans, W. MacKunis and W. E. Dixon, “Euclidean Calculation of Feature Points of a Rotating Satellite: A Daisy Chaining Approach,” AIAA Journal of Guidance, Controls, and Dynamics, Vol. 31, No. 4, pp. 954-961, (2008).
  7. C. Liang, S. Bhasin, K. Dupree, and W. E. Dixon, “An Impact Force Limiting Adaptive Controller for a Robotic System Undergoing a Non-Contact to Contact Transition,” IEEE Transactions on Control Systems Technology, accepted.
  8. K. Dupree, C. Liang, G. Hu and W. E. Dixon, “Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact-Collision,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 38, No. 4, pp. 1050-1061, (2008).
  9. K. Dupree, C. Liang, G. Hu and W. E. Dixon, “Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact Collision,” International Journal of Robotics and Automation, to appear.

Conference Papers


  1. K. Dupree, M. Johnson, P. M. Patre, and W. E. Dixon, “Inverse Optimal Adaptive Control of a Nonlinear Euler-Lagrange System: Part II: Output Feedback,” IEEE Conference on Decision and Control, Shanghai, China, 2009, submitted.
  2. K. Dupree, P. M. Patre, M. Johnson, and W. E. Dixon, “Inverse Optimal Adaptive Control of a Nonlinear Euler-Lagrange System: Part I,” IEEE Conference on Decision and Control, Shanghai, China, 2009, submitted.
  3. M. Johnson, G. Hu, K. Dupree, and W. E. Dixon, “Inverse Optimal Homography-Based Visual Servo Control via an Uncalibrated Camera” IEEE Conference on Decision and Control, Shanghai, China, 2009, submitted.
  4. K. Dupree, P. M. Patre, Z. D. Wilcox, and W. E. Dixon, “Optimal Control of Uncertain Nonlinear Systems using a Neural Network and RISE Feedback,” Proceedings of the 2009 IEEE American Controls Conference, St. Louis, MO, to appear.
  5. S. Bhasin, K. Dupree, Z. D. Wilcox, and W. E. Dixon, ,"Adaptive Control of a Robotic System Undergoing a Non-Contact to Contact Transition with a Viscoelastic Environment," Proceedings of the 2009 IEEE American Controls Conference, to appear.
  6. S. Bhasin, K. Dupree, P. M. Patre, and W. E. Dixon, ,"Neural Network Control of a Robot Interacting with an Uncertain Hunt-Crossley Viscoelastic Environment," Proceedings of the 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, 2008.
  7. K. Dupree, P. M. Patre, Z. D. Wilcox, and W. E. Dixon, “Optimal Control of Uncertain Nonlinear Systems using RISE Feedback,” Proceedings of the 2008 IEEE Conference on Decision and Controls, Cancun, Mexico, 2008, pp. 2154-2159.
  8. K. Dupree, S. Mehta, C. Crane and W. E. Dixon, “Euclidean Calculation of the Pose of an Unmanned Ground Vehicle: A Daisy Chaining Approach,” International Joint Topical Meeting on Emergency Preparedness & Response and Robotics & Remote Systems, Albuquerque, New Mexico, 2008, pp. 557-562.
  9. W. MacKunis, K. Dupree, N. Fitz-Coy, and W. E. Dixon, “Adaptive Neural Network Satellite Attitude Control in the Presence of Inertia and CMG Actuator Uncertainties,” Proceedings of the 2008 IEEE American Control Conference, Seattle, WA, 2008, pp. 2975-2980.
  10. P. M. Patre, K. Dupree, W. MacKunis, and W. E. Dixon, “A New Class of Modular Adaptive Controllers, Part II: Neural Network Extension for Non-LP Systems,” Proceedings of the 2008 IEEE American Control Conference, Seattle, WA, 2008, pp. 1214-1219.
  11. P. M. Patre, W. MacKunis, K. Dupree, and W. E. Dixon, “A New Class of Modular Adaptive Controllers, Part I: Systems with Linear-in-the-Parameters Uncertainty,” Proceedings of the 2008 IEEE American Control Conference, Seattle, WA, 2008, pp. 1208-1213.
  12. C. Liang, S. Bhasin, K. Dupree and W. E. Dixon, “An Impact Force Limiting Adaptive Controller for a Robotic System Undergoing a Non-Contact to Contact Transition,” Proceedings of the 2007 IEEE Conference on Decision and Controls, New Orleans, Louisiana, 2007, pp. 3555-3560.
  13. W. MacKunis, K. Dupree, N. Fitz-Coy and W. E. Dixon, “Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties,” Proceedings of 2007 AIAA Guidance, Navigation, and Control Conference, Hilton Head, South Carolina, 2007, AIAA-2007-6432.
  14. K. Dupree, N. Gans, W. MacKunis and W. E. Dixon, “Euclidean Calculation of Feature Points of a Rotating Satellite: A Daisy Chaining Approach,” Proceedings of the 2007 IEEE American Control Conference, New York, New York, 2007, pp. 3874-3879.
  15. K. Dupree, W. E. Dixon, G. Hu and C. Liang, “Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact-Collision,” Proceedings of the 2006 IEEE Conference on Decision and Controls, San Diego, California, 2006, pp. 2039-2044.
  16. K. Dupree, W. E. Dixon, G. Hu and C. Liang, “Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact-Collision,” Proceedings of the 2006 IEEE American Control Conference, Minneapolis, MN, 2006, pp. 3241-3246.