Browse by UCL people
Group by: Type | Date
Number of items: 100.
Article
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Abbadi, M;
Spurgeon, S;
Warren, M;
Khan, N;
Kräutler, B;
(2020)
Using sliding mode observers to estimate BtuB concentration from measured vitamin B12 concentration.
IET Systems Biology
, 14
(6)
pp. 334-342.
10.1049/iet-syb.2020.0007.
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Anelone, A;
Hancock, E;
Klein, N;
Kim, P;
Spurgeon, S;
(2021)
Control theory helps to resolve the measles paradox.
Royal Society Open Science
, 8
(4)
, Article 201891. 10.1098/rsos.201891.
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Anelone, A;
Spurgeon, S;
(2017)
Prediction of the Containment of HIV Infection by Antiretroviral Therapy - a Variable Structure Control Approach.
IET Systems Biology
, 11
(1)
pp. 44-53.
10.1049/iet-syb.2016.0028.
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Anelone, AJN;
Spurgeon, SK;
(2016)
Modelling and simulation of the dynamics of the antigen-specific t cell response using variable structure control theory.
PLoS ONE
, 11
(11)
10.1371/journal.pone.0166163.
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Casagrande, Vittorio;
Prodan, Ionela;
Spurgeon, Sarah K;
Boem, Francesca;
(2023)
Resilient Microgrid Energy Management Algorithm Based on Distributed Optimization.
IEEE Systems Journal
, 17
(2)
2791 -2802.
10.1109/jsyst.2022.3216205.
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Chairez, I;
Chalanga, A;
Poznyak, A;
Spurgeon, S;
Poznyak, T;
(2022)
Simultaneous state and parameter estimation method for a conventional ozonation system.
Computers and Chemical Engineering
, 167
, Article 108018. 10.1016/j.compchemeng.2022.108018.
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Chen, Lejun;
Spurgeon, Sarah;
Jiang, Bin;
(2025)
Actuator fault estimation for a class of Euler-Lagrange Systems using Super-twisting Observers.
IEEE Transactions on Automation Science and Engineering
10.1109/tase.2025.3604035.
(In press).
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Ding, Yueheng;
Hua, Wei;
Xu, Dezhi;
Zhang, Chengxi;
Fan, Ying;
Yan, Xing-Gang;
Spurgeon, Sarah;
(2026)
High-Agility Manoeuvring in Distributed-Drive Electric Vehicles via a Hierarchical Framework.
IEEE Transactions on Transportation Electrification
10.1109/tte.2026.3652668.
(In press).
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Ding, Yueheng;
Yan, Xinggang;
Mao, Zehui;
Jiang, Bin;
Spurgeon, Sarah K;
(2022)
Decentralised output tracking of interconnected systems with unknown interconnections using sliding mode control.
International Journal of Systems Science
, 54
(2)
pp. 283-294.
10.1080/00207721.2022.2114115.
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Ding, Yueheng;
Yan, Xinggang;
Mao, Zehui;
Spurgeon, Sarah;
Jiang, Bin;
(2023)
System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems.
International Journal of Robust and Nonlinear Control
, 33
(3)
pp. 1704-1719.
10.1002/rnc.6467.
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Feng, J;
Zhao, D;
Yan, X-G;
Spurgeon, SK;
(2021)
Dynamic output feedback sliding mode control for uncertain linear systems.
Transactions of the Institute of Measurement and Control
10.1177/01423312211050741.
(In press).
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Feng, Jiehua;
Zhao, Dongya;
Yan, Xing-Gang;
Spurgeon, Sarah K;
(2023)
Decentralized robust adaptive backstepping control for a class of non-minimum phase nonlinear interconnected systems.
Journal of the Franklin Institute
, 360
(18)
pp. 14480-14508.
10.1016/j.jfranklin.2023.11.002.
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Feng, Jiehua;
Zhao, Dongya;
Yan, Xing-Gang;
Spurgeon, Sarah K;
(2023)
Output feedback backstepping control for non-linear systems using an adaptive finite time sliding mode observer.
IMA Journal of Mathematical Control and Information
, 40
(2)
pp. 306-331.
10.1093/imamci/dnad014.
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Feng, Jiehua;
Zhao, Dongya;
Yan, Xing-Gang;
Spurgeon, Sarah K;
Han, Yu;
(2025)
Decentralized static output feedback sliding mode control for a class of nonlinear interconnected systems in the generalized regular form.
Transactions of the Institute of Measurement and Control
, Article 01423312251352251. 10.1177/01423312251352251.
(In press).
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Feng, Jiehua;
Zhuang, Ziyi;
Zhao, Dongya;
Yan, Xing-Gang;
Spurgeon, Sarah K;
Han, Yu;
(2025)
Decentralized static output feedback sliding mode control for a class of nonlinear interconnected systems.
IMA Journal of Mathematical Control and Information
, 42
(2)
, Article dnaf013. 10.1093/imamci/dnaf013.
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Feng, J;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2020)
Decentralized sliding mode control for a class of nonlinear interconnected systems by static state feedback.
International Journal of Robust and Nonlinear Control
, 30
(6)
pp. 2152-2170.
10.1002/rnc.4869.
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Gao, S;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2023)
Model-Free Adaptive State Feedback Control for a Class of Nonlinear Systems.
IEEE Transactions on Automation Science and Engineering
10.1109/TASE.2023.3237811.
(In press).
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Gao, S;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2021)
Linearized Bregman iteration based model-free adaptive sliding mode control for a class of non-linear systems.
IET Control Theory & Applications
, 15
(2)
pp. 281-296.
10.1049/cth2.12039.
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Iyengar, Keshav;
Sadati, SM Hadi;
Bergeles, Christos;
Spurgeon, Sarah;
Stoyanov, Danail;
(2023)
Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots.
IEEE Robotics and Automation Letters
pp. 1-8.
10.1109/lra.2023.3303714.
(In press).
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Iyengar, Keshav;
Spurgeon, Sarah;
Stoyanov, Danail;
(2023)
Deep Reinforcement Learning for Concentric Tube Robot Path Following.
IEEE Transactions on Medical Robotics and Bionics
10.1109/tmrb.2023.3310037.
(In press).
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Khan, MF;
Spurgeon, S;
Von der Haar, T;
(2018)
Origins of robustness in translational control via eukaryotic translation initiation factor (eIF) 2.
Journal of Theoretical Biology
, 445
pp. 92-102.
10.1016/j.jtbi.2018.02.020.
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Khan, MF;
Spurgeon, SK;
Nofal, MM;
Yan, X-G;
(2019)
Semi-Disparate Impact of Kinases GCN2 and PERK in Modulating the Dynamic Control Properties of eIF2 Pathway.
IEEE Access
, 7
pp. 68132-68139.
10.1109/ACCESS.2019.2918216.
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Khan, MF;
Spurgeon, SK;
Yan, XG;
(2018)
Modelling and Dynamic Behaviour of Eif2 Dependent Regulatory System With Disturbances.
IEEE Transactions on Nanobioscience
, 17
(4)
pp. 518-524.
10.1109/TNB.2018.2873027.
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Khan, MF;
Spurgeon, SK;
Yan, XG;
Nofal, MM;
Al-Hmouz, R;
(2021)
Inbuilt Tendency of the eIF2 Regulatory System to Counteract Uncertainties.
IEEE Transactions on Nanobioscience
, 20
(1)
pp. 35-41.
10.1109/TNB.2020.3022415.
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Li, Fei;
Gao, Shouli;
Zhao, Dongya;
Spurgeon, Sarah K;
(2025)
Model-Free Adaptive State Feedback Control for General Nonlinear Systems With Time-Delay.
IEEE Transactions on Industrial Electronics
10.1109/tie.2025.3587127.
(In press).
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Li, J;
Zhang, Q;
Yan, X;
Spurgeon, SK;
(2016)
Integral sliding mode control for Markovian jump T–S fuzzy descriptor systems based on the super-twisting algorithm.
IET Control Theory and Applications
, 11
(8)
pp. 1134-1143.
10.1049/iet-cta.2016.0862.
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Li, J;
Zhang, Q;
Yan, XG;
Spurgeon, S;
(2018)
Observer-Based Fuzzy Integral Sliding Mode Control For Nonlinear Descriptor Systems.
IEEE Transactions on Fuzzy Systems
, 26
(5)
pp. 2818-2832.
10.1109/TFUZZ.2018.2802458.
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Li, J;
Zhang, Q;
Yan, XG;
Spurgeon, SK;
(2017)
Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.
IEEE Transactions on Cybernetics
10.1109/TCYB.2017.2749244.
(In press).
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Liu, Z;
Zhao, D;
Zhang, S;
Wang, X;
Spurgeon, SK;
(2024)
Distributed partial output consensus optimization for constrained chain interconnected systems.
Journal of Process Control
, 134
, Article 103161. 10.1016/j.jprocont.2024.103161.
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Liu, Zidong;
Zhao, Dongya;
Feng, Jiehua;
Zhang, Ye;
Spurgeon, Sarah K;
(2022)
Distributed Robust Partial State Consensus Control for Chain Interconnected Delay Systems.
IEEE Transactions on Control Systems Technology
pp. 1-8.
10.1109/tcst.2022.3207931.
(In press).
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Liu, Zidong;
Zhao, Dongya;
Spurgeon, Sarah K;
(2025)
Distributed Robust Model Predictive Control for Partial Output Consensus of Multi-rate Chain Interconnected Processes.
IEEE Transactions on Automation Science and Engineering
10.1109/tase.2025.3636460.
(In press).
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Mao, Zehui;
Yan, Xing-Gang;
Jiang, Bin;
Spurgeon, Sarah K;
(2023)
Sliding Mode Control of Nonlinear Systems With Input Distribution Uncertainties.
IEEE Transactions on Automatic Control
10.1109/tac.2022.3227944.
(In press).
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Mohamed, M;
Yan, X;
Spurgeon, SK;
Jiang, B;
(2017)
Robust Sliding Mode Observers for Large Scale Systems with Applications to a Multimachine Power System.
IET Control Theory & Applications
, 11
(8)
pp. 1307-1315.
10.1049/iet-cta.2016.1204.
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Mohamed, M;
Yan, X-G;
Spurgeon, SK;
Mao, Z;
(2018)
Robust variable structure observer design for non-linear large-scale systems with non-linear interconnections.
IMA Journal of Mathematical Control and Information
, 35
(2)
pp. 535-553.
10.1093/imamci/dnw063.
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Mu, J;
Yan, X;
Spurgeon, SK;
Zhao, D;
(2018)
Nonlinear Sliding Mode Control for Interconnected Systems With Application to Automated Highway Systems.
IEEE Transactions on Control of Network Systems
, 5
(1)
pp. 664-674.
10.1109/TCNS.2016.2642589.
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Mu, J;
Yan, X-G;
Spurgeon, SK;
Mao, Z;
(2017)
Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR.
IEEE Transactions on Industrial Electronics
, 64
(8)
pp. 6714-6723.
10.1109/TIE.2017.2711500.
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Mu, J;
Yan, XG;
Spurgeon, SK;
Mao, Z;
(2017)
Nonlinear sliding mode control of a two-wheeled mobile robot system.
International Journal of Modelling, Identification and Control
, 27
(2)
pp. 75-83.
10.1504/IJMIC.2017.082943.
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Netto, M;
Spurgeon, SK;
(2017)
Special section on Cyber-Physical & Human Systems (CPHS).
Annual Reviews in Control
, 44
pp. 249-251.
10.1016/j.arcontrol.2017.09.018.
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Orlov, Y;
Chakrabarty, S;
Zhao, D;
Spurgeon, SK;
(2019)
Sliding Mode Observer Design for a Parabolic PDE in the Presence of Unknown Inputs.
Asian Journal of Control
, 21
(1)
pp. 224-235.
10.1002/asjc.1849.
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Oza, HB;
Orlov, YV;
Spurgeon, SK;
(2015)
Continuous uniform finite time stabilization of planar controllable systems.
SIAM Journal on Control and Optimization
, 53
(3)
pp. 1154-1181.
10.1137/120877155.
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Oza, HB;
Pandey, R;
Roper, D;
Al-Nuaimi, Y;
Spurgeon, SK;
Goodfellow, M;
(2016)
Modelling and finite-time stability analysis of psoriasis pathogenesis.
International Journal of Control
, 90
(8)
pp. 1664-1677.
10.1080/00207179.2016.1217566.
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Pandey, R;
Al-Nuaimi, Y;
Mishra, RK;
Spurgeon, SK;
Goodfellow, M;
(2021)
Role of subnetworks mediated by TNFα, IL-23/IL-17 and IL-15 in a network involved in the pathogenesis of psoriasis.
Scientific Reports
, 11
, Article 2204. 10.1038/s41598-020-80507-7.
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Rajendran, S;
Spurgeon, S;
Tsampardoukas, G;
Hampson, R;
(2017)
Time-Varying Sliding Mode Control for ABS Control of an Electric Car.
IFAC-PapersOnLine
, 50
(1)
pp. 8490-8495.
10.1016/j.ifacol.2017.08.823.
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Rajendran, S;
Spurgeon, SK;
Tsampardoukas, G;
Hampson, R;
(2019)
Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control.
International Journal of Robust and Nonlinear Control
, 29
(3)
pp. 736-765.
10.1002/rnc.4366.
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Reichhartinger, M;
Spurgeon, SK;
(2018)
An arbitrary-order differentiator design paradigm with adaptive gains.
International Journal of Control
, 91
(9)
pp. 2028-2042.
10.1080/00207179.2018.1429671.
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Reichhartinger, M;
Spurgeon, SK;
Forstinger, M;
Wipfler, M;
(2017)
A Robust Exact Differentiator Toolbox for Matlab®/Simulink®.
IFAC-PapersOnLine
, 50
(1)
pp. 1711-1716.
10.1016/j.ifacol.2017.08.497.
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Spanogianopoulos, S;
Zhang, Q;
Spurgeon, S;
(2017)
Fast Formation of Swarm of UAVs in Congested Urban Environment.
IFAC-PapersOnLine
, 50
(1)
pp. 8031-8036.
10.1016/j.ifacol.2017.08.1228.
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Xia, Rui;
Song, Xiaohang;
Zhang, Dawei;
Zhao, Dongya;
Spurgeon, Sarah K;
(2024)
Data-driven integral sliding mode predictive control with optimal disturbance observer.
Journal of the Franklin Institute
, 361
(17)
, Article 107278. 10.1016/j.jfranklin.2024.107278.
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Xiao, H;
Zhang, S;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2024)
Output feedback integral sliding mode predictive control for linear discrete time systems.
European Journal of Control
, 80
, Article 101131. 10.1016/j.ejcon.2024.101131.
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Xiao, H;
Zhao, D;
Gao, S;
Spurgeon, SK;
(2022)
Sliding mode predictive control: A survey.
Annual Reviews in Control
, 54
pp. 148-166.
10.1016/j.arcontrol.2022.07.003.
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Yan, XG;
Spurgeon, SK;
Zhao, D;
Guo, L;
(2016)
Decentralised Stabilisation of Nonlinear Time Delay Interconnected Systems.
IFAC-PapersOnLine
, 49
(9)
pp. 152-157.
10.1016/j.ifacol.2016.07.518.
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Zhang, Dawei;
Xia, Rui;
Li, Fei;
Feng, Jiehua;
Zhao, Dongya;
Spurgeon, Sarah K;
(2025)
Distributed model-free adaptive control for output-coupled interconnected processes.
Control Engineering Practice
, 164
, Article 106493. 10.1016/j.conengprac.2025.106493.
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Zhang, Q;
Liu, X;
Spurgeon, S;
Yu, D;
(2021)
A two-layer modelling framework for predicting passenger flow on trains: A case study of London underground trains.
Transportation Research Part A: Policy and Practice
, 151
pp. 119-139.
10.1016/j.tra.2021.07.001.
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Zhang, S;
Zhao, D;
Spurgeon, SK;
(2022)
Distributed static output feedback robust model predictive control for process networks.
Control Engineering Practice
, 126
, Article 105239. 10.1016/j.conengprac.2022.105239.
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Zhang, S;
Zhao, D;
Spurgeon, SK;
(2021)
Output feedback robust distributed model predictive control for parallel systems in process networks with competitive characteristics.
Control Engineering Practice
, 113
, Article 104842. 10.1016/j.conengprac.2021.104842.
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Zhang, Shuzhan;
Li, Jia;
Zhao, Dongya;
Spurgeon, Sarah K;
(2024)
Output feedback distributed economic model predictive control for parallel system in process networks.
IMA Journal of Mathematical Control and Information
, 41
(3)
pp. 564-589.
10.1093/imamci/dnae025.
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Zhang, Shuzhan;
Zhao, Dongya;
Spurgeon, Sarah K;
(2025)
Static Output Feedback based Distributed Robust Model Predictive Control for Parallel Systems in Process Networks.
ISA Transactions
10.1016/j.isatra.2025.07.048.
(In press).
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Zhang, Y;
Feng, J;
Zhao, D;
Yan, X-G;
Spurgeon, SK;
(2022)
Consensus Control for a Class of Linear Multiagent Systems using a Distributed Integral Sliding Mode Strategy.
Journal of the Franklin Institute
, 359
(2)
pp. 1086-1111.
10.1016/j.jfranklin.2021.11.020.
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Zhang, Y;
Li, F;
Zhao, D;
Yan, XG;
Spurgeon, SK;
(2025)
Output consensus for interconnected systems via the internal model principle and a model predictive control based strategy.
Journal of Process Control
, 155
, Article 103551. 10.1016/j.jprocont.2025.103551.
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Zhang, Ye;
Li, Fei;
Gao, Shouli;
Zhao, Dongya;
Yan, Xing-Gang;
Spurgeon, Sarah K;
(2024)
Output consensus for interconnected heterogeneous systems via a combined model predictive control and integral sliding mode control with application to CSTRs.
Control Engineering Practice
, 153
, Article 106100. 10.1016/j.conengprac.2024.106100.
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Zhang, B;
Yang, X;
Zhao, D;
Spurgeon, SK;
Yan, X;
(2017)
Sliding Mode Control for Nonlinear Manipulator Systems.
IFAC-PapersOnLine
, 50
(1)
pp. 5127-5132.
10.1016/j.ifacol.2017.08.781.
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Zhang, Q;
Li, L;
Yan, XG;
Spurgeon, SK;
(2017)
Sliding mode control for singular stochastic Markovian jump systems with uncertainties.
Automatica
, 79
pp. 27-34.
10.1016/j.automatica.2017.01.002.
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Zhang, Q;
Spurgeon, S;
Xu, L;
Yu, D;
(2018)
Computational Intelligence in Data-Driven Modelling and Its Engineering Applications.
[Editorial comment].
Mathematical Problems in Engineering
, 2018
, Article 2576239. 10.1155/2018/2576239.
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Zhang, S;
Zhao, D;
Spurgeon, SK;
(2019)
Robust distributed model predictive control for systems of parallel structure within process networks.
Journal of Process Control
, 82
pp. 70-90.
10.1016/j.jprocont.2019.06.005.
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Zhao, Dongya;
Gao, Shouli;
Li, Fei;
Yan, Xinggang;
Spurgeon, Sarah K;
(2024)
Model-free adaptive tensor product control for a class of nonlinear systems.
Control Engineering Practice
, 147
, Article 105912. 10.1016/j.conengprac.2024.105912.
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Zhao, D;
Liang, H;
Spurgeon, SK;
(2019)
Robust adaptive terminal sliding mode control for dynamic positioning of a semi-submersible offshore platform.
Transactions of the Institute of Measurement and Control
, 41
(5)
pp. 1361-1372.
10.1177/0142331218778108.
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Proceedings paper
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Abbadi, M;
Spurgeon, S;
(2018)
Growth Dynamics of Algal-bacterial Cocultures: A Control Engineering Perspective.
In:
2018 European Control Conference (ECC).
(pp. pp. 2344-2349).
IEEE
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Abbadi, M;
Spurgeon, S;
Khan, N;
Warren, M;
(2018)
Understanding the control of a vitamin B12 riboswitch.
In:
2018 UKACC 12th International Conference on Control (CONTROL).
(pp. pp. 474-479).
IEEE
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Anelone, AJN;
Spurgeon, SK;
(2018)
Dynamical conditions for the containment of HIV infection by CD8+ T Cells — A variable structure control approach.
In:
Proceedings of the 2017 IEEE 56th Annual Conference on Decision and Control (CDC).
(pp. pp. 4100-4105).
IEEE: Melbourne, Australia.
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Behera, AK;
Bandyopadhyay, B;
Spurgeon, SK;
(2022)
Arbitrary Pole Placement with Sliding Mode Control.
In:
Proceedings of IEEE International Workshop on Variable Structure Systems.
(pp. pp. 272-277).
IEEE: Rio de Janeiro, Brazil.
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Casagrande, V;
Prodan, I;
Spurgeon, S;
Boem, F;
(2021)
A robust MPC method for microgrid energy management based on distributed optimization.
In:
IEEE Proceedings of the 2021 European Control Conference (ECC).
(pp. pp. 1963-1968).
IEEE: Delft, The Netherlands.
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Casagrande, V;
Prodan, I;
Spurgeon, SK;
Boem, F;
(2022)
Resilient Distributed MPC Algorithm for Microgrid Energy Management under Uncertainties.
In:
2022 European Control Conference (ECC).
(pp. pp. 602-607).
IEEE: London, United Kingdom.
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Ding, Y;
Yan, XG;
Mao, Z;
Jiang, B;
Spurgeon, SK;
(2022)
Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems.
In:
ASCC 2022 - 2022 13th Asian Control Conference, Proceedings.
(pp. pp. 1765-1770).
IEEE
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DIng, Y;
Yan, XG;
Mao, Z;
Jiang, B;
Spurgeon, SK;
(2022)
Decentralized Sliding Mode Control for Output Tracking of Large-Scale Interconnected Systems.
In:
Proceedings of the IEEE Conference on Decision and Control.
(pp. pp. 7094-7099).
IEEE: Austin, TX, USA.
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Ding, Y;
Yan, X;
Mao, Z;
Spurgeon, SK;
(2021)
Decentralised Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Systems.
In:
Proceedings of the 2021 American Control Conference (ACC).
(pp. pp. 2157-2162).
IEEE: New Orleans, LA, USA.
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Feng, J;
Cao, L;
Ma, L;
Zhao, D;
Spurgeon, SK;
(2018)
Model-free Adaptive Sliding Mode Control for Continuous Stirred Tank Reactor.
In:
2018 37th Chinese Control Conference (CCC).
(pp. pp. 3035-3040).
IEEE
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Feng, J;
Gao, S;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2020)
Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum.
In:
IFAC-PapersOnLine.
(pp. pp. 5165-5170).
Elsevier
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Feng, J;
Ma, L;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2019)
Output Feedback Sliding Mode Control for Continuous Stirred Tank Reactors.
In:
Proceedings of the 2019 12th Asian Control Conference (ASCC).
(pp. pp. 1443-1448).
IEEE: Kitakyushu-shi, Japan.
(In press).
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Ma, L;
Ynag, X;
Zhao, D;
Spurgeon, SK;
(2017)
Disturbance observer based sliding mode control for a continuous stirred tank reactor (CSTR).
In:
Proceedings of the 36th Chinese Control Conference.
(pp. pp. 3748-3753).
IEEE: Dalian, China.
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Ma, L;
Zhao, D;
Spurgeon, SK;
(2018)
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McLoone, S;
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Mohamed, M;
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Mohamed, M;
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Mu, J;
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Oza, HB;
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Rajendran, S;
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Rajendran, S;
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Reichhartinger, M;
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Reichhartinger, M;
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Shariati, A;
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Xia, R;
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An improved model-free adaptive integral sliding mode control for a class of nonlinear discrete-time systems.
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Ye, Z;
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Disturbance observer based adaptive sliding mode control for continuous stirred tank reactor.
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Zhang, S;
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Static Output Feedback Model Predictive Control for Uncertain Linear Systems.
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IEEE: Shanghai, China.
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Zhang, S;
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Zhang, Y;
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Zhao, D;
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Zhao, D;
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Zhao, D;
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Thesis
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Iyengar, Keshav;
(2023)
Deep Reinforcement Learning for Inverse Kinematics and Path Following for Concentric Tube Robots.
Doctoral thesis (Ph.D), UCL (University College London).
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