Clicking on the journal or conference name will take you to the published paper (or the publisher's web site).

Macnab Publications Macnab, C.J.B. and S. Razmi, Control of a flexible-joint robot using a stable adaptive introspective CMAC.
    IEEE Conference on Systems, Man, and Cybernetics
    (Banff), 2017.

Macnab, C.J.B, Giving CMAC basis functions a tail in order to prevent bursting in neural-adaptive control.
    IEEE Conference on Systems, Man, and Cybernetics
    (Banff), 2017.

Macnab, C.J.B. Modifying CMAC adaptive control with weight smoothing in order to avoid overlearning and bursting.
    Neural Computing and Applications
   
DOI: 10.1007/s00521-017-3182-6, 2017.

Macnab, C.JB. CMAC Control of a quadrotor helicopter using a stable robust weight-smoothing algorithm.
    IEEE Conference on Control Technology and Applications   
    (Hawaii), 2017.

Macnab, C.J.B. Comments on “An intelligent CMAC-PD torque controller with anti-over-learning scheme for electric load simulator”.
    Transactions of the Institute of Measurement and Control
    DOI: 10.1177/0142331217692029, 2017.

Dadashzadeh, B., M. Esmaeili, and C. J.B. Macnab. Arbitrary symmetric running gait generation for an underactuated biped model.
     PloS one
     DOI: 10.1371/ journal.pone.0170122, 2017.

Macnab, C.J.B. Preventing overlearning in CMAC by using a short-term memory.
    International Journal of Fuzzy Systems
    DOI: 10.1007/s40815-016-0275-9, 2017.

Hasaneini, S. J.,  John E. A. Bertram and Chris J. B. Macnab. Energy-optimal relative timing of stance-leg push-off and swing-leg retraction in walking.
    Robotica
   Vol. 35, No. 4,  pp. 654-686, 2017.

Macnab, C.J.B. Creating a CMAC with overlapping basis functions in order to prevent weight drift.
    Soft Computing
    Vol 21, No. 16, pp. 4593-4600, 2017.

R. L'Orsa and C. J. B. Macnab. Experimental evaluation of adaptive CMAC haptic control for teleoperation of compliant-joint manipulators.
    IEEE International Symposium on Industrial Electronics
    (Edinburgh), pp. 1087 - 1092, 2017.

Samiuddin, J., B. Badkoubeh-Hezaveh, M. Sadeghassadi,  J. K. Pieper, and C. J. B. Macnab.   Nonlinear adaptive control of a transcritical Organic Rankine Cycle
    IEEE International Symposium on Industrial Electronics
    (Edinburgh), pp. 513 - 519, 2017.

Roodsari, B.N, C. J. B. Macnab and E. P. Nowicki. A novel adaptive controller using radial basis function neural network for the wind energy Conversion System
    IEEE Conference on Industrial Technology
    (Toronto), pp. 715-720, 2017.

Macnab, C.J.B.  Neural-adaptive backstepping for flexible-joint robots with neither extra parameters, extra networks, nor robust terms
    IEEE Conference on Industrial Technology
    (Toronto), pp. 854-859, 2017.



Clark, T. and C.J.B. Macnab.  Cerebellar Model Articulation Controller with introspective voting weight updates for quadrotor application.
     IEEE Information Technology, Electronics and Mobile Communication Conference
    (Vancouver) pp. 1-7, 2016.

Macnab, C.J.B. Using RBFs in a CMAC to prevent parameter drift in adaptive control.
    Neurocomputing paper.dvi
   Vol. 205, pp. 45-52, 2016.

Sadeghassadi, M., C. J. B. Macnab, and D. Westwick.  Design of a generalized predictive controller for a biological wastewater treatment plant.
    Water Science and Technology
   
Sadeghassadi, M., C.J. B. Macnab, and D. Westwick, Dissolved oxygen control of BSM1 benchmark using generalized predictive control
     IEEE Conference on Systems, Process and Control
    (Bandar Sunway, Malaysia) pp. 1-6, 2015


Mahmoodi Takaghaj, S., C.J.B. Macnab, D. Westwick, and I. Boiko. Neural-adaptive control and nonlinear observer for waste-to-energy boilers
    Asian Journal of Control
    Vol. 16, No. 5, pp. 1323–1333, 2014.

Mahmoodi Takaghaj, S., C.J.B. Macnab, D. Westwick, and I. Boiko. Neural-adaptive control of waste-to-energy steam generators
    IEEE Transactions on Control Systems Technology
    Vol. 22, No. 5, pp. 1920-1926, 2014. paper.d

Lei, T.,  C.J.B.Macnab, and S. Magierowski. Reactive robot navigation utilizing nonlinear control
    International Journal of Advanced Robotic Systems
    DOI: 10.5772/58705, 2014.

Masaud, K. and C.J.B. Macnab. Preventing bursting in adaptive control using an introspective neural network algorithm,
    Neurocomputing
    Vol. 136, pp. 300–314, 2014.

Dadashzadehab, B.,  M.J. Mahjoobb, M. Nikkhah Bahramib and C.J.B. Macnab. Stable active running of a planar biped robot using Poincare map control
    Advanced Robotics
    Vol. 28, No. 4, pp. 231-244, 2014.

Mirghasemi, S., C.J.B.  Macnab, and A. Chu. Dissolved oxygen control of activated sludge biorectors using neural-adaptive control.
    IEEE Symposium on Computational Intelligence in Control and Automation
    (Orlando, Florida) pp. 1 - 6, 2014.

Macnab, C.J.B. Stable neural-adaptive control of activated sludge bioreactors
    American Control Conference
    (Portland, Oregon) pp. 2869 - 2874, 2014.

Macnab, C.J.B. An introspective algorithm for achieving low-gain high-performance robust neural-adaptive control,
    American Control Conference
    (Portland, Oregon) pp. 2893 - 2899, 2014.

Hasaneini, J., C.J.B. Macnab, J. Bertram and H. Leung.  Swing-leg retraction efficiency in bipedal walking
   IEEE/RSJ International Conference on Intelligent Robots and Systems
   (Chicago) pp.  2515 - 2522, 2014.




Dadashzadeh, B.,  M.J. Mahjoob, M. Nikkhah Bahrami, and C.J.B. Macnab. Compliant leg architectures and a linear control strategy for the stable running of planar biped robots
    International Journal of Advanced Robotic Systems
    Vol. 10, DOI: 10.5772/56806, 2013.

Hasaneini, J., C.J.B. Macnab, J.E.A. Bertram, and H. Leung. The dynamic optimization approach to locomotion dynamics: human-like gaits from a minimally-constrained biped model
    Advanced Robotics
    The dynamic optimization approach to locomotion dynamics: human-like gaits from a minimally-constrained biped model Vol. 27, No. 11, pp. 845–859, 2013.

Richert, D., K. Masaud, and C. J. B. Macnab. Discrete-time weight updates in neural-adaptive control.
    Soft Computing
    Vol. 17, No. 3, pp. 431-444, 2013.

L’Orsa, R., C.J.B. Macnab , and M. Tavakoli. Introduction to haptics for neurosurgeons.
    Neurosurgery
    Vol. 72 No. 1, pp. A139-A153, 2013.

Hasaneini, S.J. C.J.B. Macnab, J.E.A. Bertram,  H. Leung.  Optimal relative timing of stance push-off and swing leg retraction.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    (Tokyo, Japan) pp. 3616 - 3623, 2013.

L’Orsa, R.,  K. Zareinia, L. S. Gan, C. Macnab, and G. Sutherland, Potential tissue puncture notification during telesurgery
   
8th International Workshop Haptic and Audio Interaction Design, Revised Selected Papers
    ( Daejeon, Korea) pp. 30-39 April, 2013

Hasaneini, J., C.J.B. Macnab, H. Leung, and J. Bertram. Seven reasons to brake the swing leg just before heel strike.
    Dynamic Walking
    (Pittsburgh) June, 2013.


Guo, Q, C.J.B. Macnab, and J.K. Pieper. Robust control of a rigid articulated hopper.
    International Journal of Robotics and Automation
    Vol. 27, No. 1, pp. 1-14,  2012

Richert D., C.J.B. Macnab, and J.K. Pieper, Adaptive haptic control for telerobotics transitioning between free, soft, and hard environments.
    IEEE Transactions on Man, Systems, and Cybernetics Part A
    Vol. 42 Issue: 3, pp. 558-570, 2012.

Mahmoodi Takaghaj, S., C.J.B. Macnab, D. Westwick, I. Boiko, Neural-adaptive control of waste-to-energy boilers,
   Proc. IEEE Conf. on Decision and Control,
   (Maui), pp. 5367 - 5373, Dec. 2012.

Masaud, K., and C.J.B. Macnab, An introspective learning algorithm that achieves robust adaptive control of a quadrotor helicopter,
    AIAA infotech@aerospace,
    (Anaheim)  DOI: 10.2514/6.2012-2518  June 2012.

Masaud, K., and C.J.B. Macnab,  Stable fuzzy-adaptive control using an introspective algorithm,
    Proc. American Control Conference,
    (Montreal) pp. 5622 -5627, June 2012.

Hasaneini, J., C.J.B. Macnab, H. Leung, and J. Bertram. Dynamic optimization clearly shows the determinants of bipedal gaits: reduced gravity predictions and verication.
   Dynamic Walking,   
   (Pensacola, Florida) May 2012.


Nicol, C.,  C.J.B. Macnab, and A. Ramirez-Serrano. Robust adaptive control of a quadrotor helicopter.
     Mechatronics
     Vol. 21, No. 6, pp. 927-938, 2011.

Guo, Q.,  C.J.B. Macnab, and J.K. Pieper. Generating efficient rigid biped running gaits with calculated take-off velocities.
     Robotica,
    Vol. 29, No. 04, pp. 627-640, 2011

Macnab, C.J.B., Neural-adaptive control using alternate weights.
     Neural Computing and Applications,
    Vol. 20, No. 2, pp. 211-231, 2011.

Coza, C., C. Nicol, C.J.B Macnab, and A. Ramirez-Serrano. Adaptive fuzzy control for a quadrotor helicopter robust to wind buffeting.
    Journal of Intelligent and Fuzzy Systems,
     Vol. 22, No. 5-6, pp. 267-283, 2011.

Hasaneini, S.J., C.J.B.  Macnab, J.E.A.  Bertram, JEA, and H. Leung, Gravity effects on energetics and kinematics of walking and running using dynamic optimization.
    Dynamic Walking,
    (Jena, Germany) pp. 101-102, July 2011.

Mahmoodi-Takaghaj, S. and C.J.B. Macnab, Inspiring girls to pursue careers in STEM with a mentor-supported robotics project
    Proc. American Society for Engineering Education Annual Conference
    (Vancouver, BC), 2011.


Macnab, C.J.B.  Improved output tracking of a flexible-joint arm using neural networks.
    Neural Processing Letters,
    Vol. 32 (2), pp. 201-218, 2010.

Richert, D.,  C.J.B. Macnab, and J.K. Pieper. Adaptive control for haptics with time-delay.
    Proc. IEEE Conf. on Decision and Control,
   (Atlanta), pp. 3650 – 3655, Dec. 2010.

Richert, D., C.J.B. Macnab, and J.K. Pieper. Force-force bilateral haptic control using adaptive backstepping with tuning functions.
   Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics,
   (Montreal), pp. 341-346 ,July, 2010.

Hasaneini, J., C.J.B. Macnab, H. Leung, and J. Bertram. Global optimum human-like gaits for an articulated one-legged hopper.
    Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics,
    (Montreal), pp. 391-396, July, 2010.


Macnab, C.J.B,   Preventing bursting in approximate adaptive control when using local basis functions.
    Fuzzy Sets and Systems
    Vol. 160 (4), pp. 439-462, 2009

Richert, D., A. Beirami, and C.J.B. Macnab, Neural-adaptive control of robotic manipulators using a supervisory inertia matrix
    Proc. Int. Conf. Autonomous Robots and Agents
    (Wellington, New Zealand) pp. 634 - 663, 2009.   

Richert, D.,  and C.J.B. Macnab. Direct adaptive force feedback for haptic control with time delay.
     Proc. IEEE Int. Conf. Science and Technology for Humanity,
     pp. 893–897, Toronto, Oct. 2009.

Carletta, Joan;   Bayles, Taryn M.;   Kalveram, Karl;   Khorbotly, Sami;   Macnab, Chris;   Nazhandali, Leyla;   Rice, Jonathan;   Smith, James A.;   Turner, Laurence E.;   Williams, Stephen;   Wyard-Scott, Loren;  Special session - Real World Engineering Projects: Discovery-based curriculum modules for first-year students.
    Proc. IEEE Frontiers in Education Conference,
    pp. 1-5, San Antonio, TX, Oct. 2009 


Guo, Q., C.J.B. Macnab, and J.K. Pieper,  Hopping on even ground and up stairs with a single articulated leg.
    International Journal of Intelligent and Robotic Systems
    Vol. 53 (4), pp. 331-358, 2008

Guo, Q., C.J.B. Macnab, and J.K. Pieper,  Hopping with nearly-passive flight phases.
    Proc. IEEE Int. Confs. on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics
   (Chengdu, China), pp. 743-748, 2008

Guo, Q., C.J.B. Macnab, and J.K. Pieper,  Bipedal running with nearly-passive flight phases.
    Proc. IEEE Int. Conf. on Advanced Intelligent Mechatronics
   (Xi'an, China), pp. 564 - 569, 2008.

Nicol, C., C.J.B. Macnab, and A. Ramirez-Serrano,  Robust neural-network control of a quadrotor helicopter.
    Proc. IEEE Canadian Conference on Electrical and Computer Engineering
   (Niagara Falls), pp. 1233 - 1238, 2008


Macnab, C.J.B,  A new robust weight update for multilayer-perceptron adaptive control.
    Control and Intelligent Systems
    Vol. 35, No. 3, pp. 279-288, 2007.


Macnab, C.J.B, Robust associative-memory adaptive control in the presence of persistent oscillations.
    Neural Information Processing Letters and Reviews,
    10(12), pp. 277-287, 2006.

Macnab, C.J.B., Direct neural-adaptive control with quantifiable bounds and improved performance.
    Int. Joint Conference on Neural Networks,
    (Vancouver),  pp. 4456- 4462, 2006.

Coza, C. and C.J.B. Macnab, A new robust adaptive-fuzzy control method applied to quadrotor helicopter stabilization.
     Proc. North American Fuzzy Information Processing Society Annual Meeting
    (Montreal) pp. 454-458, 2006.

Beirami, A. and C.J.B. Macnab direct neural-adaptive control of robotic manipulators using a forward dynamics approach.
     Proc. IEEE Canadian Conference on Electrical and Computer Engineering,
     (Ottawa) pp. 363-367, 2006.


Macnab, C.J.B, A new robust weight update for neural-network control.
     Proc. IASTED International Conference on Intelligent Systems and Control
     (Cambridge, Mass.) pp. 360-367, 2005.

Macnab, C.J.B., Local basis functions in adaptive control of elastic systems.
     Proc. IEEE International Conference on Mechatronics and Automation
     (Niagara Falls) pp. 19 - 25, 2005.

Macnab, C.J.B., Getting weights to behave themselves: Achieving stability and performance in neural-adaptive control when inputs oscillate.
    Proc. American Control Conference
    (Portland, Oregon) pp. 3192 - 3197, 2005. 

Macnab, C.J.B., Successful students do not do as they should: An inspirational seminar for the classroom.
    Proc. American Society for Engineering Education Annual Conference
    (Portland, Oregon), 2005.


Macnab, C.J.B., D'Eleuterio, G.M.T., and Meng, M., CMAC neurocontrol of elastic-joint robots using backstepping with tuning functions.
    Proc. IEEE International  Conference on Robotics and Automation
    (New Orleans), pp. 2679 - 2686, 2004.

Macnab, C.J.B., D'Eleuterio, G.M.T., Neuroadaptive control of elastic-joint robots using robust performance enhancement.
    Robotica
    vol. 19, no. 6,  pp. 619-629, Sept. 2001.

Macnab, C.J.B., D'Eleuterio, G.M.T., Discrete-time Lyapunov design for neuroadaptive control of elastic-joint robots.
    International Journal of Robotics Research
    vol. 19, no. 5,   pp. 511-525, May 2000.

Macnab, C.J.B., D'Eleuterio, G.M.T., Meng, M., Using backstepping for control of elastic-joint robots with smaller gear ratios.
    Proc. IEEE Canadian Conference on Electrical and Computer Engineering
    (Edmonton, Alberta), pp. 873 - 878, 1999.

Macnab, C.J.B., D'Eleuterio, G.M.T., Stable, on-line learning using CMACs for neuroadaptive tracking control of flexible joint manipulators.
    Proc. IEEE International Conference on Robotics and Automation
    (Leuven, Belgium) 1, pp. 511-517, 1998.