no code implementations • 11 Nov 2023 • Najmeh Javanmardi, Pablo Borja, Jacquelien M. A. Scherpen
This paper addresses the trajectory-tracking problem for a class of electromechanical systems.
no code implementations • 17 May 2023 • Ningbo Li, Pablo Borja, Arjan van der Schaft, Jacquelien M. A. Scherpen
To avoid unavailable distance terms in the control law, an estimator is designed based on port-Hamiltonian theory and the property that energy is coordinate-free for different sensor modalities using bearing and velocity measurements, which permits our framework to inject damping for the formation maneuvers.
no code implementations • 3 Nov 2022 • Carmen Chan-Zheng, Pablo Borja, Jacquelien M. A Scherpen
This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones.
no code implementations • 21 Feb 2022 • Carmen Chan-Zheng, Pablo Borja, Jacquelien M. A. Scherpen
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems.
no code implementations • 16 Sep 2021 • Pablo Borja, Carmen Chan-Zheng, Jacquelien M. A. Scherpen
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs.
no code implementations • 10 May 2021 • Carmen Chan-Zheng, Pablo Borja, Jacquelien Scherpen
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced.
no code implementations • 30 Nov 2020 • Carmen Chan-Zheng, Pablo Borja, Nima Monshizadeh, Jacquelien M. A. Scherpen
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework.
