Zobrazeno 1 - 10
of 128
pro vyhledávání: '"Borja, Pablo"'
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to design the
Externí odkaz:
http://arxiv.org/abs/2311.06684
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is designed usin
Externí odkaz:
http://arxiv.org/abs/2305.09991
This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal required extending Physics Informed Neural Networks to handle non-conservative effects. We propose to c
Externí odkaz:
http://arxiv.org/abs/2305.05375
This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a nonlinear
Externí odkaz:
http://arxiv.org/abs/2211.01822
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system structure in
Externí odkaz:
http://arxiv.org/abs/2202.10161
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. As customarily in passivity-based control, the met
Externí odkaz:
http://arxiv.org/abs/2109.08111
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. The approach is twofold: (i) we apply our technique for linear v
Externí odkaz:
http://arxiv.org/abs/2105.04324
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system. Moreover, w
Externí odkaz:
http://arxiv.org/abs/2011.14543
In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not
Externí odkaz:
http://arxiv.org/abs/2010.11712