5 papers
Observer design for classes of nonlinear port-Hamiltonian systems
Filippo Ugolini, Ning Liu, Yongxin Wu +2
This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range o…
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions
Alessandro Letti, Riccardo Zanella, Alessandro Macchelli +1
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and th…
The effect of control barrier functions on energy transfers in controlled physical systems
Federico Califano, Riccardo Zanella, Alessandro Macchelli +1
Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balanc…
Towards Parameter-free Distributed Optimization: a Port-Hamiltonian Approach
Rodrigo Aldana-López, Alessandro Macchelli, Giuseppe Notarstefano +2
This paper introduces a novel distributed optimization technique for networked systems, which removes the dependency on specific parameter choices, notably the learning rate. Tradi…
A variable rest length impedance grasping strategy in the port-Hamiltonian framework
Mauricio Munoz-Arias, Jacquelien Scherpen, Alessandro Macchelli
This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework. We embed a variable rest-length of the springs…