11 citations · 21 across the 8 of their papers we have counts for
8 papers
Dead-zone compensation via passivity-based control for a class of mechanical systems
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. To this end, we find a smooth approx…
Tuning rules for passivity-based integral control for a class of mechanical systems
Carmen Chan-Zheng, Mauricio Muñoz-Arias, Jacquelien M. A. Scherpen
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic force…
Tuning of passivity-based controllers for mechanical systems
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. In particular, we are inter…
Stabilization of physical systems via saturated controllers with only partial state measurements
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 satura…
Passivity-based control of mechanical systems with linear damping identification
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 red…
Exponential Stability and Tuning for a Class of Mechanical Systems
Carmen Chan-Zheng, Pablo Borja, Nima Monshizadeh +1
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 candid…
Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems
Carmen Chan-Zheng, Pablo Borja, Jacquelien M. A. Scherpen
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local t…
Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems
Carmen Chan-Zheng, Pablo Borja, Jacquelien M. A. Scherpen
In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in a…