36 citations · 73 across the 18 of their papers we have counts for
18 papers
Introduction to Passivity-based Control
Pablo Borja, Romeo Ortega
Passivity-based control (PBC) is a nonlinear control design framework that has proven adequate for controlling a wide range of systems, especially physical ones. Their main ingredi…
Passivity-Based Nonlinear Control
Pablo Borja
The passivity-based control (PBC) framework focuses on understanding and modifying the energy storage and dissipation in the system to be controlled. To this end, PBC techniques of…
Contraction-based Tracking Control of Electromechanical Systems
Najmeh Javanmardi, Pablo Borja, Jacquelien M. A. Scherpen
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…
Angle-based formation stabilization and maneuvers in port-Hamiltonian form with bearing and velocity measurements
Ningbo Li, Pablo Borja, Arjan van der Schaft +1
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman…
Physics-informed Neural Networks to Model and Control Robots: a Theoretical and Experimental Investigation
Jingyue Liu, Pablo Borja, Cosimo Della Santina
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 Inform…
Robust trajectory tracking for underactuated mechanical systems without velocity measurements
N. Javanmardi, P. Borja, M. J. Yazdanpanah +1
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove…