2 citations · 8 across the 9 of their papers we have counts for
9 papers · 1 filter
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…
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…
Distributed formation control of networked mechanical systems
N. Javanmardi, P. Borja, M. J. Yazdanpanah +1
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a direct…
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…
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…