36 citations · 73 across the 18 of their papers we have counts for
5 papers · 1 filter
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…
Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements
Jochem van der Veen, Pablo Borja, Jacquelien M. A. Scherpen
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…
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…
Extended balancing of continuous LTI systems: a structure-preserving approach
Pablo Borja, Jacquelien M. A. Scherpen, Kenji Fujimoto
In this paper, we treat extended balancing for continuous-time linear time-invariant systems, and we address the problem of structure-preserving model reduction of the subclass of…