4 papers · 1 filter
Observer-Based State Feedback Controller for a Mindlin Plate Model in port-Hamiltonian framework
Ignacio Diaz Alastuey, Yann Le Gorrec, Yongxin Wu
This paper generalises an early lumped observer-based state-feedback (OBSF) control design methodology, originally developed for one-dimensional (1-D) boundary-controlled port-Hami…
Design and Modeling of a HASEL Actuator-Based Micro Parallel Robot
Agustin Feregrino, Nelson Cisneros, Alexis Lefèvre +2
This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical…
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…
Privacy-Preserving Formation Control for Networked Underactuated USVs: A Passivity-Based Approach
Jingyi Zhao, Wenxuan Wang, Weijun Zhou +3
This paper studies coordinated trajectory planning and tracking control for multiple unmanned surface vessels (USVs) under strict privacy requirements. To avoid the privacy risks a…