12 citations · 30 across the 13 of their papers we have counts for
13 papers
On-line Parameter Estimation of the Polarization Curve of a Fuel Cell with Guaranteed Convergence Properties: Theoretical and Experimental Results
Carlo Beltran, Alexey Bobtsov, Romeo Ortega +3
In this paper, we address the problem of online parameter estimation of a Proton Exchange Membrane Fuel Cell (PEMFC) polarization curve, that is the static relation between the vol…
Output Voltage Regulation of a Fuel Cell/Boost Converter System: A PI-PBC Approach
Rafael Cisneros, Romeo Ortega, Carlo A. Beltrán +2
In this paper we consider the problem of voltage regulation of a proton exchange membrane fuel cell connected to an uncertain load through a boost converter. We show that, in spite…
Teleoperation of Humanoid Robots: A Survey
Kourosh Darvish, Luigi Penco, Joao Ramos +5
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational v…
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
Yang Chen, Leyuan Sun, Mehdi Benallegue +8
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's an…
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots
Rohan Pratap Singh, Mehdi Benallegue, Mitsuharu Morisawa +2
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To e…
An Observer-Based Composite Identifier for Online Estimation of the Thevenin Equivalent Parameters of a Power System
Daniele Zonetti, Romeo Ortega, Rafael Cisneros +3
We consider a Thévenin equivalent circuit capturing the dynamics of a power grid as seen from the point of common coupling with a power electronic converter, and provide a solution…
Indirect Adaptive Control of Nonlinearly Parameterized Nonlinear Dissipative Systems
Romeo Ortega, Rafael Cisneros, Lei Wang +1
In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the st…
On-line Estimation of the Parameters of the Windmill Power Coefficient
Alexey Bobtsov, Romeo Ortega, Stanislav Aranovskiy +1
Wind turbines are often controlled to harvest the maximum power from the wind, which corresponds to the operation at the top of the bell-shaped power coefficient graph. Such a mode…
Lyapunov-Stable Orientation Estimator for Humanoid Robots
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue +3
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude e…
Velocity-aided IMU-based Attitude Estimation
Mehdi Benallegue, Abdelaziz Benallegue, Rafael Cisneros +1
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors pr…
Coordinated Control of Energy Storage in Networked Microgrids under Unpredicted Load Demands
Md Tanvir Arafat Khan, Rafael Cisneros, Aranya Chakrabortty +1
In this paper a nonlinear control design for power balancing in networked microgrids using energy storage devices is presented. Each microgrid is considered to be interfaced to the…
Global Tracking Passivity--based PI Control of Bilinear Systems and its Application to the Boost and Modular Multilevel Converters
R. Cisneros, M. Pirro, G. Bergna +3
This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, vi…
Robust PI Passivity-based Control of Nonlinear Systems: Application to Port-Hamiltonian Systems and Temperature Regulation
Stanislav Aranovskiy, Romeo Ortega, Rafael Cisneros
This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate…