52 citations · 96 across the 13 of their papers we have counts for
13 papers
A Globally Convergent Estimator of the Parameters of the Classical Model of a Continuous Stirred Tank Reactor
Anton Pyrkin, Alexey Bobtsov, Romeo Ortega +2
In this paper we provide the first solution to the challenging problem of designing a globally exponentially convergent estimator for the parameters of the standard model of a cont…
A New Least Squares Parameter Estimator for Nonlinear Regression Equations with Relaxed Excitation Conditions and Forgetting Factor
Romeo Ortega, Jose Guadalupe Romero, Stanislav Aranovskiy
In this note a new high performance least squares parameter estimator is proposed. The main features of the estimator are: (i) global exponential convergence is guaranteed for all…
Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
Jose Guadalupe Romero, Bowen Yi
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial…
Identifiability Implies Robust, Globally Exponentially Convergent On-line Parameter Estimation: Application to Model Reference Adaptive Control
Lei Wang, Romeo Ortega, Alexey Bobtsov +2
In this paper we propose a new parameter estimator that ensures global exponential convergence of linear regression models requiring only the necessary assumption of identifiabilit…
Persistent Excitation is Unnecessary for On-line Exponential Parameter Estimation: A New Algorithm that Overcomes this Obstacle
Marina Korotina, Jose Guadalupe Romero, Stanislav Aranovskiy +2
In this paper, we prove that it is possible to estimate online the parameters of a classical vector linear regression equation , where $ Y \in \mathbb{R}^n,\;Ω\in \mathbb{R}…
Parameter Estimation and Adaptive Control of Euler-Lagrange Systems Using the Power Balance Equation Parameterization
Jose Guadalupe Romero, Romeo Ortega, Alexey Bobtsov
It is widely recognized that the existing parameter estimators and adaptive controllers for robot manipulators are extremely complicated to be of practical use. This is mainly due…
Adaptive motion control of parallel robots with kinematic and dynamic uncertainties
M. Reza J. Harandi, S. A. Khalilpour, Hamid. D. Taghirad +1
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This r…
Parameter Estimation of Nonlinearly Parameterized Regressions without Overparameterization nor Persistent Excitation: Application to System Identification and Adaptive Control
Romeo Ortega, Vladislav Gromov, Emmanuel Nuño +2
In this paper we propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions--continuous or discrete time--and apply it for system identifica…
Correction to the paper "A robust IDA-PBC approach for handling uncertainties in underactuated mechanical systems"
Alejandro Donaire, Jose Guadalupe Romero, Romeo Ortega
In this note, it is shown that the results claimed in the paper [1]---as well as the examples presented there---are, unfortunately, incorrect.
Orbital Stabilization of Nonlinear Systems via the Immersion and Invariance Technique
Romeo Ortega, Bowen Yi, Jose Guadalupe Romero +1
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem cons…
Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control
Jose Guadalupe Romero, Alejandro Donaire, Romeo Ortega
In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The…
Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces
Alejandro Donaire, Romeo Ortega, Jose Guadalupe Romero
To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems t…
Two Globally Convergent Adaptive Speed Observers for Mechanical Systems
Jose Guadalupe Romero, Romeo Ortega
A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no distur…