52 citations · 96 across the 13 of their papers we have counts for
5 papers · 1 filter
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…
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…
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.
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…
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…