52 citations · 108 across the 9 of their papers we have counts for
10 papers
Matched Disturbance Rejection for Port-Hamiltonian Systems with Coupled Dynamics
M. Reza J. Harandi
This paper investigates the rejection of matched disturbances generated by coupled port-Hamiltonian (PH) dynamics in previously stabilized PH systems. The disturbance dynamics are…
Reduction of Velocity-Dependent Terms in Total Energy Shaping Approach
M. Reza J. Harandi, Mehrzad Namvar
Total energy shaping through interconnection and damping assignment passivity-based control (IDA-PBC) provides a powerful and systematic framework for stabilizing underactuated mec…
Robust Energy Shaping Control of an Underactuated Inverted Pendulum
M. Reza J. Harandi, Mehrzad Namvar
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. How…
Stabilization of a Quadrotor via Energy Shaping
M. Reza J. Harandi, Babak Salamat, Gerhard Elsbacher
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shap…
Reformulation of Matching Equation in Potential Energy Shaping
M. Reza J. Harandi, Hamid D. Taghirad
Stabilization of an underactuated mechanical system may be accomplished by energy shaping. Interconnection and damping assignment passivity-based control is an approach based on to…
On the Controllers Based on Time Delay Estimation for Robotic Manipulators
M. Reza J. Harandi
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem…
Bounded Inputs Total Energy Shaping for Mechanical Systems
M. Reza J. Harandi, Amir Molaei, Hamid D. Taghirad +1
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation de…
On the Matching Equations of Kinetic Energy Shaping in IDA-PBC
M. Reza J. Harandi, Hamid D. Taghirad
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy…
Solution of matching equations of IDA-PBC by Pfaffian differential equations
M. Reza J. Harandi, Hamid. D. Taghirad
Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods. Interconnection and damping assignment passivit…
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…