12 citations · 25 across the 11 of their papers we have counts for
3 papers · 1 filter
A port-Hamiltonian approach to the control of nonholonomic systems
Joel Ferguson, Alejandro Donaire, Christopher Renton +1
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as…
Robust integral action of port-Hamiltonian systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this p…
Discontinuous energy shaping control of the Chaplygin sleigh
Joel Ferguson, Alejandro Donaire, Richard H. Middleton
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotica…