6 citations · 6 across the 5 of their papers we have counts for
8 papers
Total energy-shaping control for mechanical systems via Control-by-Interconnection
Joel Ferguson
Application of IDA-PBC to mechanical systems has received much attention in recent decades, but its application is still limited by the solvability of the so-called matching condit…
Decentralized temperature and storage volume control in multi-producer district heating
Juan E. Machado, Joel Ferguson, Michele Cucuzzella +1
Modern district heating technologies have a great potential to make the energy sector more flexible and sustainable due to their capabilities to use energy sources of varied nature…
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…
New results on disturbance rejection for energy-shaping controlled port-Hamiltonian systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances.…
Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbance…
Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation
Joel Ferguson, Alejandro Donaire, Richard H. Middleton
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic e…