Dr Joel Ferguson

Publications

2018

Discontinuous energy shaping control of the Chaplygin sleigh

Ferguson, J; Donaire, A; Middleton, RH

Discontinuous energy shaping control of the Chaplygin sleigh Inproceedings

Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2018.

BibTeX

Robust integral action of port-Hamiltonian systems

Ferguson, J; Donaire, A; Ortega, R; Middleton, RH

Robust integral action of port-Hamiltonian systems Inproceedings

Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2018.

BibTeX

On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate

Serra, D; Ferguson, J; Ruggiero, F; Siniscalco, A; Petit, A; Lippiello, V; Siciliano, B

On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate Inproceedings

Proc. IFAC Mediterranean Conference on Control and Automation, 2018.

BibTeX

Ferguson, J; Donaire, A; Renton, C; Middleton, RH

A port-Hamiltonian approach to the control of nonholonomic systems Journal Article

arXiv:1801.06954, 2018.

BibTeX

2017

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

Ferguson, J; Donaire, A; Ortega, R; Middleton, RH

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems Inproceedings

Proc. IEEE Conference on Decision and Control, Melbourne, 2017.

BibTeX

Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation

Ferguson, J; Donaire, A; Middleton, RH

Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation Journal Article

IEEE Transactions on Automatic Control, 62 (11), pp. 5947–5953, 2017.

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Decentralized control for l2 weak string stability of vehicle platoon

Ferguson, J; Donaire, A; Knorn, S; Middleton, RH

Decentralized control for l2 weak string stability of vehicle platoon Inproceedings

Proc. IFAC 2017 World Congress, pp. 15012–15017, Elsevier, Toulouse, France, 2017.

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2016

Switched passivity-based control of the Chaplygin Sleigh

Ferguson, J; Donaire, A; Middleton, RH

Switched passivity-based control of the Chaplygin Sleigh Inproceedings

Proc. IFAC Symposium on Nonlinear Control Systems, pp. 1012–1017, Elsevier B.V., Monterey, California, 2016.

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2015

Disturbance rejection via control by interconnection of port-Hamiltonian systems

Ferguson, J; Middleton, RH; Donaire, A

Disturbance rejection via control by interconnection of port-Hamiltonian systems Inproceedings

Proc. IEEE Conference on Decision and Control, pp. 507–512, Osaka, Japan, 2015, ISBN: 9781479978854.

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