2020
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| Ferguson, J; Cucuzzella, M; Scherpen, J M A Exponential Stability and Local ISS for DC Networks Journal Article IEEE Control Systems Letters, 5 (3), pp. 893 - 898, 2020, ISSN: 2475-1456. Abstract | Links | BibTeX @article{Ferguson2020b,
title = {Exponential Stability and Local ISS for DC Networks},
author = {J Ferguson and M Cucuzzella and J M A Scherpen },
editor = {IEEE},
url = {https://ieeexplore.ieee.org/document/9134402},
doi = {10.1109/LCSYS.2020.3007222},
issn = {2475-1456},
year = {2020},
date = {2020-07-07},
journal = {IEEE Control Systems Letters},
volume = {5},
number = {3},
pages = {893 - 898},
abstract = {In this letter, we consider the problem of regulating the voltage of an islanded Direct Current (DC) network subject to (i) unknown ZIP-loads, i.e., nonlinear loads with the parallel combination of constant impedance (Z), current (I) and power (P) components, and (ii) unknown time-varying disturbances. Using the port-Hamiltonian framework, two decentralized passivity-based control schemes are designed. It is shown that, using the proposed controllers, the desired equilibrium is exponentially stable and local input-to-state stable (LISS) with respect to unknown time-varying disturbances.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this letter, we consider the problem of regulating the voltage of an islanded Direct Current (DC) network subject to (i) unknown ZIP-loads, i.e., nonlinear loads with the parallel combination of constant impedance (Z), current (I) and power (P) components, and (ii) unknown time-varying disturbances. Using the port-Hamiltonian framework, two decentralized passivity-based control schemes are designed. It is shown that, using the proposed controllers, the desired equilibrium is exponentially stable and local input-to-state stable (LISS) with respect to unknown time-varying disturbances. |
| Fujimoto, K; Sakata, N; Maruta, I; Ferguson, J A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian Systems Journal Article IEEE Control Systems Letters, 5 (3), pp. 839 - 844, 2020, ISSN: 2475-1456. Abstract | Links | BibTeX @article{Fujimoto2020,
title = {A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian Systems},
author = {K Fujimoto and N Sakata and I Maruta and J Ferguson },
editor = {IEEE},
url = {https://ieeexplore.ieee.org/document/9126872},
doi = {10.1109/LCSYS.2020.3005327},
issn = {2475-1456},
year = {2020},
date = {2020-06-26},
journal = {IEEE Control Systems Letters},
volume = {5},
number = {3},
pages = {839 - 844},
abstract = {This letter proposes a novel framework to design a passivity based sliding mode controller for mechanical systems described by simple port-Hamiltonian systems. For this class of systems, passivity based control is often used to design a stabilizing controller which employs a physical energy of the plant system as a Lyapunov function candidate. This letter proves that there exist a special class of passivity based controllers which coincide with sliding mode ones. This approach enables us to obtain sliding mode control systems with explicit energy based Lyapunov functions. The proposed approach requires a kind of matching condition under which the two control schemes coincide with each other. How to relax the condition is also discussed. Furthermore, a numerical example demonstrates how the proposed method works.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This letter proposes a novel framework to design a passivity based sliding mode controller for mechanical systems described by simple port-Hamiltonian systems. For this class of systems, passivity based control is often used to design a stabilizing controller which employs a physical energy of the plant system as a Lyapunov function candidate. This letter proves that there exist a special class of passivity based controllers which coincide with sliding mode ones. This approach enables us to obtain sliding mode control systems with explicit energy based Lyapunov functions. The proposed approach requires a kind of matching condition under which the two control schemes coincide with each other. How to relax the condition is also discussed. Furthermore, a numerical example demonstrates how the proposed method works. |
| Ferguson, J; Wu, D; Ortega, R On matched disturbance suppression for port-Hamiltonian systems Journal Article IEEE Control Systems Letters, 4 (4), pp. 892-897, 2020. Abstract | Links | BibTeX @article{Ferguson2020,
title = {On matched disturbance suppression for port-Hamiltonian systems},
author = {J Ferguson and D Wu and R Ortega},
editor = {IEEE},
doi = {10.1109/lcsys.2020.2994262},
year = {2020},
date = {2020-06-03},
journal = {IEEE Control Systems Letters},
volume = {4},
number = {4},
pages = {892-897},
abstract = {In this paper, we consider the robustification of port-Hamiltonian systems with respect to matched time-varying disturbances generated by an exo-system, which is assumed to be known. The paper is an extension, to the case of time-varying disturbances, of recent integral action techniques, which are able to reject constant disturbances only. The approach is then extended to the special case of sinusoidal disturbances with unknown frequency. The main results of the paper are demonstrated on a 2 degree-of-freedom robotic manipulator.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this paper, we consider the robustification of port-Hamiltonian systems with respect to matched time-varying disturbances generated by an exo-system, which is assumed to be known. The paper is an extension, to the case of time-varying disturbances, of recent integral action techniques, which are able to reject constant disturbances only. The approach is then extended to the special case of sinusoidal disturbances with unknown frequency. The main results of the paper are demonstrated on a 2 degree-of-freedom robotic manipulator. |
| Ferguson, J; Donaire, A; Ortega, R; Middleton, RH Matched disturbance rejection for a class of nonlinear systems Journal Article IEEE Transactions on Automatic Control, 65 (4), 2020, ISSN: 0018-9286. Abstract | Links | BibTeX @article{Ferguson2019b,
title = {Matched disturbance rejection for a class of nonlinear systems},
author = {J Ferguson and A Donaire and R Ortega and RH Middleton},
editor = {IEEE},
doi = {10.1109/TAC.2019.2933398},
issn = {0018-9286},
year = {2020},
date = {2020-03-27},
journal = {IEEE Transactions on Automatic Control},
volume = {65},
number = {4},
abstract = {In this paper, we present a method to robustify asymptotically stable nonlinear systems by adding an integral action that rejects unknown additive disturbances. The proposed approach uses a port-Hamiltonian representation of the open-loop dynamics which, relying on the asymptotic stability property, is guaranteed to exist. The integral action controller preserves the pH structure and, by adding a suitable cross term between the plant and the controller states to the closed-loop energy function, it avoids the unnatural coordinate transformation used in the past. The controller is shown to be robust against some common types of modelling uncertainty, including unknown friction dynamics in mechanical systems.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this paper, we present a method to robustify asymptotically stable nonlinear systems by adding an integral action that rejects unknown additive disturbances. The proposed approach uses a port-Hamiltonian representation of the open-loop dynamics which, relying on the asymptotic stability property, is guaranteed to exist. The integral action controller preserves the pH structure and, by adding a suitable cross term between the plant and the controller states to the closed-loop energy function, it avoids the unnatural coordinate transformation used in the past. The controller is shown to be robust against some common types of modelling uncertainty, including unknown friction dynamics in mechanical systems. |
2019
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| Ferguson, J; Donaire, A; Middleton, RH Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking Journal Article IEEE Control Systems Letters, 3 (4), pp. 960-965, 2019, ISSN: 2475-1456. Abstract | Links | BibTeX @article{Ferguson2019,
title = {Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking},
author = {J Ferguson and A Donaire and RH Middleton},
url = {https://ieeexplore.ieee.org/document/8726089},
doi = {10.1109/LCSYS.2019.2919842},
issn = {2475-1456},
year = {2019},
date = {2019-05-30},
journal = {IEEE Control Systems Letters},
volume = {3},
number = {4},
pages = {960-965},
abstract = {In this letter, we propose a new closed-loop structure for mechanical systems with dissipation, controlled via energy shaping. The structure generalizes the well-established potential energy shaping
technique by introducing a kinetic-potential function which has both configuration and momentum states as arguments. As a consequence of this generalization, dissipation terms are able to be added to the configuration coordinates of the system, resulting in both exponential stability and input-to-state stability (ISS) properties of the closed-loop. The developments are applied to the tracking problem where
it is shown that the scheme is ISS with respect to friction modelling error.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this letter, we propose a new closed-loop structure for mechanical systems with dissipation, controlled via energy shaping. The structure generalizes the well-established potential energy shaping
technique by introducing a kinetic-potential function which has both configuration and momentum states as arguments. As a consequence of this generalization, dissipation terms are able to be added to the configuration coordinates of the system, resulting in both exponential stability and input-to-state stability (ISS) properties of the closed-loop. The developments are applied to the tracking problem where
it is shown that the scheme is ISS with respect to friction modelling error. |
2018
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 | 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 @inproceedings{Ferguson2018,
title = {Discontinuous energy shaping control of the Chaplygin sleigh},
author = {J Ferguson and A Donaire and RH Middleton},
year = {2018},
date = {2018-01-01},
booktitle = {Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
 | 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 @inproceedings{Ferguson2018a,
title = {Robust integral action of port-Hamiltonian systems},
author = {J Ferguson and A Donaire and R Ortega and RH Middleton},
year = {2018},
date = {2018-01-01},
booktitle = {Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
 | 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 @inproceedings{nonpre,
title = {On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate},
author = {D Serra and J Ferguson and F Ruggiero and A Siniscalco and A Petit and V Lippiello and B Siciliano},
year = {2018},
date = {2018-01-01},
booktitle = {Proc. IFAC Mediterranean Conference on Control and Automation},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
| 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 @article{ferguson2018port,
title = {A port-Hamiltonian approach to the control of nonholonomic systems},
author = {J Ferguson and A Donaire and C Renton and RH Middleton},
year = {2018},
date = {2018-01-01},
journal = {arXiv:1801.06954},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
2017
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 | 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 @inproceedings{Ferguson2017a,
title = {Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems},
author = {J Ferguson and A Donaire and R Ortega and RH Middleton},
year = {2017},
date = {2017-01-01},
booktitle = {Proc. IEEE Conference on Decision and Control},
address = {Melbourne},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
 | 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. Links | BibTeX @article{Fergusonc,
title = {Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation},
author = {J Ferguson and A Donaire and RH Middleton},
doi = {10.1109/TAC.2017.2700995},
year = {2017},
date = {2017-01-01},
journal = {IEEE Transactions on Automatic Control},
volume = {62},
number = {11},
pages = {5947--5953},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
 | 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. Links | BibTeX @inproceedings{Ferguson2017,
title = {Decentralized control for l2 weak string stability of vehicle platoon},
author = {J Ferguson and A Donaire and S Knorn and RH Middleton},
doi = {10.1016/j.ifacol.2017.08.2572},
year = {2017},
date = {2017-01-01},
booktitle = {Proc. IFAC 2017 World Congress},
pages = {15012--15017},
publisher = {Elsevier},
address = {Toulouse, France},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2016
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 | 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. Links | BibTeX @inproceedings{Ferguson2016,
title = {Switched passivity-based control of the Chaplygin Sleigh},
author = {J Ferguson and A Donaire and RH Middleton},
doi = {10.1016/j.ifacol.2016.10.300},
year = {2016},
date = {2016-01-01},
booktitle = {Proc. IFAC Symposium on Nonlinear Control Systems},
pages = {1012--1017},
publisher = {Elsevier B.V.},
address = {Monterey, California},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2015
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 | 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. Links | BibTeX @inproceedings{Ferguson2015,
title = {Disturbance rejection via control by interconnection of port-Hamiltonian systems},
author = {J Ferguson and RH Middleton and A Donaire},
doi = {10.1109/CDC.2015.7402279},
isbn = {9781479978854},
year = {2015},
date = {2015-01-01},
booktitle = {Proc. IEEE Conference on Decision and Control},
pages = {507--512},
address = {Osaka, Japan},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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