Searched for: author%3A%22Borja+Rosales%2C+L.P.%22
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Borja Rosales, L.P. (author), Scherpen, Jacquelien M.A. (author), Fujimoto, Kenji (author)
In this article, we treat extended balancing for continuous-time linear time-invariant systems. We take a dissipativity perspective, thus, resulting in a characterization in terms of linear matrix inequalities. This perspective is useful for determining a priori error bounds. In addition, we address the problem of structure-preserving model...
journal article 2023
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Coleman, T. (author), Franzese, G. (author), Borja Rosales, L.P. (author)
This paper studies the tuning process of controllers for fully actuated manipulators. To this end, we propose a methodology to design the desired damping matrix—alternatively, the derivative gain of a PD controller—of the closed-loop system such that n second-order systems can approximate its behavior with a prescribed damping coefficient,...
conference paper 2023
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Borja Rosales, L.P. (author), Dabiri, A. (author), Della Santina, C. (author)
This paper proposes a model-based control design approach for a broad class of soft robots, having their elastic field dominating gravity in the unactuated coordinates. To this end, we consider finite-dimensional dynamic models obtained from approximations of the system's energy. Then, we propose a general control architecture that can stabilize...
conference paper 2022
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Javanmardi, N. (author), Borja Rosales, L.P. (author), Yazdanpanah, M. J. (author), Scherpen, J.M.A. (author)
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a...
journal article 2022
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Borja Rosales, L.P. (author), Della Santina, C. (author), Dabiri, A. (author)
Damping injection is a well-studied tool in nonlinear control theory to stabilize and shape the transient of mechanical systems. Interestingly, the injection of coupled damping yielding gyroscopic forces has received far less attention. This letter aims to fill this gap for gyroscopic forces that couple actuated and unactuated coordinates. First...
journal article 2022
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Borja Rosales, L.P. (author), Van Der Veen, J. (author), Scherpen, J. M.A. (author)
This paper proposes a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the...
conference paper 2021
Searched for: author%3A%22Borja+Rosales%2C+L.P.%22
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