Jose Guadalupe Romero

TL;DR: A new, fully constructive, procedure to shape the energy for a class of mechanical systems that obviates the solution of PDEs is proposed.

TL;DR: The problem of robustification of interconnection and damping assignment passivity-based control for underactuated mechanical system vis-a-vis matched, constant, and unknown disturbances is addressed by adding an outer-loop controller to the inter connection and damped assignment passive-basedControl.

TL;DR: In this article, the authors identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller by defining two new passive outputs whose weighted sum defines the signal around which the PID is added.

TL;DR: A passivity-based controller with integral action for fully actuated vehicles in six degrees of freedom that tracks time-varying references and rejects disturbances is proposed using the port-Hamiltonian framework.

TL;DR: In this article, a controller consisting of two terms, a partial linearizing state-feedback and a linear PID loop around two new passive outputs, is proposed to stabilize a class of mechanical systems without solving partial differential equations.