Papers by Romeo Jimenez Ortega
Automatica, 2020
In this paper we show that a slight modification to the widely popular interconnection and dampin... more In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method-originally proposed for stabilization of equilibria of nonlinear systems-allows us to provide a solution to the more challenging orbital stabilization problem. Two different, though related, ways how this procedure can be applied are proposed. First, the assignment of an energy function that has a minimum in a closed curve, i.e., with the shape of a Mexican sombrero. Second, the use of a damping matrix that changes "sign" according to the position of the state trajectory relative to the desired orbit, that is, pumping or dissipating energy. The proposed methodologies are illustrated with the example of the induction motor and prove that it yields the industry standard field oriented control.
Proceedings 1992 IEEE International Conference on Robotics and Automation
In the present paper we propose a globally convergent adaptive control scheme for robot motion co... more In the present paper we propose a globally convergent adaptive control scheme for robot motion control with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Thirdly, we derive for the known parameter design a relationship between compensator gains and closed-loop convergence rates which is independent of the robot task. This helps the designer to carry out the gain tuning with an eye on the robustnessperformance tradeoff.
Decision and Control, 1988., Proceedings of the 27th IEEE …, 1989
Al~ract-In this paper we give a tutonal account of several of the most recent adapuve control res... more Al~ract-In this paper we give a tutonal account of several of the most recent adapuve control results for ngld robot mampulators Our intent ~s to lend some perspecUve to the growing hst of adapuve control results for mampulators by providing a unified framework for comparison of those adapUve control algorithms which have been shown to be globally convergent In most cases we are able to stmphfy the denvatmns and proofs of these results as well *
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Papers by Romeo Jimenez Ortega