Dr Joel Ferguson
Lecturer
School of Engineering
- Email:joel.ferguson@newcastle.edu.au
- Phone:(02) 4921 7848
Career Summary
Biography
Dr Joel Ferguson is a lecturer in mechatronics within the School of Engineering. He received his bachelor's degree in mechatronic engineering and PhD in nonlinear control theory from the University of Newcastle in 2013 and 2018, respectively.
Throughout his time at the university, Joel has been engaged with local industry, providing consultancy on automation projects within the coal, rail and defence industries. This has provided a wealth of experience in all areas of automation, including control, estimation and object recognition.
Joel's research interests are centred around developing energy-based methods for modelling and nonlinear control. This is primarily done within the port-Hamiltonian framework where he is developing methods of controlling physical systems that are robust against parametric uncertainty. His thesis, which was based on this topic, explored methods for applying integral action to pH systems, achieving exponential stability of mechanical systems and set-point regulation of nonholonomic systems with drift.
Research interests:
- Port-Hamiltonian systems
- Nonlinear control
- Field robotics
Teaching:
Joel currently teaches into the 3rd year of the mechatronics program.
- MCHA3400 (Embedded systems engineers)
- MCHA3500 (Mechatronics design 1)
Administration:
Since March 2020, Joel has been the industrial experience coordinator for the mechanical, mechatronics and aerospace engineering programs.
Qualifications
- PhD, University of Newcastle
- Bachelor of Engineering (Mechatronics), University of Newcastle
Keywords
- control theory
- nonholonomic systems
- port-Hamiltonian systems
- robotics
Fields of Research
Code | Description | Percentage |
---|---|---|
400705 | Control engineering | 60 |
400706 | Field robotics | 20 |
400711 | Simulation, modelling, and programming of mechatronics systems | 20 |
Professional Experience
UON Appointment
Title | Organisation / Department |
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Lecturer | University of Newcastle School of Engineering Australia |
Publications
For publications that are currently unpublished or in-press, details are shown in italics.
Journal article (10 outputs)
Year | Citation | Altmetrics | Link | ||||||||
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2023 |
Borja P, Ferguson J, Van Der Schaft A, 'Interconnection Schemes in Modeling and Control', IEEE Control Systems Letters, 7 2287-2292 (2023) [C1] Interconnection schemes are ubiquitous in physical systems. For instance, in multi-domain systems consisting of interconnected subsystems from different physical domains. Furtherm... [more] Interconnection schemes are ubiquitous in physical systems. For instance, in multi-domain systems consisting of interconnected subsystems from different physical domains. Furthermore, the interconnection of two or more systems has also been exploited to analyze and control dynamical systems, especially passive ones. To this end, the most common interconnection structure is the negative feedback interconnection. However, this approach is unsuitable to directly couple the states of the subsystems in the overall system's energy as customarily occurs in physical systems. This letter provides two interconnection approaches that overcome this issue. Notably, it is shown that these interconnection structures are suitable for decomposing passive systems into the interconnection of simpler passive subsystems. Moreover, these interconnections schemes allow the interpretation of some existing nonlinear control approaches as the interconnection of a passive plant with a passive controller. Additionally, the interpretation of the proposed interconnection structures is provided via bond graphs.
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2023 |
MacHado JE, Ferguson J, Cucuzzella M, Scherpen JMA, 'Decentralized Temperature and Storage Volume Control in Multiproducer District Heating', IEEE Control Systems Letters, 7 413-418 (2023) [C1] Modern district heating technologies have a great potential to make the energy sector more flexible and sustainable due to their capabilities to use energy sources of varied natur... [more] Modern district heating technologies have a great potential to make the energy sector more flexible and sustainable due to their capabilities to use energy sources of varied nature and to efficiently store energy for subsequent use. Central control tasks within these systems for the efficient and safe distribution of heat refer to the stabilization of overall system temperatures and the regulation of storage units state of charge. These are challenging goals when the networked and nonlinear nature of district heating system models is taken into consideration. In this letter, for district heating systems with multiple, distributed heat producers, we propose a decentralized control scheme to provably meet said tasks stably.
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2023 |
Ferguson J, Cucuzzella M, Scherpen JMA, 'Increasing the region of attraction in DC microgrids', Automatica, 151 (2023) [C1] Based on the port-Hamiltonian framework, this paper proposes a novel control scheme for stabilising the voltage in DC networks affected by (i) unknown ZIP-loads, i.e., nonlinear l... [more] Based on the port-Hamiltonian framework, this paper proposes a novel control scheme for stabilising the voltage in DC networks affected by (i) unknown ZIP-loads, i.e., nonlinear loads consisting of the parallel combination of constant impedance (Z), current (I) and power (P) load types, and (ii) unknown (but bounded) time-varying disturbances. Differently from the results existing in the literature, where restrictive (sufficient) conditions on the load parameters, voltage trajectory and voltage reference are assumed to be satisfied, this is the first paper (to the best of our knowledge) proposing a controller that relaxes such conditions and guarantees the exponential stability of the desired equilibrium point, whose region of attraction can be increased by simply tuning the control gains. In the case the network is affected by unknown time-varying disturbances, local input-to-state stability (l-ISS) is ensured. Furthermore, if non-ideal P-loads are considered, excluding the unrealistic possibility that the load absorbs infinite current when the voltage approaches zero, the aforementioned stability results hold globally.
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2021 |
Ferguson J, Cucuzzella M, Scherpen JMA, 'Exponential Stability and Local ISS for DC Networks', IEEE Control Systems Letters, 5 893-898 (2021) [C1]
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2021 |
Fujimoto K, Sakata N, Maruta I, Ferguson J, 'A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian Systems', IEEE Control Systems Letters, 5 839-844 (2021) [C1]
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2020 |
Del-Rio-Rivera F, Ramirez-Rivera VM, Donaire A, Ferguson J, 'Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle', IEEE ACCESS, 8 223897-223904 (2020) [C1]
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2020 |
Ferguson J, Donaire A, Ortega R, Middleton RH, 'Matched Disturbance Rejection for a Class of Nonlinear Systems', IEEE Transactions on Automatic Control, 65 1710-1715 (2020) [C1]
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2020 |
Ferguson J, Wu D, Ortega R, 'On Matched Disturbance Suppression for Port-Hamiltonian Systems', IEEE Control Systems Letters, 4 892-897 (2020) [C1]
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2019 |
Ferguson J, Donaire A, Middleton RH, 'Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking', IEEE Control Systems Letters, 3 960-965 (2019) [C1]
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2017 |
Ferguson J, Donaire A, Middleton RH, 'Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 62 5947-5953 (2017) [C1]
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Show 7 more journal articles |
Conference (12 outputs)
Year | Citation | Altmetrics | Link | ||||||||
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2023 |
O'Brien T, Ferguson J, Donaire A, 'Exponentially Stable Regulation of Mechanical Systems to a Path', IFAC-PapersOnLine, Yokohama, Japan (2023) [E1]
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2023 |
Ferguson J, Mahony R, 'Passive interconnection interpretation of PID control', IFAC PAPERSONLINE, AUSTRALIA, Canberra (2023) [E1]
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2023 |
Ferguson J, McLean K, 'Passive momentum observer for nonholonomic systems', IFAC PAPERSONLINE, AUSTRALIA, Canberra (2023) [E1]
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2021 |
Ferguson J, Donaire A, Middleton RH, 'Passive momentum observer for mechanical systems', IFAC PAPERSONLINE, Tech Univ Berlin, Berlin, GERMANY (2021) [E1]
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2020 |
Ferguson J, Shima R, Fujimoto K, 'Path following via kinetic-potential energy shaping', Proceedings of the IEEE Conference on Decision and Control, Jeju Island, Republic of Korea (2020) [E1]
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2018 |
Ferguson J, Donaire A, Ortega R, Middleton RH, 'Robust integral action of port-Hamiltonian systems', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
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2018 |
Ferguson J, Donaire A, Middleton RH, 'Discontinuous energy shaping control of the Chaplygin sleigh', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
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2018 |
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', MED 2018 - 26th Mediterranean Conference on Control and Automation, Zadar, Croatia (2018) [E1]
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2017 |
Ferguson J, Donaire A, Ortega R, Middleton RH, 'Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems', 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), Melbourne, AUSTRALIA (2017) [E1]
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2017 |
Ferguson J, Donaire A, Knorn S, Middleton RH, 'Decentralized control for l(2) weak string stability of vehicle platoon', IFAC PAPERSONLINE, Toulouse, FRANCE (2017) [E1]
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2016 |
Ferguson J, Donaire A, Middleton RH, 'Switched Passivity Based Control of the Chaplygin Sleigh', IFAC-PapersOnLine (2016) [E1] In this paper, a switched controller for the Chaplygin Sleigh system based on passivity and energy shaping is presented. The Chaplygin sleigh cannot be asymptotically stabilised w... [more] In this paper, a switched controller for the Chaplygin Sleigh system based on passivity and energy shaping is presented. The Chaplygin sleigh cannot be asymptotically stabilised with a smooth control law, since Brockett's necessary conditions for smooth stabilisation is not satisfied. To asymptotically stabilise the origin, two potential energy shaping control laws are developed that render the system asymptotically stable to two equilibrium manifolds, which intersect at the origin. A switching strategy between the energy shaping controllers is derived that ensures the system converges to the intersection of the equilibrium manifolds.
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2015 |
Ferguson J, Middleton RH, Donaire A, 'Disturbance rejection via control by interconnection of port-Hamiltonian systems', 2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), Osaka, JAPAN (2015) [E1]
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Show 9 more conferences |
Grants and Funding
Summary
Number of grants | 9 |
---|---|
Total funding | $1,681,061 |
Click on a grant title below to expand the full details for that specific grant.
20232 grants / $484,808
Development of an autonomous maintenance system to safely and efficiently maintain a novel rail running conveyor system$480,000
Funding body: iMOVE Australia Limited
Funding body | iMOVE Australia Limited |
---|---|
Project Team | Doctor Michael Carr, Doctor Joel Ferguson, Doctor Peter Robinson, Professor Craig Wheeler, Associate Professor Adrian Wills |
Scheme | Research Grant |
Role | Investigator |
Funding Start | 2023 |
Funding Finish | 2025 |
GNo | G2301188 |
Type Of Funding | CRC - Cooperative Research Centre |
Category | 4CRC |
UON | Y |
Harnessing technology to improve the lives of people with spinal cord injury and wounds$4,808
Funding body: University of Newcastle
Funding body | University of Newcastle |
---|---|
Project Team | Doctor Anna Rose, Mr Nick Edwards, Doctor Joel Ferguson, Doctor Peter Robinson, Doctor Peta Tehan |
Scheme | Pilot Funding Scheme |
Role | Investigator |
Funding Start | 2023 |
Funding Finish | 2023 |
GNo | G2300448 |
Type Of Funding | Internal |
Category | INTE |
UON | Y |
20224 grants / $711,841
Safe, Plug and Play, Multi Agent Dynamic Systems$447,948
Funding body: ARC (Australian Research Council)
Funding body | ARC (Australian Research Council) |
---|---|
Project Team | Emeritus Professor Rick Middleton, Associate Professor Maria Seron, Doctor Alejandro Donaire, Doctor Joel Ferguson, Emeritus Professor Rick Middleton |
Scheme | Discovery Projects |
Role | Investigator |
Funding Start | 2022 |
Funding Finish | 2024 |
GNo | G2100154 |
Type Of Funding | C1200 - Aust Competitive - ARC |
Category | 1200 |
UON | Y |
Real-time Railway Perception$200,000
Funding body: iMOVE Australia Limited
Funding body | iMOVE Australia Limited |
---|---|
Project Team | Doctor Joel Ferguson, Associate Professor Adrian Wills |
Scheme | Research Grant |
Role | Lead |
Funding Start | 2022 |
Funding Finish | 2023 |
GNo | G2200231 |
Type Of Funding | CRC - Cooperative Research Centre |
Category | 4CRC |
UON | Y |
Infinity Wheel Stretcher Project$40,000
Funding body: ResQDevices
Funding body | ResQDevices |
---|---|
Project Team | Doctor Michael Carr, Mr Simon Davidson, Doctor Joel Ferguson, Professor Bill McBride, Mr Roger Price, Doctor Peter Robinson, Professor Craig Wheeler, Associate Professor Adrian Wills |
Scheme | Research Grant |
Role | Investigator |
Funding Start | 2022 |
Funding Finish | 2023 |
GNo | G2101179 |
Type Of Funding | C3100 – Aust For Profit |
Category | 3100 |
UON | Y |
The Infinity Stretcher – A Novel Physiological Device to Prevent Musculoskeletal Injuries of Paramedics$23,893
Funding body: UoN Cross College Research Support scheme
Funding body | UoN Cross College Research Support scheme |
---|---|
Project Team | Doctor Michael Carr, Doctor Peter Robinson, Doctor Jenny Mackney, Doctor Joel Ferguson, Professor Bill McBride, Professor Craig Wheeler, Associate Professor Christopher Williams, Mr Roger Price, Mr Simon Davidson |
Scheme | Cross College Research Support Scheme |
Role | Investigator |
Funding Start | 2022 |
Funding Finish | 2022 |
GNo | |
Type Of Funding | Internal |
Category | INTE |
UON | N |
20211 grants / $20,000
CESE Equipment and Infrastructure Investment Scheme$20,000
Funding body: College of Engineering, Science and Environment, University of Newcastle
Funding body | College of Engineering, Science and Environment, University of Newcastle |
---|---|
Project Team | Doctor Joel Ferguson, Doctor Nathan Bartlett, Associate Professor Adrian Wills, Doctor Christopher Renton, Associate Professor Stephan Chalup |
Scheme | Equipment and Infrastructure Investment Scheme |
Role | Lead |
Funding Start | 2021 |
Funding Finish | 2021 |
GNo | |
Type Of Funding | Internal |
Category | INTE |
UON | N |
20202 grants / $464,412
Robotic rail isolation device$314,412
Funding body: Australasian Centre for Rail Innovation
Funding body | Australasian Centre for Rail Innovation |
---|---|
Project Team | Doctor Joel Ferguson, Professor Craig Wheeler, Associate Professor Adrian Wills, Doctor Michael Carr, Doctor Nathan Bartlett |
Scheme | PF34 - Trackside Robotic Devices |
Role | Lead |
Funding Start | 2020 |
Funding Finish | 2021 |
GNo | G1901599 |
Type Of Funding | C3100 – Aust For Profit |
Category | 3100 |
UON | Y |
Robo-Laser: A Novel System for Remediation of Marine Corrosion in Confined Spaces Within Naval Platforms Using Laser Carrying Spider Robots$150,000
Funding body: NSW Department of Industry
Funding body | NSW Department of Industry |
---|---|
Project Team | Laureate Professor Behdad Moghtaderi, Doctor Jafar Zanganeh, Professor Robert Melchers, Associate Professor Adrian Wills, Doctor Joel Ferguson, Professor Assaad Masri, Dr Matthew Dunn, Dr Shima Taheri |
Scheme | Defence Innovation Network Pilot Project |
Role | Investigator |
Funding Start | 2020 |
Funding Finish | 2020 |
GNo | G1901315 |
Type Of Funding | C2300 – Aust StateTerritoryLocal – Own Purpose |
Category | 2300 |
UON | Y |
Research Supervision
Number of supervisions
Current Supervision
Commenced | Level of Study | Research Title | Program | Supervisor Type |
---|---|---|---|---|
2022 | PhD | Positivity-Based Methods for Complex Robot-Environment Interactions | PhD (Mechanical Engineering), College of Engineering, Science and Environment, The University of Newcastle | Co-Supervisor |
Dr Joel Ferguson
Position
Lecturer
School of Engineering
College of Engineering, Science and Environment
Contact Details
joel.ferguson@newcastle.edu.au | |
Phone | (02) 4921 7848 |
Office
Room | ES432 |
---|---|
Building | ES |
Location | Callaghan University Drive Callaghan, NSW 2308 Australia |