Dr Joel Ferguson

Dr Joel Ferguson

Lecturer

School of Engineering

Career Summary

Biography

Dr Joel Ferguson is a lecturer and research associate in the School of Engineering. He received his bachelors 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. This has provided a wealth of experience in all area of automation, including control, estimation and object recognition.

Joel's research interests are centred around developing energy-based methods for 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
  • Nonholonomic systems
  • Robotics

Qualifications

  • PhD, University of Newcastle
  • Bachelor of Engineering (Mechatronics), University of Newcastle

Keywords

  • control theory
  • nonholonomic systems
  • port-Hamiltonian systems
  • robotics

Professional Experience

UON Appointment

Title Organisation / Department
Lecturer University of Newcastle
School of Engineering
Australia
Lecturer University of Newcastle
School of Engineering
Australia
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Publications

For publications that are currently unpublished or in-press, details are shown in italics.


Journal article (7 outputs)

Year Citation Altmetrics Link
2021 Ferguson J, Cucuzzella M, Scherpen JMA, 'Exponential Stability and Local ISS for DC Networks', IEEE Control Systems Letters, 5 893-898 (2021) [C1]
DOI 10.1109/LCSYS.2020.3007222
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]
DOI 10.1109/LCSYS.2020.3005327
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]
DOI 10.1109/ACCESS.2020.3042091
Co-authors Alejandro Donaire
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]
DOI 10.1109/TAC.2019.2933398
Citations Scopus - 3Web of Science - 3
Co-authors Alejandro Donaire, Richard Middleton
2020 Ferguson J, Wu D, Ortega R, 'On Matched Disturbance Suppression for Port-Hamiltonian Systems', IEEE Control Systems Letters, 4 892-897 (2020) [C1]
DOI 10.1109/LCSYS.2020.2994262
Citations Scopus - 2
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]
DOI 10.1109/LCSYS.2019.2919842
Citations Scopus - 3
Co-authors Richard Middleton, Alejandro Donaire
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]
DOI 10.1109/TAC.2017.2700995
Citations Scopus - 13Web of Science - 11
Co-authors Alejandro Donaire, Richard Middleton
Show 4 more journal articles

Conference (9 outputs)

Year Citation Altmetrics Link
2020 Ferguson J, Shima R, Fujimoto K, 'Path following via kinetic-potential energy shaping', Proceedings of the IEEE Conference on Decision and Control (2020)

© 2020 IEEE. In this paper we consider the problem of path following control for fully-actuated mechanical systems using the technique of kinetic-potential energy shaping (KPES). ... [more]

© 2020 IEEE. In this paper we consider the problem of path following control for fully-actuated mechanical systems using the technique of kinetic-potential energy shaping (KPES). By using KPES, damping is injected into the position error coordinates of the closed-loop systems, resulting in exponential convergence to the desired path. It is shown that the technique can be interpreted as a generalised canonical transformation and the results are demonstrated on a simple mechanical system following a unit circle with a non-constant velocity.

DOI 10.1109/CDC42340.2020.9303974
2018 Ferguson J, Donaire A, Ortega R, Middleton RH, 'Robust integral action of port-Hamiltonian systems', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
DOI 10.1016/j.ifacol.2018.06.050
Citations Scopus - 2Web of Science - 2
Co-authors Richard Middleton, Alejandro Donaire
2018 Ferguson J, Donaire A, Middleton RH, 'Discontinuous energy shaping control of the Chaplygin sleigh', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
DOI 10.1016/j.ifacol.2018.06.056
Co-authors Alejandro Donaire, Richard Middleton
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]
DOI 10.1109/MED.2018.8442769
Citations Scopus - 1
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]
Citations Scopus - 1Web of Science - 3
Co-authors Alejandro Donaire, Richard Middleton
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]
DOI 10.1016/j.ifacol.2017.08.2572
Citations Scopus - 1
Co-authors Richard Middleton, Alejandro Donaire
2016 Ferguson J, Donaire A, Middleton RH, 'Switched Passivity Based Control of the Chaplygin Sleigh', IFAC-PapersOnLine (2016) [E1]

© 2016 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 stabi... [more]

© 2016 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.

DOI 10.1016/j.ifacol.2016.10.300
Citations Scopus - 2Web of Science - 3
Co-authors Alejandro Donaire, Richard Middleton
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]
Citations Scopus - 12Web of Science - 14
Co-authors Alejandro Donaire, Richard Middleton
2014 Mubin O, Ferguson J, Novoa M, Taylor J, 'Leveraging the design of child restraint systems to reduce driver distraction', Conference on Human Factors in Computing Systems - Proceedings (2014)

Despite the significant level of protection child restraint systems (CRS) provide to children, motor vehicle accidents continue to lead to child injury, primarily due to drivers b... [more]

Despite the significant level of protection child restraint systems (CRS) provide to children, motor vehicle accidents continue to lead to child injury, primarily due to drivers being distracted while monitoring the children in the back. Therefore, it is hypothesised that traditional design elements included within child restraints must accommodate new technology including sensors and automated systems, in an attempt to provide drivers with real time feedback about the CRS occupants without drawing their attention away from the road. As such, an iterative process documented within this paper offers design proposals that seek to modernise CRS. In conclusion, focus group studies provided insights on the validation of the design proposals.

DOI 10.1145/2559206.2581153
Show 6 more conferences
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Grants and Funding

Summary

Number of grants 2
Total funding $454,412

Click on a grant title below to expand the full details for that specific grant.


20202 grants / $454,412

Robotic rail isolation device$304,412

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 2020
GNo G1901599
Type Of Funding C2110 - Aust Commonwealth - Own Purpose
Category 2110
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 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 C2210 - Aust StateTerritoryLocal - Own Purpose
Category 2210
UON Y
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Dr Joel Ferguson

Position

Lecturer
School of Engineering
College of Engineering, Science and Environment

Contact Details

Email joel.ferguson@newcastle.edu.au
Phone (02) 4921 7848

Office

Room ES432
Building ES
Location Callaghan
University Drive
Callaghan, NSW 2308
Australia
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