Mr Joel Ferguson
School of Engineering
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.
- Port-Hamiltonian systems
- Nonholonomic systems
- Bachelor of Engineering (Mechatronics), University of Newcastle
- control theory
- port-Hamiltonian systems
- nonholonomic systems
Fields of Research
|090602||Control Systems, Robotics and Automation||70|
|010204||Dynamical Systems in Applications||30|
|Title||Organisation / Department|
|Lecturer||University of Newcastle
School of Engineering
|Casual Academic||University of Newcastle
School of Electrical Engineering and Computing
For publications that are currently unpublished or in-press, details are shown in italics.
Journal article (1 outputs)
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]
Conference (6 outputs)
Ferguson J, Donaire A, Ortega R, Middleton RH, 'Robust integral action of port-Hamiltonian systems', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
Ferguson J, Donaire A, Middleton RH, 'Discontinuous energy shaping control of the Chaplygin sleigh', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
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]
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]
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.
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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