| 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.
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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]
© 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.
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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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| 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.
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