Rafael Kelly

Center for Scientific Research and Higher Education at Ensenada — Mexico

Engineering · Physical Sciences

42h-index6.4kcitations189works2.22yr avg
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Research Topics

Adaptive Control of Nonlinear Systems(87), Robotic Mechanisms and Dynamics(44), Iterative Learning Control Systems(41), Control and Stability of Dynamical Systems(36), Dynamics and Control of Mechanical Systems(34)

Publications189 total

Speed regulation of a torque-driven pendulum model via a PI based controller
2024
Partial Potential Energy Shaping Control of Torque-Driven Robot Manipulators in Joint Space
International Journal of Control Automation and Systems·2024· 4 cited
A Globally Smooth Adaptive Tracking Controller for a Velocity Servo Actuator Model
2024
Global joint position regulation of a class of torque-driven robot manipulators within actuators prescribed safe operating torque–speed area
International Journal of Control·2024
A Theoretical Conversion of Torque Controllers for Handling a Position Servo-actuated Robot Manipulator Model
International Journal of Control Automation and Systems·2024· 7 cited
A note on the energy-shaping control applied to mechanical systems: A pendulum example
Memorias del Congreso Nacional de Control Automático·2023
A GES joint position trajectory tracking smooth controller of torque‐driven robot manipulators affected by disturbances
International Journal of Robust and Nonlinear Control·2023· 3 citedOpen Access
Modelado de servo accionamientos analógicos de velocidad con un motor PMDC embebido
PÄDI Boletín Científico de Ciencias Básicas e Ingenierías del ICBI·2023· 1 citedOpen Access
Periodic motion generation with a time-varying offset for fully actuated torque-driven mechanical systems using energy regulation
Nonlinear Dynamics·2022· 1 cited
Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos
Revista Iberoamericana de Automática e Informática Industrial RIAI·2022· 3 citedOpen Access
A Cartesian Regulator for an Ideal Position-Servo Actuated Didactic Mechatronic Device: Asymptotic Stability Analysis
American Journal of Engineering and Applied Sciences·2022Open Access
Energy regulation of torque–driven robot manipulators in joint space
Journal of the Franklin Institute·2022· 16 cited
A joint position tracking smooth adaptive controller for a position servo actuated pendulum model
2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)·2021· 3 cited
On Simplified Models of Position Servo Actuators for control purposes
2021· 6 cited
A speed regulator for a force-driven cart-pole system
International Journal of Systems Science·2021· 3 cited
Energy regulation for a torque-driven vertical inertia wheel pendulum
Control Engineering Practice·2021· 11 cited
An Output Feedback Position/Speed Regulator for a Torque—driven Inertia Wheel Pendulum
International Journal of Control Automation and Systems·2021· 8 cited
A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments
IEEE Transactions on Control Systems Technology·2020· 25 cited
A Speed Regulator for A Torque–Driven Inertia Wheel Pendulum
IFAC-PapersOnLine·2020· 3 citedOpen Access
On robustness of PD control with gravity compensation of torque–driven robot manipulators
2019· 1 cited
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Frequent Co-authors

Víctor Santibáñez(15), Roméo Ortega(11), Antonio Lorı́a(8), Ricardo Carelli(7), Fernando Reyes(5), José Álvarez‐Ramírez(3), Ilse Cervantes(3), Miguel A. Llama(3), Javier Moreno–Valenzuela(3), Laurent Praly(2), Ricardo Campa(2), Jesús Sandoval(2), Victor Davila(1), Oscar Nasisi(1), B. Kuchen(1), V ́ õctor Santibanez(1), Amit Ailon(1), Mark W. Spong(1), Juan-David Llamas(1), Mauricio Amestegui(1)