Papers
11
Total Citations
509
H-Index
9
About
Ilse Cervantes is a leading figure in the control of robotic manipulators, with a career-long focus on the rigorous analysis and design of PID and vision-based control systems. Her foundational work, including the highly cited "On the PID tracking control of robot manipulators" (171 citations) and "PID regulation of robot manipulators: stability and performance" (117 citations), established critical stability proofs for these classic controllers. She advanced the field by demonstrating semiglobal asymptotic stability for saturated linear PID control (112 citations), a significant theoretical achievement. Her research extends to robust velocity field control, elastic-joint robots, and energy-efficient design, as seen in her work on magnetic springs for humanoid arms. Cervantes has also pioneered vision-based control, developing direct visual servoing strategies that integrate monocular cameras with nonlinear robot dynamics. With over 500 total citations, her contributions provide the theoretical backbone for practical, reliable robot control, making her work essential reading for students and researchers in robotics and nonlinear control systems.
Research Focus
Key Achievements
Top Papers
- 1On the PID tracking control of robot manipulators171 citations · 2001
- 2PID regulation of robot manipulators: stability and performance117 citations · 2000
- 3Semiglobal stability of saturated linear PID control for robot manipulators112 citations · 2003
- 4A robust velocity field control42 citations · 2002
- 5Pid Regulation Of Robot Manipulators With Elastic Joints17 citations · 2003
- 6Vision-Based PID Control of Planar Robots14 citations · 2004
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- 8Robust PID control for robots manipulators with elastic joints10 citations · 2002
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