Joel Ferguson

About

Joel Ferguson is a rising researcher in control theory, with a focus on port-Hamiltonian systems, mechanical system regulation, and nonprehensile manipulation. His work bridges theoretical rigor and practical experimentation, particularly in the robust control of mechanical systems. Ferguson’s most cited paper, "On Matched Disturbance Suppression for Port-Hamiltonian Systems" (2020, 11 citations), extends integral action techniques to handle time-varying disturbances, offering a robustification framework for complex systems. His 2021 paper, "Passive momentum observer for mechanical systems" (10 citations), introduces a hybrid observer with passive error dynamics and exponential stability, a key contribution to state estimation. Earlier work, "On the Experiments About the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate" (2018, 6 citations), demonstrates his experimental prowess in solving nonholonomic planning for robotic manipulation. His latest work, "Exponentially Stable Regulation of Mechanical Systems to a Path" (2023, 2 citations), uses total energy shaping for path-following control. With a growing citation footprint, Ferguson’s research is shaping robust, energy-based control methods, making him a notable voice in modern nonlinear control.

Research Focus

Key Achievements

Top Papers

1. 1
   On Matched Disturbance Suppression for Port-Hamiltonian Systems

   11 citations · 2020
2. 2
   Passive momentum observer for mechanical systems

   10 citations · 2021
3. 3
   On the Experiments About the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate

   6 citations · 2018
4. 4
   Exponentially Stable Regulation of Mechanical Systems to a Path

   2 citations · 2023

Key Collaborators

Contact & Links