Jorge Alberto Orrante-Sakanassi
Tecnológico Nacional de México, Instituto Tecnólogico de La Laguna, Autonomous University of Queretaro
Papers
9
Total Citations
150
H-Index
7
About
Jorge Alberto Orrante-Sakanassi is a leading researcher in nonlinear control systems, with a primary focus on the advanced control of robot manipulators and electric motor drives. His work centers on the rigorous design and stability analysis of Proportional-Integral-Derivative (PID) controllers, particularly for complex robotic systems actuated by Permanent Magnet Synchronous Motors (PMSMs) and Brushless DC (BLDC) motors. Orrante-Sakanassi’s major contributions include providing the first global asymptotic stability proofs for PID position regulation of robot manipulators that account for the full electric dynamics of PMSMs—a significant theoretical leap that bridges control theory with practical actuator constraints. His research on saturated PID controllers and new tuning conditions has made classical and nonlinear PID regulators more applicable to real-world industrial robots, as demonstrated in case studies like the PA10 arm. With over 150 citations across his most influential papers, his work has directly impacted the design of safer, more reliable robotic systems. He has also contributed to navigation control for walking hexapod robots and advanced tracking controllers for parallel robots, showcasing the breadth of his applied control expertise.
Research Focus
Key Achievements
Top Papers
- 1Global PID Control of Robot Manipulators Equipped with PMSMs40 citations · 2017
- 2PID control of robot manipulators actuated by BLDC motors38 citations · 2019
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- 4Navigation Control System of Walking Hexapod Robot14 citations · 2012
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- 6Stability Analysis of a Voltage-Based Controller for Robot Manipulators11 citations · 2013
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