Emmanuel Cruz‐Zavala

About

Emmanuel Cruz‐Zavala is a leading researcher in the control of robotic systems, with a primary focus on finite-time control, energy shaping, and output-feedback stabilization. His work addresses critical challenges in robot manipulator control, including actuator saturation, bounded torque constraints, and the elimination of velocity measurements in feedback loops. Cruz‐Zavala has introduced novel families of Lyapunov-based finite-time controllers that ensure rapid, precise regulation and trajectory-tracking even under input constraints. His most cited paper, “Lyapunov‐based finite‐time control of robot manipulators” (2021), has garnered 22 citations, while his work on robust trajectory-tracking using nonlinear PD control with feed-forward compensation (2020) has been cited 13 times. He has also advanced the field of multi-robot coordination, proposing distributed control schemes for heterogeneous robot networks to achieve pose consensus in SE(3) under time-delays, with applications in cooperative manipulation. Cruz‐Zavala’s methodological contributions include the development of strict Lyapunov functions for finite-time controllers, bridging energy shaping and homogeneous system theory. His research, published in top venues like *IEEE Transactions on Robotics* and *Automatica*, has accumulated over 90 citations, establishing him as a key figure in nonlinear control for robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Lyapunov‐based finite‐time control of robot manipulators

   22 citations · 2021
2. 2
   Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation

   13 citations · 2020
3. 3
   Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments

   10 citations · 2018
4. 4
   Task Space Consensus of Heterogeneous Robots With Time-Delays and Without Velocity Measurements

   9 citations · 2020
5. 5
   Finite-Time Regulation of Robots: a Strict Lyapunov Function Approach

   8 citations · 2018
6. 6
   Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback

   7 citations · 2021
7. 7
   Finite-Time Regulation of Robot Manipulators: an Energy Shaping Approach

   7 citations · 2017
8. 8
   Strict Lyapunov functions for finite-time control of robot manipulators

   6 citations · 2020
9. 9
   Pose Consensus of Multiple Robots with Time-Delays Using Neural Networks

   6 citations · 2019
10. 10
    An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems

    3 citations · 2018

Key Collaborators

Contact & Links