Papers
18
Total Citations
251
H-Index
10
About
Jacquelien M.A. Scherpen is a leading figure in nonlinear control theory, with her work deeply rooted in the port-Hamiltonian framework. Her research primarily focuses on the control of mechanical and robotic systems, with major contributions to formation control and trajectory tracking for nonholonomic wheeled robots. She has pioneered passivity-based control methods that enable these robots to achieve coordinated motion without relying on velocity measurements, a significant practical advancement. Her seminal 1997 paper on nonlinear control of Euler-Lagrange systems, with 33 citations, laid foundational work in disturbance attenuation. Scherpen’s impact is evident in her highly cited technical notes, including a 2015 paper (32 citations) that integrated formation control and velocity tracking within the port-Hamiltonian framework, and a 2016 study (27 citations) addressing disturbance rejection in formation keeping. She has also advanced robot control with only position measurements (22 citations) and explored model reduction for flexible-joint robots. Her work is notable for its clear theoretical interpretations and practical applicability, making her a key contributor to modern nonlinear and robotic control.
Research Focus
Key Achievements
Top Papers
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- 4Formation Control of Wheeled Robots in the Port-Hamiltonian Framework22 citations · 2014
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- 6On Tracking Control of Rigid-Joint Robots With Only Position Measurements22 citations · 2012
- 7Passive Compensation of Nonlinear Robot Dynamics19 citations · 2004
- 8Model reduction of a flexible-joint robot: a port-Hamiltonian approach13 citations · 2016
- 9Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 200812 citations · 2008
- 10Absolute stabilization of Lur’e systems via dynamic output feedback10 citations · 2018