arXiv subjects

Víctor Santibáñez

Publications and source records attributed to Víctor Santibáñez.

3 recordsLinked to original sources

arXiv2026

A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers"

In response to the reply presented in [Muñoz-Vázquez and Sánchez-Torres(2026)], this technical report extends the experimental evaluation of position-feedback velocity observers and adaptive tracking controllers for a pendular system with nonlinear friction reported in [Cervantes-Pérez et al.(2026)]. The immersion and invariance (I&I) adaptive control scheme proposed in [Romero et al.(2025)], whose gains are tuned according to the guidelines presented in [Ortega et al.(2025)], is compared with a control scheme employing the adaptive modi?ed super-twisting observer of [Dávila et al.(2006)], whose observer gains are selected according to the guidelines proposed in [Muñoz-Vázquez and Sánchez-Torres(2026)]. Although these "tuning guidelines" attenuate chattering in certain scenarios, the experimental results reported here show that they do not eliminate it in general.

eess.SY↗

arXiv2026

Three High Performance Global Tracking Composite Adaptive Controllers for Fully Actuated Euler-Lagrange Systems: Experimental Validation

Three adaptive global tracking controllers for fully actuated Euler-Lagrange systems, with verifiable performance improvement over existing designs, are reported in this letter. Two of these controllers ensure global exponential convergence under a weak interval excitation condition. Besides, one of the proposed controllers features a simple adaptive PID-like structure that-unlike classical solutions-avoids the need for additional filtering. We adopt a composite adaptation architecture, invoke a novel parameterization of the system dynamics and use a high performance estimation scheme recently introduced in the literature. Real-time experiments and a comparative study with a learning-based adaptive controller on a two-degrees-of-freedom manipulator arm illustrate the effectiveness of the proposed controllers.

eess.SY↗

arXiv2026

An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction

The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in the literature. To put this experimental evidence in perspective, we compare the performance of the sliding mode scheme with the one obtained by an adaptive controller designed following the well-known immersion and invariance technique.

eess.SY↗