Joaquin Carrasco

Homepage of Joaquín Carrasco (Official page)

 

Biography

I was born in Abarán, Spain, in 1978. I received my B.S. degree in Physics and my Ph.D. in Control Engineering from the University of Murcia, Spain, in 2004 and 2009, respectively. My doctoral research, supervised by Prof. A. Baños and Prof. A. Arenas and funded by the Government of Spain, focused on the stability of reset control systems.

From October 2009 to September 2010, I was with the Institute of Measurement and Automatic Control at Leibniz Universität Hannover, Germany. In October 2010, I joined the Control Systems Group in the School of Electrical and Electronic Engineering at The University of Manchester, U.K., working as a Research Associate on absolute stability and robust anti-windup control design under the supervision of Dr. W. Heath and Dr. A. Lanzon. Since November 2011, I have been a member of the academic staff and currently serve as Reader in Control Systems.

I have been a Visiting Researcher at the University of Groningen, The Netherlands, and the University of Massachusetts, Amherst, U.S., supervised by A. van der Schaft and Y. Chait, respectively.

My research interests

My research interests include the following topics:

Career

Selected projects

Book Chapter

  1. J. Carrasco and W. P. Heath, "Absolute Stabiltity", Wiley Encyclopedia of Electrical and Electronics Engineering, 2021.
  2. J. Carrasco, W. P. Heath, and P. Seiler "Absolute Stabiltity Methods", Encyclopedia of Systems and Control Engineering, 2025.

Journal Publications (Visit my Google Scholar Profile.)

  1. A. Islam; G. Herrmann; J. Carrasco "On the Uniqueness of Solution to the Inverse Optimal Control Problem for the Hard-Constrained Minimum Principle Based Method," IEEE Control Systems Letters, in press, 2025.
  2. P. D. Baniqued; D. Mitchell; H. Kivrak; J. Blanche; P. Bremner; S. Harper; Z. Jiang; E. Lopez; J. Paterson; J. Carrasco; K. Groves; M. Giuliani; G. Herrmann; B. Lennox; T. Lim; S. Watson; D. Flynn "Cyber-physical-human systems for mobile robots in energy asset management: Current practices and future opportunities," Energy and AI, vol. 21, Article 100570, 1 Sep 2025.
  3. T. Liu; R. Chai; K. Chen; J. Carrasco; B. Lennox"Chance Constrained Mobile Robot Trajectory Optimization in Partially Known Environments," IEEE Transactions on Automatic Control, 2025.
  4. W. Heath and J. Carrasco, "Phase Limitations of Multipliers for Nonlinearities With Monotone Bounds," IEEE Transactions on Automatic Control, 2025.
  5. R. Chai, H. Niu, J. Carrasco, F. Arvin, H. Yin, B. Lennox, "Design and Experimental Validation of Deep Reinforcement Learning-Based Fast Trajectory Planning and Control for Mobile Robot in Unknown Environment", IEEE Transactions on Neural Networks and Learning Systems, 35(4): 5778 - 5792, 2024
  6. W. Liu; H. Niu, I. Jang, G. Herrmann, J. Carrasco "Distributed Neural Networks Training for Robotic Manipulation With Consensus Algorithm", IEEE Transactions on Neural Networks and Learning Systems, 35(2): 2732 - 2746, 2024
  7. W. Heath, J. Carrasco, and J. Zhang, "Phase limitations of multipliers at harmonics," IEEE Transactions on Automatic Control, 69(1): 566 - 573, 2024.
  8. L. Su, P. Seiler, J. Carrasco, and S. Z. Khong, "On the Necessity and Sufficiency of Discrete-Time O'Shea-Zames-Falb Multipliers," Automatica, Volume 150, 110872, 2023. PDF
  9. B. Patartics, P. Seiler, J. Carrasco, B. Vanek, "Construction of a destabilizing nonlinearity for discrete-time uncertain Lurye systems", IEEE Control Systems Letters, 6:2605-2610, 2022.
  10. J. Hu, H. Niu, J. Carrasco, B. Lennox, F. Arvin, "Fault-tolerant cooperative navigation of networked UAV swarms for forest fire monitoring", Aerospace Science and Technology 123, 107494, 2022.
  11. J. Zhang, J. Carrasco and W. Heath, "Duality bounds for discrete-time Zames-Falb multipliers", IEEE Transactions on Automatic Control, 67(7):3521 - 3528, 2022.
  12. W. P. Heath, J. Carrasco, and D. Altshuller, "Multipliers for nonlinearities with monotone bounds", IEEE Transactions on Automatic Control, 67(2):910--917, 2022. PDF
  13. J. Zhang and J. Carrasco, "A Lyapunov-Lurye functional parametrization of discrete-time Zames-Falb multipliers", IEEE Control Systems Letters, 6:259-264, 2022. PDF. NOTE: The contents of this paper were also selected by CDC'21 Program Committee for presentation at the 60th IEEE Control and Decision Conference.
  14. P. Seiler and J. Carrasco, "Construction of Periodic Counterexamples to the Discrete-Time Kalman Conjecture", IEEE Control Systems Letters 5(4):1291 - 1296, 2021. PDF. NOTE: The contents of this paper were also selected by ACC'21 Program Committee for presentation at the 2021 IEEE American Control Conference, New Orleans, US, 2021.
  15. P. Petsagkourakis, W.P. Heath, J. Carrasco, C. Theodoropoulos, "Robust Stability of Barrier-Based Model Predictive Control", IEEE Transactions on Automatic Control, 66(4):1879-1886, 2021.
  16. L. Brown, J. Carrasco, and S. Watson, "Autonomous Elbow Controller for Differential Drive In-Pipe Robots", Robotics, 10(1):28, 2021.
  17. J. Hu, H. Niu, J. Carrasco, B. Lennox and F. Arvin, "Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning", IEEE Transactions on Vehicular Technology, 69(12):14413-14423, 2020.
  18. J. Carrasco, W. P. Heath, J. Zhang, N. S. Ahmad and S. Wang, "Convex searches for discrete-time Zames-Falb multipliers", IEEE Transactions on Automatic Control, 65(11):4538 - 4553, 2020. PDF
  19. Z. Liu, L. Zhang, J. Carrasco, "Vibration analysis for large-scale wind turbine blade bearing fault detection with an empirical wavelet thresholding method", Renewable Energy, 146, pp. 99-110, 2020.
  20. H. H. Khalili, W. Cheah, T.B. Garcia-Nathan, J. Carrasco, S. Watson, B. Lennox, "Tuning and sensitivity analysis of a hexapod state estimator", Robotics and Autonomous Systems, 129, art. no. 103509, 2020.
  21. J. Zhang, P.Seiler, and J. Carrasco, "Zames-Falb Multipliers for Convergence Rate: Motivating example and convex searches", International Journal of Control, accepted. PDF
  22. S. Wang, W. P. Heath, and J. Carrasco, "Discrete-time counterparts of the RL and RC multipliers", International Journal of Control, 93:5, 1180-1193, 2020.
  23. K. Groves, A. West, K. Gornicki, S. Watson, J. Carrasco, B. Lennox, MallARD: An autonomous aquatic surface vehicle for inspection and monitoring of wet nuclear storage facilities, Robotics, 8 (2), art. no. 47, 2019.
  24. L. Brown, J. Carrasco, S. Watson, and B. Lennox, "Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots", Journal of Intelligent and Robotic Systems, 95, 527?541,2019.
  25. J. Zhang, H. Tugal, J. Carrasco, and W. P. Heath, "Absolute stability of systems with integrator and/or time delay via off-axis circle criterion", IEEE Control Systems Letters, accepted. PDF (extended version). NOTE: The contents of this paper were also selected by CDC'18 Program Committee for presentation at the 57th IEEE Conference on Decision and Control, Miami, US, 2018.
  26. J. Carrasco and P. Seiler, "Conditions for the equivalence between IQC and graph separation stability results", International Journal of Control, 92(12): 2899-2906, 2019. PDF
  27. P. Mercader, J. Carrasco, and A. Baños, "IQC analysis of reset control systems with time-varying delay", International Journal of Control, accepted. PDF
  28. S. Wang, J. Carrasco, and W. P. Heath, "Phase limitations of Zames-Falb multipliers", IEEE Transactions on Automatic Control, 63(4):947-959, 2018. PDF
  29. J. Carrasco and W. P. Heath, "Comment on "Absolute stability analysis for negative-imaginary systems"", Automatica, 85:486-488, 2017. PDF
  30. H. Tugal, J. Carrasco, P. Falcon, and A. Barreiro, "Stability Analysis of Bilateral Teleoperation with Bounded and Monotone Environment via Zames-Falb Multipliers", IEEE Transactions on Control Systems Technology, 25(4):1331-1344, 2017. PDF
  31. J. Carrasco, W. P. Heath and M. Turner, "Zames-Falb multipliers for absolute stability: from O'Shea's contribution to convex searches", European Journal of Control, 28:1-19, 2016.PDF
  32. W. P. Heath, J. Carrasco, and M. de la Sen, "Second-order counterexamples to the discrete-time Kalman conjecture", Automatica, 2015. PDF
  33. N. S. Ahmad, J. Carrasco, and W. P. Heath, ''A less conservative LMI condition for stability of discrete-time systems with slope-restricted nonlinearities'', IEEE Transactions on Automatic Control, 60(6):1692-1697, 2015. PDF
  34. J. Carrasco, M. Maya-Gonzalez, A. Lanzon, and W. P. Heath, "LMI searches for anticausal and noncausal rational Zames--Falb multipliers", Systems & Control Letters, 70:17-22, 2014.PDF
  35. J. Carrasco, W. P. Heath, and A. Lanzon, "On multipliers for bounded and monotone nonlinearities", Systems & Control Letters, 66:65-71, 2014.PDF
  36. J. Carrasco, W. P. Heath, and A. Lanzon, "Equivalence between classes of multipliers for slope-restricted nonlinearities", Automatica, 49(6):1732-1740, 2013.PDF
  37. J. Carrasco and E. Navarro-Lopez, "Towards l2-stability of discrete-time reset control systems via dissipativity theory", Systems & Control Letters, 62(6):525-530, 2013.
  38. J. Carrasco, W. P. Heath, G. Li, and A. Lanzon, "Comments on "On the existence of stable, causal multipliers for systems with Slope-Restricted Nonlinearities"", IEEE Transactions on Automatic Control, 57(9):2422-2428, 2012.
  39. J. Carrasco, W. P. Heath, and A. Lanzon, "Factorization of multipliers in passivity and IQC analysis", Automatica, 48(5):609-616, 2012.
  40. J. Carrasco and A. Baños, "Reset control of an industrial in-line pH process", IEEE Transactions on Control Systems Technology, 20(4):1100-1006, 2012.
  41. A. Fernandez, A. Barreiro, J. Carrasco, and A. Baños, "Reset control for passive bilateral teleoperation", IEEE Transactions on Industrial Electronic, 58(7):3037-3045, 2011.
  42. A. Baños, J. Carrasco, and A. Barreiro, "Reset times-dependent stability of reset control systems", IEEE Transactions on Automatic Control, 56(1):217-223, 2011.
  43. J. Carrasco, A. Baños, and A. van der Schaft, "A passivity-based approach to reset control systems stability", Systems & Control Letters, 59(1):18-24, 2010.
  44. S. Amat, C. Bermúdez, S. Busquier, J. Carrasco, and S. Plaza, "Super-attracting periodic orbits for classical third order method", Journal of Computational and Applied Mathematics, 206(1):599-602, 2007.

Graduated Students

Seminars and workshops

Maple documents: Counterexamples to the discrete-time Kalman conjecture

  1. Symmetric counterexample.
  2. Asymmetric counterexample.

Tutorials

  1. J. Carrasco, M. C. Turner, and W. P. Heath, ''Tutorial on Zames-Falb multipliers'', UKACC CONTROL 2014, Loughborough.
  2. J. Carrasco, M. C. Turner, and W. P. Heath, ''Zames-Falb multipliers for absolute stability: from O'Shea's contribution to convex searches'', 2015 European Control Conference, Linz, Austria, 2015 (slides).

Refereed Conference Publication

  1. Aldhafeeri, B., Carrasco, J., Adorno, B. Lopez Pulgarin, E., "A New Hybrid Teleoperation Control Scheme for Holonomic Mobile Manipulator Robots Using a Ground-Based Haptic Device", Lecture Notes in Computer Science, 2024, 325219.
  2. Lopez Pulgarin, E.J., Niu, H., Herrmann, G., and Carrasco, J., "Implementing and Assessing a Remote Teleoperation Setup with a Digital Twin Using Cloud Networking", Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2022, 13546 LNAI, pp. 238-250.
  3. Crosby, D., Carrasco, J., Heath, W., and Weightman, A.,'' A Novel Triad Twisted String Actuator for Controlling a Two Degrees of Freedom Joint: Design and Experimental Validation", Proceedings - IEEE International Conference on Robotics and Automation, 2022, pp. 11388?11394.
  4. W Liu, H Niu, MN Mahyuddin, G Herrmann, J Carrasco, "A Model-free Deep Reinforcement Learning Approach for Robotic Manipulators Path Planning", 21st International Conference on Control, Automation and Systems, 2021.
  5. X. Wang, J. Zhang, J. Carrasco, and P. Seiler, "On Numerical Construction of Worse-Case Convergence Rates for Discrete-Time Lurye Systems with Odd Nonlinearities", 2021 European Control Conference, Virtual conference, 2021. PDF
  6. I. Jang, H. Niu, E. C. Collins, A. Weightman, J. Carrasco and B. Lennox, "Virtual Kinesthetic Teaching for Bimanual Telemanipulation," 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 2021, pp. 120-125.
  7. H. Niu, Z. Ji, A. Savvaris, A. Tsourdos and J. Carrasco, "Model Checking for Decision Making System of Long Endurance Unmanned Surface Vehicle," 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 2021, pp. 256-262.
  8. H. Niu, Z. Ji, F. Arvin, B. Lennox, H. Yin and J. Carrasco, "Accelerated Sim-to-Real Deep Reinforcement Learning: Learning Collision Avoidance from Human Player," 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 2021, pp. 144-149.
  9. Straker, A., Carrasco, J., Podd, F., Gardner, R., Cotton, I. "Improving thermal substation inspections utilising machine learning", Proceedings of SPIE - The International Society for Optical Engineering, 11004, art. no. 1100406, 2019, DOI: 10.1117/12.2518953.
  10. M.A. Hamood, J. Carrasco, O. Marjanovic, "Analysis of steady-state power transfer capability and dynamic performance of VSC-HVDC with impedance-compensated synchronisation method connected to weak AC grid", IET Conference Publications, 2019, DOI: 10.1049/cp.2019.0013.
  11. I. Jang, J. Carrasco, A. Weightman, B. Lennox, B., "Intuitive bare-hand teleoperation of a robotic manipulator using virtual reality and leap motion", Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2019, DOI: 10.1007/978-3-030-25332-5_25.
  12. S. Ramroop, F. Arvin, S. Watson, J Carrasco, B. Lennox, "A bio-inspired aggregation with robot swarm using real and simulated mobile robots", Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 10965 LNAI, pp. 317-329, 2019, DOI: 10.1007/978-3-319-96728-8_27
  13. J. Espinosa, M. Tsiakkas, D. Wu, S. Watson, J. Carrasco, P.R. Green, B. Lennox, "A hybrid underwater acoustic and RF localisation system for enclosed environments using sensor fusion", Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 10965 LNAI, pp. 369-380, 2018, DOI: 10.1007/978-3-319-96728-8_31
  14. J. Zhang, W. P. Heath, and J. Carrasco, "Kalman conjecture for resonant second-order systems with time delay", 57th IEEE Conference on Decision and Control, Miami, US, 2018.
  15. A. Cabrera-Tobar, O. Gomis, J. Carrasco, and M. Barnes, "Evaluation of a state observer for frequency estimation in a grid tied PV inverter" 18th International Conference on Environment and Electrical Engineering (IEEE EEEIC), 2018.
  16. S. Wang, W. P. Heath, and J. Carrasco, "Discrete-time counterparts of the RL and RC multipliers", 56th IEEE Conference on Decision and Control, Melbourne, Australia, 2017.
  17. H. Tugal and J. Carrasco, "Stable Bilateral Teleoperation with Nonlinear Environments: Multiplier Approach", 4th IFAC Symposium on Telematics Applications, Porto Alegre, Brasil, 2016.
  18. N. S. Ahmad and J. Carrasco, "Convex LMI Approach for Stability of Critically Stable Systems with Slope-restricted Nonlinearities", 55th IEEE Conference on Decision and Control, Las Vegas, US, 2016.
  19. F. Arvin, O. Ayoola, B. Bird, L. Brown, J. Carrasco, W. Cheah, J. Espinosa, P. Green, A. Griffiths, B. Lennox, S. Watson, and T. Wright, "Mobile Robots and Remote Characterisation Systems for Nuclear Decommissioning", Waste Management 2016 Conference, Phoenix, US, 2016.
  20. J. Carrasco and P. Seiler, "Integral Quadratic Constraint Theorem: A topological separation approach", 54th IEEE Conference on Decision and Control, Osaka, Japan, 2015.
  21. W. P. Heath, J. Carrasco and D. Altshuller, "Stability analysis of asymmetric saturation via generalised Zames-Falb multipliers", 54th IEEE Conference on Decision and Control, Osaka, Japan, 2015.
  22. S. Wang, J. Carrasco, and W. P. Heath, "Phase limitations of discrete-time Zames-Falb multipliers", 54th IEEE Conference on Decision and Control, Osaka, Japan, 2015.
  23. J. Carrasco, W. P. Heath, and M. de la Sen, "Second-order counterexample to the Kalman conjecture in discrete-time", 2015 European Control Conference, Linz, Austria, 2015 (Maple App).
  24. W. P. Heath and J. Carrasco, "Global asymptotic stability for a class of discrete-time systems", 2015 European Control Conference, Linz, Austria, 2015.
  25. H. Tugal and J. Carrasco, "Teleoperation with memoryless, monotone, and bounded environments: A Zames-Falb multiplier approach", 2015 European Control Conference, Linz, Austria, 2015.
  26. S. Wang, W. P. Heath, and J. Carrasco, "A complete and convex search for discrete-time noncausal FIR Zames-Falb multipliers", 53rd IEEE Conference on Decision and Control, Los Angeles, US, 2014.
  27. P. Mercader, J. Carrasco, and A. Baños, "IQC Analysis for Time-Delay Reset Control Systems with First Order Reset Elements", 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013.
  28. N. S. Ahmad, J. Carrasco, and W. P. Heath, "LMI Searches for Discrete-Time Zames-Falb Multipliers", 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013.
  29. J. Carrasco, W. P. Heath, and A. Lanzon, "On multipliers for bounded and monotone nonlinearities ", 2013 European Control Conference, Zurich, Switzerland, 2013.
  30. J. Carrasco, W. P. Heath, and A. Lanzon, "Equivalence between classes of multipliers for slope-restricted nonlinearities", 51st IEEE Conference on Decision and Control, Hawaii, USA, 2012.
  31. J. Carrasco, M. Maya-Gonzales, A. Lanzon, and W. P. Heath, "LMI search for rational anticausal Zames-Falb multipliers", 51st IEEE Conference on Decision and Control, Hawaii, USA, 2012.
  32. N. S. Ahmad, J. Carrasco, and W. P. Heath, "Revisited Jury-Lee Criteria for Multivariable Discrete-Time Lur’e Systems: Convex LMI Search", 51st IEEE Conference on Decision and Control, Hawaii, USA, 2012.
  33. R. Alli-Oke, J. Carrasco, W. P. Heath and A. Lanzon, "A Robust Kalman Conjecture for first-order plants", 7th IFAC Symposium on Robust Control Design (ROCOND'12), pp. 27-32, Aalborg, Denmark, 2012.
  34. D. Paesa, J. Carrasco, O. Lucia, and C. Sagues, "On the design of reset systems with unstable base: a fixed reset-time approach", 37th Annual Conference of the IEEE Industrial Electronics Society (IECON), pp. 646-651, Melbourne, Australia, 2011.
  35. J. Carrasco, W. P. Heath and A. Lanzon, "Factorization of multipliers in passivity and IQC analysis", 50th IEEE Conference on Decision and Control and European Control Conference. pp. 6054-6059, Orlando, USA, 2011.
  36. J. Carrasco, Q. Hao, M. Kästner, and E. Reithmeier, "Measurement of Al-Si cylinder liners using white-light interferometry and image processing on a Coordinate Measuring Machine", 51. Tribologie-Fachtagung, GfT, 2010, Göttigen, pp. 81/1-81/13.
  37. J. Carrasco, A. Baños, and A. Arenas, "Reset control of an industrial in-line pH process", 14th IEEE International Conference on Emerging Technologies and Factory Automation, pp. 1-8, Palma de Mallorca, Spain, 2009.
  38. J. Carrasco, A. Baños, and A. van der Schaft, "A passivity approach to reset control of nonlinear systems", 34th Annual Conference of the IEEE Industrial Electronics Society, pp. 61-66, Orlando, USA, 2008.
  39. A. Fernández, A. Barreiro, A. Baños, and J. Carrasco, "Reset control for passive teleoperation", 34th Annual Conference of the IEEE Industrial Electronics Society, pp. 2935-2940, Orlando, USA, 2008.
  40. J. Carrasco, A. Baños, and A. Barreiro, "Stability of reset control systems with inputs", 16th Mediterranean Conference on Control and Automation, pp. 1496-1501, Ajaccio, France, 2008.
  41. A. Baños, J. Carrasco, and A. Barreiro, "Reset times-dependent stability of reset system with unstable base system", 2007 IEEE International Symposium on Industrial Electronics, pp. 163-168, Vigo, Spain, 2007.
  42. A. Baños, J. Carrasco, and A. Barreiro, "Reset times-dependent stability of reset control systems", 2007 European Control Conference, pp. 3075-3079, Kos, Greece, 2007.

Patents

  1. A. Baños, A. Vidal, and J. Carrasco, "Compensator for a feedback control system and procedure for tuning said compensator", International Patent, WO/2008/148913, PCT/ES2008/000404, 2008

Teaching

  1. State-Space Control Lecture notes.

Contact details

Control Systems Centre
School of Electrical and Electronic Engineering
The University of Manchester
Sackville Street Building
Manchester M13 9PL
United Kingdom
University email: joaquin (dot) carrascogomez (at) manchester (dot) ac (dot) uk
Personal email: casalcantara (at) gmail (dot) com