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Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances
- Franco, Enrico, Arpenti, Pierluigi, Donaire, Alejandro, Ruggiero, Fabio
Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances
- Franco, Enrico, Arpenti, Pierluigi, Donaire, Alejandro
Robust energy shaping for mechanical systems with dissipative forces and disturbances
- Teimoorzadeh, Ainoor, Donaire, Alejandro, Arpenti, Pierluigi, Ruggiero, Fabio
Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots
- Arpenti, Pierluigi, Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo
Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics framework
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