Parametric modelling of interacting hydrodynamic forces in 3 DOF for underwater vehicles operating in close proximity

- Donaire, Alejandro, Perez, Tristan, Valentinis, Francis

Passivity-based control design for a continuum robotic manipulator with disturbances

- Schule, Johannes, Donaire, Alejandro, Sawodny, Oliver

Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle

- Del-Rio-Rivera, Francisco, Ramirez-Rivera, Victor M., Donaire, Alejandro, Ferguson, Joel

String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances

- Silva, Guilherme Fróes, Donaire, Alejandro, McFadyen, Aaron, Ford, Jason

Control of nonprehensile planar rolling manipulation: a passivity-based approach

- Serra, Diana, Ruggiero, Fabio, Donaire, Alejandro, Buonocore, Luca Rosario, Lippiello, Vincenzo, Siciliano, Bruno

IDA-PBC controller for DC-DC power electronic converters with nonlinear load enhanced with additive disturbance estimation

- Tomassini, Juan, Junco, Sergio, Donaire, Alejandro

Suppression of Wave Disturbances and Tracking Control for Marine Systems

- Kennedy, Justine M., Donaire, Alejandro, Ford, Jason J., Valentinis, Francis

Discontinuous energy shaping control of the Chaplygin sleigh

- Ferguson, Joel, Donaire, Alejandro, Middleton, Richard H.

On the tuning of nested-structure dynamic-positioning control of a marine craft

- Kazantzidou, Christina, Perez, Tristan, Donaire, Alejandro

Robust integral action of port-Hamiltonian systems

- Ferguson, Joel, Donaire, Alejandro, Ortega, Romeo, Middleton, Richard H.

Decentralized control for l₂ weak string stability of vehicle platoon

- Ferguson, Joel, Donaire, Alejandro, Knorn, Steffi, Middleton, Richard H.

Integral control of Port-Hamiltonian systems: nonpassive outputs without coordinate transformation

- Ferguson, Joel, Donaire, Alejandro, Middleton, Richard H.

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

- Ferguson, Joel, Donaire, Alejandro, Ortega, Romeo, Middleton, Richard H.

Passivity-based control for a rolling-balancing system: the nonprehensile disk-on-disk

- Donaire, Alejandro, Ruggiero, Fabio, Buonocore, Luca Rosario, Lippiello, Vincenzo, Siciliano, Bruno

Passivity-based control of mechanical systems

- Ortega, Romeo, Donaire, Alejandro, Romero, Jose Guadalupe

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

- Donaire, Alejandro, Guadalupe Romero, Jose, Ortega, Romeo, Siciliano, Bruno, Crespo, Martin

Trajectory tracking passivity-based control for marine vehicles subject to disturbances

- Donaire, Alejandro, Guadalupe Romero, Jose, Perez, Tristan

Design, implementation and experiments of a robust passivity-based controller for a rolling-balancing system

- Crespo, Martin, Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno

Disturbance rejection via control by interconnection of port-Hamiltonian systems

- Ferguson, Joel, Middleton, Richard H., Donaire, Alejandro

Energy shaping of mechanical systems via PID control and extension to constant speed tracking

- Romero, Jose Guadalupe, Ortega, Romeo, Donaire, Alejandro