Publications by Alejandro Donaire

• Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots

• On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft

• Energy shaping control with integral action for soft continuum manipulators

• Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework

• Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle

• Matched Disturbance Rejection for a Class of Nonlinear Systems

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

• Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach

• Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach

• Discontinuous energy shaping control of the Chaplygin sleigh

• Robust integral action of port-Hamiltonian systems

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

• Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation

• Switched Passivity—Based Control of the Chaplygin Sleigh

• Passivity-based Trajectory-tracking for Marine Craft with Disturbance Rejection

• Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory

• Energy-based motion control of a slender hull unmanned underwater vehicle

• Passivity-Based Tracking Controllers for Mechanical Systems with Active Disturbance Rejection

• Passivity-based control for multi-vehicle systems subject to string constraints

• Dynamic positioning of marine craft using a port-Hamiltonian framework

• Derivation of Input-State-Output Port-Hamiltonian Systems from bond graphs

• On the addition of integral action to port-controlled Hamiltonian systems