Publications by Alejandro Donaire

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Alternative author names: Alejandro Donaire, Alejando Donaire, A. Donaire.

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• Robust energy shaping for mechanical systems with dissipative forces and disturbances

• 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

• Suppression of Wave Disturbances and Tracking Control for Marine Systems

• 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

• Energy- and flatness-based control of DC-DC converters with nonlinear load

• Robustifying passive closed-loop Port-Hamiltonian systems using Observer Based Control

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

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

• A port-Hamiltonian approach to exponential stabilisation and disturbance rejection of a DC-DC buck converter with a nonlinear load

• Switched Passivity—Based Control of the Chaplygin Sleigh

• Smooth stabilisation of nonholonomic robots subject to disturbances

• 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

• Disturbance rejection via control by interconnection of port-Hamiltonian systems

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

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

• Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory

• Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension

• Robust speed tracking control of synchronous motors using immersion and invariance

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

• Port-Hamiltonian control of fully actuated underwater vehicles

• Port-Hamiltonian Theory of Motion Control for Marine Craft

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

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

• Energy Shaping And Interconnection And Damping Assignment Control In The Bond Graph Domain