Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances

- Franco, Enrico, Arpenti, Pierluigi, Donaire, Alejandro, Ruggiero, Fabio

Exponentially Stable Regulation of Mechanical Systems to a Path

- O'Brien, Thomas, Ferguson, Joel, Donaire, Alejandro

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

- Franco, Enrico, Arpenti, Pierluigi, Donaire, Alejandro

Energy shaping nonlinear control of underactuated needle insertion

- Franco, Enrico, Donaire, Alejandro

Holonomic Rolling Nonprehensile Manipulation Primitive

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

Nonholonomic Rolling Nonprehensile Manipulation Primitive

- Gutierrez-Giles, Alejandro, Satici, Aykut C., Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno

Robust energy shaping for mechanical systems with dissipative forces and disturbances

- Teimoorzadeh, Ainoor, Donaire, Alejandro, Arpenti, Pierluigi, Ruggiero, Fabio

String stability in microgrids using frequency controlled inverter chains

- Silva, Guilherme F., Donaire, Alejandro, Seron, Maria M., McFadyen, Aaron, Ford, Jason

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

- Arpenti, Pierluigi, Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo

Control of underactuated marine crafts with matched disturbances

- Kennedy, Justin M., Donaire, Alejandro, Ford, Jason J.

Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics framework

- Arpenti, Pierluigi, Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo

Energy shaping control with integral action for soft continuum manipulators

- Franco, Enrico, Garriga Casanovas, Arnau, Donaire, Alejandro

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

- Mujica, Martin, Donaire, Alejandro, Benoussaad, Mourad, Fourquet, Jean-Yves

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

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

Passive momentum observer for mechanical systems

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

String stable integral control design for vehicle platoons with disturbances

- Silva, Guilherme Froes, Donaire, Alejandro, McFadyen, Aaron, Ford, Jason J.

Correction to the paper "a robust IDA-PBC approach for handling nncertainties in underactuated mechanical systems"

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

Dealing with constant power loads in DC-DC power electronic converters using flatness based coordinate transformations

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

Matched Disturbance Rejection for a Class of Nonlinear Systems

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

Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

- Ruggiero, Fabio, Kim, Jung-Tae, Gutierrez-Giles, Alejandro, Satici, Aykut C., Donaire, Alejandro, Cacace, Jonathan, Buonocore, Luca Rosario, Fontanelli, Giuseppe Andrea, Lippiello, Vincenzo, Siciliano, Bruno