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

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

Shaping the energy of mechanical systems without solving partial differential equations

- Donaire, Alejandro, Mehra, Rachit, Ortega, Romeo, Satpute, Sumeet, Guadalupe Romero, Jose, Kazi, Faruk, Singh, N. M.

Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces

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

Switched passivity-based control of the Chaplygin Sleigh

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

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

- Valentinis, Francis, Donaire, Alejandro, Perez, Tristian

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

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

Passivity-based tracking controllers for mechanical systems with active disturbance rejection

- Romero, Jose Guadalupe, Donaire, Alejandro, Navarro-Alarcon, David, Ramirez, Victor

Passivity-based trajectory-tracking for marine craft with disturbance rejection

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

Scalability of bidirectional vehicle strings with static and dynamic measurement errors

- Knorn, Steffi, Donaire, Alejandro, Agüero, Juan C., Middleton, Richard H.

Smooth stabilisation of nonholonomic robots subject to disturbances

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

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

- Knorn, Steffi, Donaire, Alejandro, Agüero, Juan C., Middleton, Richard H.

Scalability of bidirectional vehicle strings with measurement errors

- Knorn, Steffi, Donaire, Alejandro, Agüero, Juan C., Middleton, Richard H.

Control of an Underactuated-slender-hull Unmanned Underwater vehicle using Port-Hamiltonian Theory

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

Energy-based control of bidirectional vehicle strings

- Knorn, Steffi, Donaire, Alejandro, Agüero, Juan C., Middleton, Richard H.

Energy-based nonlinear control of ship roll gyro-stabiliser with precession angle constraints

- Donaire, Alejandro, Perez, Tristan

Robust energy shaping control of mechanical systems

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

Active control of car suspension systems using IDA-PBC

- Renton, Christopher, Teo, Yik R., Donaire, Alejandro, Perez, Tristan

Dynamic positioning of marine craft using a port-Hamiltonian framework

- Donaire, Alejandro, Perez, Tristan

Port-Hamiltonian control of fully-actuated underwater vehicles

- Perez, Tristan, Donaire, Alejandro, Renton, Christopher

Robust speed tracking control of synchronous motors using immersion and invariance

- Donaire, Alejandro, Perez, Tristan, Teo, Yik Ren