6 citations · 11 across the 10 of their papers we have counts for
13 papers
Force and state-feedback control for robots with non-collocated environmental and actuator forces
Alejandro Donaire, Luigi Villani, Fanny Ficuciello +2
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the…
String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances
Guilherme Fróes Silva, Alejandro Donaire, Aaron McFadyen +1
This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simulta…
String stable integral control design for vehicle platoons with disturbances
Guilherme Froes Silva, Alejandro Donaire, Aaron McFadyen +1
This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addi…
Correction to the paper "A robust IDA-PBC approach for handling uncertainties in underactuated mechanical systems"
Alejandro Donaire, Jose Guadalupe Romero, Romeo Ortega
In this note, it is shown that the results claimed in the paper [1]---as well as the examples presented there---are, unfortunately, incorrect.
Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach
Rodolfo Reyes-Báez, Alejandro Donaire, Arjan van der Schaft +2
In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dP…
A port-Hamiltonian approach to the control of nonholonomic systems
Joel Ferguson, Alejandro Donaire, Christopher Renton +1
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as…
Robust integral action of port-Hamiltonian systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this p…
Discontinuous energy shaping control of the Chaplygin sleigh
Joel Ferguson, Alejandro Donaire, Richard H. Middleton
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotica…
New results on disturbance rejection for energy-shaping controlled port-Hamiltonian systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances.…
Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbance…
Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation
Joel Ferguson, Alejandro Donaire, Richard H. Middleton
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic e…
Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control
Jose Guadalupe Romero, Alejandro Donaire, Romeo Ortega
In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The…
Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces
Alejandro Donaire, Romeo Ortega, Jose Guadalupe Romero
To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems t…