4 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.