Dr Alejandro Donaire

Publications

2019

Serra, D; Ruggiero, F; Donaire, A; Buonocore, LR; Lippiello, V; Siciliano, B

Control of nonprehensile planar rolling manipulation: The passivity-based approach Journal Article

IEEE Transactions on Robotics, In press , pp. 1-13, 2019.

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2018

Donaire, A; Kazantzidou, C; Perez, T

Modelling in Support of Surface Submarine Evaluations Technical Report

Queensland University of Technology and DST Group Brisbane, 2018.

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Discontinuous energy shaping control of the Chaplygin sleigh

Ferguson, J; Donaire, A; Middleton, RH

Discontinuous energy shaping control of the Chaplygin sleigh Inproceedings

Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2018.

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Robust integral action of port-Hamiltonian systems

Ferguson, J; Donaire, A; Ortega, R; Middleton, RH

Robust integral action of port-Hamiltonian systems Inproceedings

Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2018.

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Donaire, A; Crespo, M; Ruggiero, F; Lippiello, V; Siciliano, B

Passivity-Based Control Design and Experiments for a Rolling-Balancing System Book Chapter

Madani, K; Peaucelle, D; Gusikhin, O (Ed.): 430 , pp. 230-255, Springer, Cham, 2018.

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Romero, JG; Donaire, A; Ortega, R; Borja, P

Global stabilisation of underactuated mechanical systems via PID passivity-based control Journal Article

Automatica, 96 (10), pp. 178-185, 2018.

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Ruggiero, F; Petit, A; Serra, D; Satici, AC; Cacace, J; Donaire, A; Ficuciello, F; Buonocore, LR; Fontanelli, GA; Lippiello, V; Villani, L; Siciliano, B

Nonprehensile manipulation of deformable objects: Achievements and perspectives from the RoDyMan project Journal Article

IEEE Robotics and Automation Magazine, 25 (3), pp. 83-92, 2018.

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Avila, F; Yuz, J; Aguero, JC; Donaire, A

Constrained Maximum Likelihood estimation for state space sampled-data models Inproceedings

The 22nd International Conference on System Theory, Control and Computing, Sinaia, Romania, 2018.

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Ferguson, J; Donaire, A; Renton, C; Middleton, RH

A port-Hamiltonian approach to the control of nonholonomic systems Journal Article

arXiv:1801.06954, 2018.

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2017

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

Ferguson, J; Donaire, A; Ortega, R; Middleton, RH

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems Inproceedings

Proc. IEEE Conference on Decision and Control, Melbourne, 2017.

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Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation

Ferguson, J; Donaire, A; Middleton, RH

Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation Journal Article

IEEE Transactions on Automatic Control, 62 (11), pp. 5947–5953, 2017.

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Decentralized control for l2 weak string stability of vehicle platoon

Ferguson, J; Donaire, A; Knorn, S; Middleton, RH

Decentralized control for l2 weak string stability of vehicle platoon Inproceedings

Proc. IFAC 2017 World Congress, pp. 15012–15017, Elsevier, Toulouse, France, 2017.

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Ortega, R; Donaire, A; Romero, JG

Passivity-Based Control of Mechanical Systems Book Chapter

Petit, N (Ed.): 473 , Chapter 7, pp. 167-199, Springer, Cham, 2017.

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Donaire, A; Romero, JG; Ortega, R; Siciliano, B; Crespo, M

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

International Journal of Robust and Nonlinear Control, 27 (6), pp. 1000-1016, 2017.

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Donaire, A; Romero, JG; Perez, T

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

The Journal of Franklin Institute, 354 (5), pp. 2167-21182, 2017.

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Donaire, A; Ruggiero, F; Buonocore, L; Lippiello, V; Siciliano, B

Passivity-based control for a nonprehensile rolling-balancing system Journal Article

IEEE Transactions on Control System Technology, 25 (6), pp. 2135-2142, 2017.

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Satici, A; Donaire, A; Siciliano, B

Intrinsic dynamics and total energy shaping control of the Ballbot system Journal Article

International Journal of Control, 90 (12), pp. 2734-2747, 2017.

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2016

Switched passivity-based control of the Chaplygin Sleigh

Ferguson, J; Donaire, A; Middleton, RH

Switched passivity-based control of the Chaplygin Sleigh Inproceedings

Proc. IFAC Symposium on Nonlinear Control Systems, pp. 1012–1017, Elsevier B.V., Monterey, California, 2016.

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Donaire, A; Ortega, R; Romero, JG

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

Systems and Control Letters, 94 (8), pp. 118-126, 2016.

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Romero, JG; Ortega, R; Donaire, A

Energy shaping of mechanical systems via PID control and extension to constant speed tracking Journal Article

IEEE Transactions on Automatic Control, 61 (11), pp. 2551-2556, 2016.

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Donaire, A; Mehra, R; Ortega, R; Satpute, S; Romero, JG; Kazi, F; Singh, NM

Shaping the energy of mechanical systems without solving partial differential equations Journal Article

IEEE Transactions on Automatic Control, 61 (4), pp. 1051-1056, 2016.

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Knorn, S; Donaire, A; Aguero, JC; Middleton, RH

Scalability of bidirectional vehicle string with static and dynamic measurement errors Journal Article

Automatica, 62 (12), pp. 208-212, 2016.

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2015

Disturbance rejection via control by interconnection of port-Hamiltonian systems

Ferguson, J; Middleton, RH; Donaire, A

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

Proc. IEEE Conference on Decision and Control, pp. 507–512, Osaka, Japan, 2015, ISBN: 9781479978854.

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Valentinis, F; Donaire, A; Perez, T

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

Control Engineering Practice, 44 (11), pp. 128-156, 2015.

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Valentinis, F; Donaire, A; Perez, T

Energy-based motion control of s slender hull unmanned underwater vehicle Journal Article

Ocean Engineering, 104 (8), pp. 604-616, 2015.

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2014

Renton, C; Donaire, A; Jackson, M; Weightman, N; Hudson, T; Ormerod, R; Robinson, T; Walker, J; Houliston, T; Carter, N; O'Donnell, S; Bartlett, N; Wakeham, G; Wong, D; Buttenshaw, J; Polo, M

Maritime RobotX Challenge Technical Report

University of Newcastle 2014.

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Knorn, S; Donaire, A; Aguero, JC; Middleton, RH

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

Automatica, 50 (12), pp. 208-212, 2014.

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Donaire, A; Perez, T; Bartlett, N

Tracking control of a class of Hamiltonian mechanical systems with disturbances Inproceedings

Australian conference on robotics and automation association ACRA, 2014.

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2013

Romero, JG; Donaire, A; Ortega, R

Robust energy shaping control of mechanical systems Journal Article

Systems and Control Letters, 62 (9), pp. 770-780, 2013.

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2012

Renton, C; Teo, YR; Donaire, A; Perez, T

Active control of car suspension systems using IDA-PBC Inproceedings

2012 2nd Australian Control Conference, pp. 361–366, IEEE 2012.

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Perez, T; Donaire, A; Renton, C

Port-Ħamiltonian control of fully actuated underwater vehicles Incollection

Further Advances in Unmanned Marine Vehicles, pp. 129–147, The Institution of Engineering and Technology, 2012.

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Perez, T; Donaire, A; Renton, C

Port-Hamiltonian Control of Fully Actuated Underwater Vehicles Book Chapter

Roberts, G N; Sutton, R (Ed.): Chapter 7, pp. 129-147, The Institution of Engineering and Technology, London, 2012.

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Donaire, A; Perez, T

Dynamic positioning of marine craft using a port-Hamiltonian framework Journal Article

Automatica, 48 (5), pp. 851-856, 2012.

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2011

Donaire, A; Perez, T; Renton, C

Manoeuvring control of fully-actuated marine vehicles. A Port-Ħamiltonian system approach to tracking Inproceedings

2011 Australian Control Conference, pp. 32–37, IEEE 2011.

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Junco, S; Donaire, A

Bond Graph Modeling and Simulation of Electrical Machines Book Chapter

Borutzky, W (Ed.): Chapter 8, pp. 269-321, Springer, New York, 2011.

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2009

Donaire, A; Junco, S

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

Automatica, 45 (8), pp. 1910-1916, 2009.

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Donaire, A; Junco, S

Derivation of input-state-output port-Hamiltonian systems from bond graphs Journal Article

Simulation Modelling Practice and Theory, 17 (1), pp. 137-151, 2009.

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Donaire, A; Junco, S

Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain Journal Article

Simulation Modelling Practice and Theory, 17 (1), pp. 152-174, 2009.

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Perez, T; Donaire, A

Constrained control design for dynamic positioning of marine vehicles with control allocation Journal Article

Modeling, Identification, and Control, 30 (2), pp. 57-70, 2009.

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Junco, S; Donaire, A; Achir, A; Sueur, C; Dauphin-Tanguy, G

Nonlinear control of DC-motor via flatness and decomposition in the bond graph domain Journal Article

Journal of Systems and Control Engineering, IMechE, Part I, 219 (I3), pp. 215-230, 2009.

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