Dr Alejandro Donaire

Conjoint Lecturer

School of Engineering

Career Summary

Biography

Dr Donaire received his degree in Electronic Engineering in 2003 and his PhD in 2009, both from the Universidad Nacional de Rosario, Argentina. His work was supported by the Argentine National Council of Scientific and Technical Research, CONICET. In 2009, he joined the Centre for Complex Dynamic Systems and Control, The University of Newcastle, Australia. Since 2011, he has held the Postdoctoral Research Fellowship of the University of Newcastle, Australia. His research interests include nonlinear and energy-based control theory with application to electrical drives, multi-agent systems, robotics, smart micro-grids networks, marine and aerospace mechatronics, and power systems.

Research Expertise
Dr Donaire's research has focused on modelling, analysis, and design of nonlinear control systems. He has particular interest on passivity-based control methods for nonlinear physical systems. His research aims to develop theory for control design in the framework of port-Hamiltonian systems, Euler-Lagrange systems, and Brayton-Moser equations, with application to electrical machines, multi-agent systems, robotics, smart grids, marine and aerospace mechatronics, and power systems.

Teaching Expertise
Dr Donaire has teaching experience in the following topics and courses - Control system design - Mechatronic systems - Dynamics and control of electrical drives - Physical system dynamics

Collaborations
Dr Donaire have collaborated with national and international researchers. He believes that teamwork, collaboration, and dedication greatly increase the quality and productivity of the research. His previous and on-going collaborations include - Laboratoire des Signaux et Systèmes, L2S, CNRS-Supelec-UPS, France. - Laboratory of Control, School of Electronic Engineering, National University of Rosario, Argentina. - Defence Science and Technology Organisation (DSTO), Melbourne, Australia. - Laboratoire d'Automatique, Gènie Informatique & Signal (LAGIS), Lille, France.

Qualifications

  • Doctor of Philosophy, University of Rosario - Argentina
  • Doctor of Philosophy, Universidad Nacional de Rosario-Santa Fe-Argentina
  • Graduate Certificate, Universidad Nacional de Rosario-Santa Fe-Argentina

Keywords

  • Control system design
  • Control theory
  • Dynamic systems
  • Electrical drives
  • Mechatronics
  • Nonlinear systems
  • Passivity-based control
  • Port-Hamiltonian systems
  • Port-Hamitonian systems

Languages

  • Spanish (Fluent)

Fields of Research

Code Description Percentage
010203 Calculus of Variations, Systems Theory and Control Theory 40
090602 Control Systems, Robotics and Automation 40
090699 Electrical and Electronic Engineering not elsewhere classified 20

Professional Experience

Academic appointment

Dates Title Organisation / Department
1/02/2011 - 1/12/2013 Research Fellow

Mechatronics

University of Newcastle
School of Engineering
Australia
1/02/2011 - 1/02/2015 Fellow UON

UoN Research Fellowship

University of Newcastle
School of Engineering
Australia
1/08/2009 - 1/01/2011 Research Academic University of Newcastle
School of Elect Engineering and Computer Science
Australia
1/03/2007 - 1/06/2009 Teaching assistant National University of Rosario
School of Elect Engineering and Computer Science
Argentina
1/09/2001 - 1/05/2005 Teaching assistant National University of Rosario
Argentina
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Publications

For publications that are currently unpublished or in-press, details are shown in italics.


Chapter (2 outputs)

Year Citation Altmetrics Link
2012 Perez T, Donaire AG, Renton CP, 'Port-Hamiltonian control of fully-actuated underwater vehicles', Further Advances in Unmanned Marine Vehicles, The Institution of Engineering and Technology (IET), London, UK 129-147 (2012) [B1]
2011 Junco S, Donaire AG, 'Bond graph modeling and simulation of electrical machines and drives', Bond Graph Modelling of Engineering Systems - Theory, Application and Software Support, Springer, New York 269-321 (2011) [B1]
DOI 10.1007/978-1-4419-9368-7_8

Journal article (11 outputs)

Year Citation Altmetrics Link
2015 Valentinis F, Donaire A, Perez T, 'Energy-based motion control of a slender hull unmanned underwater vehicle', Ocean Engineering, 104 604-616 (2015)

Abstract This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy... [more]

Abstract This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy is developed using the Port-Hamiltonian theory. By shaping of the target dynamics (desired dynamic response in closed loop) with particular attention to the target mass matrix, the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of stable uncontrolled states. Throughout the design, the insight of the physical phenomena involved is used to propose the desired target dynamics. Integral action is added to the system for robustness and to reject steady disturbances. This is achieved via a change of coordinates that result in input-to-state stable (ISS) target dynamics. As a final step in the design, an anti-windup scheme is implemented to account for limited actuator capacity, namely saturation. The performance of the design is demonstrated through simulation with a high-fidelity model. Crown

DOI 10.1016/j.oceaneng.2015.05.014
Citations Scopus - 1
2014 Knorn S, Donaire A, Agueero JC, Middleton RH, 'Passivity-based control for multi-vehicle systems subject to string constraints', AUTOMATICA, 50 3224-3230 (2014)
DOI 10.1016/j.automatica.2014.10.038
Co-authors Juan Aguero, Richard Middleton
2014 Knorn S, Donaire A, Agüero JC, Middleton RH, 'Passivity-based control for multi-vehicle systems subject to string constraints', Automatica, 50 3224-3230 (2014) [C1]

In this paper, we show how heterogeneous bidirectional vehicle strings can be modelled as port-Hamiltonian systems. Analysis of stability and string stability within this framewor... [more]

In this paper, we show how heterogeneous bidirectional vehicle strings can be modelled as port-Hamiltonian systems. Analysis of stability and string stability within this framework is straightforward and leads to a better understanding of the underlying problem. Nonlinear local control and additional integral action is introduced to design a suitable control law guaranteeing l2 string stability of the system with respect to bounded disturbances.

DOI 10.1016/j.automatica.2014.10.038
Co-authors Richard Middleton, Juan Aguero
2013 Romero JG, Donaire A, Ortega R, 'Robust energy shaping control of mechanical systems', SYSTEMS & CONTROL LETTERS, 62 770-780 (2013) [C1]
DOI 10.1016/j.sysconle.2013.05.011
Citations Scopus - 10Web of Science - 7
2012 Donaire AG, Perez T, 'Dynamic positioning of marine craft using a port-Hamiltonian framework', Automatica, 48 851-856 (2012) [C1]
Citations Scopus - 13Web of Science - 2
2009 Donaire AG, Junco S, 'On the addition of integral action to port-controlled Hamiltonian systems', Automatica, 45 1910-1916 (2009) [C1]
DOI 10.1016/j.automatica.2009.04.006
Citations Scopus - 41Web of Science - 23
2009 Perez T, Donaire AG, 'Constrained control design for dynamic positioning of marine vehicles with control allocation', Modeling Identification and Control, 30 57-70 (2009) [C1]
DOI 10.4173/mic.2009.2.2
Citations Scopus - 6Web of Science - 2
2009 Donaire AG, Junco S, 'Derivation of Input-State-Output Port-Hamiltonian Systems from bond graphs', Simulation Modelling Practice and Theory, 17 137-151 (2009) [C1]
DOI 10.1016/j.simpat.2008.02.007
Citations Scopus - 3Web of Science - 5
2009 Donaire AG, Junco S, 'Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain', Simulation Modelling Practice and Theory, 17 152-174 (2009) [C1]
DOI 10.1016/j.simpat.2008.02.012
Citations Scopus - 14Web of Science - 5
2005 Junco S, Donaire A, Achir A, Sueur C, Dauphin-Tanguy G, 'Non-linear control of a series direct current motor via flatness and decomposition in the bond graph domain', PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 219 215-230 (2005) [E1]
DOI 10.1243/095965105X9542
Citations Scopus - 5
2005 Donaire A, Junco SJ, 'Deriving Port-Controlled Hamiltonian Models with dissipation from Bond Graphs', International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2005, Held at the International Mediterranean Modeling Multiconference, I3M 2005, 117-126 (2005)

This paper presents the formulation of Port- Controlled Hamiltonian Models from Bond Graphs. For this, the general abstract field representation of BG and its associated standard ... [more]

This paper presents the formulation of Port- Controlled Hamiltonian Models from Bond Graphs. For this, the general abstract field representation of BG and its associated standard implicit form are used in order to establish a connection among variables in both domains. This correspondence can be useful to translate energy- and powershaping control system design methods available on one domain into the other. Some examples illustrate the techniques and formulæ presented.

Citations Scopus - 1
Show 8 more journal articles

Conference (26 outputs)

Year Citation Altmetrics Link
2014 Knorn S, Donaire AG, Aguero JC, Middleton R, 'Scalability of Bidirectional Vehicle Strings with Measurement Errors', Proceedings of the 19th IFAC World Congress, 2014, Cape Town, South Africa (2014) [E1]
DOI 10.3182/20140824-6-ZA-1003.00741
Co-authors Juan Aguero, Richard Middleton
2014 Donaire AG, Perez T, Bartlett N, 'Tracking Control of a Class of Hamiltonian Mechanical Systems with Disturbances', Proceedings of the Australasian Conference on Robotics and Automation 2014, Melbourne, Australia (2014) [E2]
2013 Knorn S, Donaire A, Aguero JC, Middleton RH, 'Energy-based control of bidirectional vehicle strings', 2013 3rd Australian Control Conference (AUCC), Perth, Australia (2013) [E1]
DOI 10.1109/AUCC.2013.6697281
Citations Scopus - 1Web of Science - 1
Co-authors Richard Middleton, Juan Aguero
2013 Teo YR, Donaire A, Perez T, 'Regulation and Integral Control of an Underactuated Robotic System Using IDA-PBC with Dynamic Extension', 2013 IEEE/ASME International Conference On Advanced Intelligent Mechatronics (AIM). Mechatronics For Human Wellbeing, Wollongong, Australia (2013) [E1]
DOI 10.1109/AIM.2013.6584211
Citations Scopus - 1
2013 Valentinis F, Donaire A, Perez T, 'Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian Theory', 2013 IEEE/ASME International Conference On Advanced Intelligent Mechatronics: Mechatronics For Human Wellbeing, Wollongong, Australia (2013) [E1]
DOI 10.1109/AIM.2013.6584315
2013 Perez T, Donaire A, Renton C, Valentinis F, 'Energy-Based Motion Control of Marine Vehicles Using Interconnection and Damping Assignment Passivity-Based Control - a Survey', Control Applications in Marine Systems, Osaka, Japan (2013) [E2]
DOI 10.3182/20130918-4-JP-3022.00072
2013 Donaire A, Perez T, 'Energy-Based Nonlinear Control of Ship Roll Gyro-Stabiliser with Precession Angle Constraints', Control Applications in Marine Systems, Osaka, Japan (2013) [E1]
DOI 10.3182/20130918-4-JP-3022.00046
2012 Donaire AG, Perez T, Teo YR, 'Robust speed tracking control of synchronous motors using immersion and invariance', 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), Singapore (2012) [E1]
Citations Scopus - 3
2012 Renton CP, Teo YR, Donaire AG, Perez T, 'Active control of car suspension systems using IDA-PBC', Australian Control Conference 2012, Sydney, Australia (2012) [E1]
2012 Romero JG, Donaire AG, Ortega R, 'Simplifying robust energy shaping controllers for mechanical systems via coordinate changes', Proceedings of the 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, Bertinoro, Italy (2012) [E1]
Citations Scopus - 3
2012 Romero JG, Donaire AG, Ortega R, 'Robustifying energy shaping control of mechanical systems', Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii (2012) [E1]
Citations Scopus - 2Web of Science - 1
2011 De Lamberterie P-EM, Perez T, Donaire AG, 'A low-complexity flight controller for unmanned aircraft systems with constrained control allocation', Proceedings of the 2011 Australian Control Conference, AUCC 2011, Melbourne, Vic (2011) [E1]
2011 Donaire AG, Perez T, Renton CP, 'Manoeuvring control of fully-actuated marine vehicles. A Port-Hamiltonian system approach to tracking', Proceedings of the 2011 Australian Control Conference, AUCC 2011, Melbourne, VIC (2011) [E1]
2011 Perez T, Donaire AG, De Lamberterie P-EM, Williams B, 'A framework for testing robust autonomy of UAS during design and certification', AIAA Infotech@Aerospace 2011 Online Proceeding, St Louis, Missouri (2011) [E2]
2011 Perez T, Donaire AG, De Lamberterie P-EM, Williams B, 'Joint motion control and control allocation design for UAS flight control systems', AIAA Infotech@Aerospace 2011 Online Proceeding, St Louis, Missouri (2011) [E2]
2010 Perez T, Donaire A, 'Control design for positioning of underwater vehicles with control allocation', International Maritime Conference 2010 Program and Abstract Book: Maritime Industry - Challenges, Opportunities and Imperatives, Sydney, NSW (2010) [E2]
2010 Perez T, De Lamberterie P, Donaire A, Herrero ER, 'Parameter estimation of thrust models of uninhabited airborne systems', IFAC Proceedings Volumes (IFAC-PapersOnline) (2010)

This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify t... [more]

This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify the estimation. The proposed estimation method is based on three steps. The first step uses a regression model in which the thrust is assumed constant. This allows us to obtain biased initial estimates of the aerodynamic coefficients of the surge model. In the second step, a robust nonlinear state estimator is implemented using the initial parameter estimates, and the model is augmented by considering the thrust as random walk. In the third step, the estimate of the thrust obtained by the observer is used to fit a polynomial model in terms of the propeller advanced ratio. We consider a numerical example based on Monte-Carlo simulations to quantify the sampling properties of the proposed estimator given realistic flight conditions.

2010 Perez T, De Lamberterie P-EM, Donaire AG, Revestido-Herrero E, 'Parameter estimation of thrust models of uninhabited vehicles and systems', 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy (2010) [E1]
DOI 10.3182/20100906-3-IT-2019.00062
2010 Perez T, Donaire AG, Williams BP, 'On evaluation of robust autonomy of uninhabited vehicles and systems', 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy (2010) [E1]
2010 Donaire AG, Perez T, 'Port Hamiltonian Theory of motion control for marine craft', 8th IFAC Conference on Control Applications in Marine Systems, Rostock, Germany (2010)
2008 Nacusse MA, Junco SJ, Donaire AG, 'AUTOMATIZANDO EL MODELADO Y SIMULACION CON BOND GRAPHS DE SISTEMAS FISICOS CONMUTADOS', Mecanica Computacional, San Luis, Argentina (2008) [E1]
2008 Junco S, Rahmani A, Hihi H, Donaire AG, 'On the stability of a class of switches bond graphs', Proceedings 22nd European Conference on Modelling and Simulation, Nicosia, Cyprus (2008) [E1]
2006 Achir A, Junco S, Donaire A, Sueur C, 'A bond-graph method for flatness-based dynamic feedback linearization controller synthesis: Application to a current-fed induction motor', 20th European Conference on Modelling and Simulation ECMS 2006, Bonn Rhein Sige Univ Appl Sci, Bonn, GERMANY (2006)
2006 Donaire A, Junco S, 'Energy shaping and interconnection and damping assignment control in the bond graph domain', 20th European Conference on Modelling and Simulation ECMS 2006, Bonn Rhein Sige Univ Appl Sci, Bonn, GERMANY (2006) [E1]
Citations Scopus - 1
2006 Achir A, Junco S, Donaire AG, Sueur C, 'A Bond-Graph Method for Flatness-Based Dynamic Feedback Linearization Controller Synthesis: Application to a Current-Fed Induction Motor', Proceedings 20th European Conference on Modelling and Simulation, Sankt Augustin, Alemania (2006) [E1]
2002 Junco S, Donaire A, Garnero G, 'Speed control of series DC motor: A bond graph based backstepping design', Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (2002)

A speed-tracking problem is solved on a series DC-motor via a bond graph based backstepping technique. A switched excitation circuit allowing for field-weakening demands two desig... [more]

A speed-tracking problem is solved on a series DC-motor via a bond graph based backstepping technique. A switched excitation circuit allowing for field-weakening demands two designs, each of them being accomplished via a basic methodology combining backstepping and an elementary tracking design. A Lyapunov-redesign method is further applied in order to assure closed loop asymptotic stability of the whole system. The essential BG concepts and techniques used in the methods are minimal paths, bicausality and I-O inversion. The bond graph technique gives physical insight into the choice of the intermediate variables for the backstepping design. The controller performance is shown with the help of digital simulation results.

Citations Scopus - 1
Show 23 more conferences

Report (1 outputs)

Year Citation Altmetrics Link
2009 Perez T, Donaire AG, '[Commercial in confidence]', CFW-Hamilton Jet & Co Ltd, New Zealand, 9 (2009) [R2]
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Grants and Funding

Summary

Number of grants 4
Total funding $522,796

Click on a grant title below to expand the full details for that specific grant.


20121 grants / $40,000

Nonlinear State Estimation and Control of Multiple UUV’s in Close Proximity$40,000

Funding body: Defence Science and Technology Organisation

Funding body Defence Science and Technology Organisation
Project Team Doctor Alejandro Donaire, Associate Professor Tristan Perez
Scheme Research Scholarship
Role Lead
Funding Start 2012
Funding Finish 2012
GNo G1200327
Type Of Funding Other Public Sector - Commonwealth
Category 2OPC
UON Y

20113 grants / $482,796

2010 Research Fellowship - PRCCDSC$457,796

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Doctor Alejandro Donaire
Scheme Research Fellowship
Role Lead
Funding Start 2011
Funding Finish 2011
GNo G1100065
Type Of Funding Internal
Category INTE
UON Y

Energy-Based Control of Constrained Port-Hamiltonian Systems (PHS)$15,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Doctor Alejandro Donaire, Associate Professor Tristan Perez
Scheme Fellowship Grant
Role Lead
Funding Start 2011
Funding Finish 2011
GNo G1100066
Type Of Funding Internal
Category INTE
UON Y

Energy-based Control of Underwater Vehicles$10,000

Funding body: Defence Science and Technology Organisation

Funding body Defence Science and Technology Organisation
Project Team Doctor Alejandro Donaire, Associate Professor Tristan Perez
Scheme Research Grant
Role Lead
Funding Start 2011
Funding Finish 2011
GNo G1100466
Type Of Funding Other Public Sector - Commonwealth
Category 2OPC
UON Y
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Research Supervision

Number of supervisions

Completed1
Current1

Total current UON EFTSL

Masters0.3

Current Supervision

Commenced Level of Study Research Title / Program / Supervisor Type
2014 Masters Nonlinear State Estimation and Control of Multiple UUV's in Close Proximity
Electrical Engineering, Faculty of Engineering and Built Environment, The University of Newcastle
Co-Supervisor

Past Supervision

Year Level of Study Research Title / Program / Supervisor Type
2013 Masters Passivity-Based Control of a Class of Underactuated Robotic System
Mechanical Engineering, Faculty of Engineering and Built Environment, The University of Newcastle
Co-Supervisor
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Dr Alejandro Donaire

Position

Conjoint Lecturer
School of Engineering
Faculty of Engineering and Built Environment

Contact Details

Email alejandro.donaire@newcastle.edu.au
Phone (02) 4921 7459

Office

Room ES431a
Building ES
Location Callaghan
University Drive
Callaghan, NSW 2308
Australia
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