Alessandro Macchelli

63 papers A* 3A 4C 1Journal 30Unranked 24
YearRankTypeTitle / Venue / Authors
2026 J jnl
An Energy-Based Approach to the Force-Impedance Control Problem for Robot Manipulators.
IEEE Trans. Control. Syst. Technol.
Haojun Ma, Mauricio Muñoz-Arias, Jacquelien M. A. Scherpen, Alessandro Macchelli
2026 J jnl
Port-Hamiltonian Boundary Control Systems in Discrete-Time Modeling and Control Design.
IEEE Trans. Autom. Control.
Alessandro Macchelli
2025 J jnl
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions.
CoRR
Alessandro Letti, Riccardo Zanella, Alessandro Macchelli, Federico Califano
2024 J jnl
A Discrete-Time Formulation of Nonlinear Distributed-Parameter Port-Hamiltonian Systems.
IEEE Control. Syst. Lett.
Alessandro Macchelli
2024 J jnl
The effect of control barrier functions on energy transfers in controlled physical systems.
CoRR
Federico Califano, Riccardo Zanella, Alessandro Macchelli, Stefano Stramigioli
2024 J jnl
Towards Parameter-free Distributed Optimization: a Port-Hamiltonian Approach.
CoRR
Rodrigo Aldana-López, Alessandro Macchelli, Giuseppe Notarstefano, Rosario Aragüés, Carlos Sagüés
2023 J jnl
Control Design for a Class of Discrete-Time Port-Hamiltonian Systems.
IEEE Trans. Autom. Control.
Alessandro Macchelli
2023 — conf
Distributed-Parameter Port-Hamiltonian Systems in Discrete-Time.
CDC
Alessandro Macchelli
2023 — conf
Port-Hamiltonian Control Design for an IPMC Actuated Highly Flexible Endoscope.
CDC
Alessandro Macchelli, Yongxin Wu, Yann Le Gorrec
2022 J jnl
Stabilization of Unstable Distributed Port-Hamiltonian Systems in Scattering Form.
IEEE Control. Syst. Lett.
Alessandro Macchelli, Yann Le Gorrec, Héctor Ramírez
2022 J jnl
Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems.
IEEE Control. Syst. Lett.
Alessandro Macchelli
2021 J jnl
Design of a Robust Adaptive Controller for a Hydraulic Press and Experimental Validation.
IEEE Trans. Control. Syst. Technol.
Davide Barchi, Alessandro Macchelli, Gildo Bosi, Lorenzo Marconi, Davide Foschi, Mirco Mezzetti
2020 J jnl
A variable rest length impedance grasping strategy in the port-Hamiltonian framework.
CoRR
Mauricio Munoz-Arias, Jacquelien M. A. Scherpen, Alessandro Macchelli
2020 J jnl
Exponential Stabilization of Port-Hamiltonian Boundary Control Systems via Energy Shaping.
IEEE Trans. Autom. Control.
Alessandro Macchelli, Yann Le Gorrec, Héctor Ramírez
2020 J jnl
Robust motion control of aerial manipulators.
Annu. Rev. Control.
Nicola Mimmo, Alessandro Macchelli, Roberto Naldi, Lorenzo Marconi
2019 — conf
Detectability Analysis of Faults Affecting Actuators and Sensors of Flexible Space Structures.
ECC
Paolo Castaldi, Alessandro Macchelli, Nicola Mimmo
2018 J jnl
Dissipativity-based boundary control of linear distributed port-Hamiltonian systems.
Autom.
Alessandro Macchelli, Federico Califano
2018 J jnl
Stability Analysis of Nonlinear Repetitive Control Schemes.
IEEE Control. Syst. Lett.
Federico Califano, Michelangelo Bin, Alessandro Macchelli, Claudio Melchiorri
2017 — conf
Boundary control of distributed port-hamiltonian systems via generalised canonical transformations.
CDC
Alessandro Macchelli, Yann Le Gorrec, Hector Ramirez Estay
2017 — conf
On backstepping boundary control for a class of linear port-Hamiltonian systems.
CDC
Héctor Ramírez, Hans Zwart, Yann Le Gorrec, Alessandro Macchelli
2017 J jnl
On the Synthesis of Boundary Control Laws for Distributed Port-Hamiltonian Systems.
IEEE Trans. Autom. Control.
Alessandro Macchelli, Yann Le Gorrec, Hector Ramirez Estay, Hans Zwart
2017 — conf
Stability analysis of repetitive control: The port-Hamiltonian approach.
CDC
Federico Califano, Alessandro Macchelli, Claudio Melchiorri
2016 — conf
Brayton-moser formulation of infinite dimensional port-hamiltonian systems with application to boundary control.
CDC
Alessandro Macchelli
2016 — conf
On the control by interconnection and exponential stabilisation of infinite dimensional port-Hamiltonian systems.
CDC
Alessandro Macchelli
2015 — conf
Boundary L2-gain stabilisation of a distributed Port-Hamiltonian system with rectangular domain.
CDC
Alessandro Macchelli, Yann Le Gorrec, Hector Ramirez Estay
2015 — conf
Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems.
CDC
Alessandro Macchelli
2014 — conf
An impedance grasping strategy.
CDC
Mauricio Munoz-Arias, Jacquelien M. A. Scherpen, Alessandro Macchelli
2014 J jnl
Developing an Aerial Manipulator Prototype: Physical Interaction with the Environment.
IEEE Robotics Autom. Mag.
Matteo Fumagalli, Roberto Naldi, Alessandro Macchelli, Francesco Forte, Arvid Q. L. Keemink, Stefano Stramigioli, Raffaella Carloni, Lorenzo Marconi
2014 J jnl
Dirac structures on Hilbert spaces and boundary control of distributed port-Hamiltonian systems.
Syst. Control. Lett.
Alessandro Macchelli
2014 J jnl
Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback.
IEEE Trans. Autom. Control.
Hector Ramirez Estay, Yann Le Gorrec, Alessandro Macchelli, Hans Zwart
2014 — conf
Interconnection of port-hamiltonian systems via contact structures. An application to macro-economic systems.
CDC
Alessandro Macchelli
2014 A* conf
On the control of an aerial manipulator interacting with the environment.
ICRA
Francesco Forte, Roberto Naldi, Alessandro Macchelli, Lorenzo Marconi
2014 J jnl
Passivity-Based Control of Implicit Port-Hamiltonian Systems.
SIAM J. Control. Optim.
Alessandro Macchelli
2014 J jnl
Towards a port-based formulation of macro-economic systems.
J. Frankl. Inst.
Alessandro Macchelli
2013 A conf
A simulator environment for aerial service robot prototypes.
IROS
Roberto Naldi, Alessandro Macchelli, Dario Mengoli, Lorenzo Marconi
2013 J jnl
Boundary energy shaping of linear distributed port-Hamiltonian systems.
Eur. J. Control
Alessandro Macchelli
2013 J jnl
Guest Editorial.
Eur. J. Control
Alessandro Macchelli, Cristian Secchi, A. J. van der Schaft
2013 — conf
On the use of Dirac structures on Hilbert spaces in the synthesis of boundary control laws for port-Hamiltonian systems.
CDC
Alessandro Macchelli
2013 — conf
Passivity-based control of implicit port-Hamiltonian systems.
ECC
Alessandro Macchelli
2013 — conf
Port-Hamiltonian formulation of simple macro-economic systems.
CDC
Alessandro Macchelli
2012 A conf
A prototype of aerial manipulator.
IROS
Alessio Torre, Dario Mengoli, Roberto Naldi, Francesco Forte, Alessandro Macchelli, Lorenzo Marconi
2012 — conf
Asymptotic stability of forced equilibria for distributed port-Hamiltonian systems.
CDC
Alessandro Macchelli
2012 C conf
Impedance control of an aerial manipulator.
ACC
Francesco Forte, Roberto Naldi, Alessandro Macchelli, Lorenzo Marconi
2012 A conf
Modeling and control of a flying robot for contact inspection.
IROS
Matteo Fumagalli, Roberto Naldi, Alessandro Macchelli, Raffaella Carloni, Stefano Stramigioli, Lorenzo Marconi
2011 J jnl
Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency.
IEEE Trans. Robotics
Michel Franken, Stefano Stramigioli, Sarthak Misra, Cristian Secchi, Alessandro Macchelli
2011 J jnl
Energy shaping of distributed parameter port-Hamiltonian systems based on finite element approximation.
Syst. Control. Lett.
Alessandro Macchelli
2010 J jnl
Interconnection and Simulation Issues in Haptics.
IEEE Trans. Haptics
Gianni Borghesan, Alessandro Macchelli, Claudio Melchiorri
2009 — conf
Bridging the gap between passivity and transparency.
Robotics: Science and Systems
Michel Franken, Stefano Stramigioli, Rob Reilink, Cristian Secchi, Alessandro Macchelli
2009 — conf
Control by interconnection of distributed port-hamiltonian systems based on finite elements approximation.
CDC
Alessandro Macchelli, Claudio Melchiorri
2009 — conf
Model reduction for high-order port-Hamiltonian systems. Application to piezo-electric systems.
CDC
Luca Gentili, Luca Bassi, Alessandro Macchelli, Claudio Melchiorri, Roberto Borsari
2009 — book
Modeling and Control of Complex Physical Systems - The Port-Hamiltonian Approach.
Vincent Duindam, Alessandro Macchelli, Stefano Stramigioli, Herman Bruyninckx
2009 J jnl
Port-Based Modeling and Simulation of Mechanical Systems With Rigid and Flexible Links.
IEEE Trans. Robotics
Alessandro Macchelli, Claudio Melchiorri, Stefano Stramigioli
2007 J jnl
Port-Based Modeling of a Flexible Link.
IEEE Trans. Robotics
Alessandro Macchelli, Claudio Melchiorri, Stefano Stramigioli
2007 A* conf
Simulation Issues in Haptics.
ICRA
Gianni Borghesan, Alessandro Macchelli, Claudio Melchiorri
2006 A* conf
Port-based Modelling of Manipulators with Flexible Links.
ICRA
Alessandro Macchelli, Stefano Stramigioli, Claudio Melchiorri
2005 J jnl
Control by interconnection of mixed port Hamiltonian systems.
IEEE Trans. Autom. Control.
Alessandro Macchelli, Claudio Melchiorri
2005 — conf
Port-based Modelling and Control of the Mindlin Plate.
CDC/ECC
Alessandro Macchelli, Claudio Melchiorri, Luca Bassi
2004 J jnl
Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach.
SIAM J. Control. Optim.
Alessandro Macchelli, Claudio Melchiorri
2004 A conf
Multi-variable port Hamiltonian model of piezoelectric material.
IROS
Alessandro Macchelli, Arjan van der Schaft, Claudio Melchiorri
2004 — conf
Port Hamiltonian formulation of infinite dimensional systems I. Modeling.
CDC
Alessandro Macchelli, Arjan J. van der Schaft, Claudio Melchiorri
2004 — conf
Port Hamiltonian formulation of infinite dimensional systems II. Boundary control by interconnection.
CDC
Alessandro Macchelli, Arjan J. van der Schaft, Claudio Melchiorri
2003 — conf
A variable structure approach to energy shaping.
ECC
Alessandro Macchelli, Claudio Melchiorri, Cristian Secchi, Cesare Fantuzzi
2002 — conf
Scattering for infinite dimensional port Hamiltonian systems.
CDC
Alessandro Macchelli, Stefano Stramigioli, Arjan van der Schaft, Claudio Melchiorri