A Lagrangian framework to incorporate positional and velocity constraints to achieve path-following control. - Ehsan Peymani; Thor I. Fossen (CDC/ECC, 2011)

Motion control of marine craft using virtual positional and velocity constraints. - Ehsan Peymani; Thor I. Fossen (ICCA, 2011)

Leader-follower formation of marine craft using constraint forces and lagrange multipliers. - Ehsan Peymani; Thor I. Fossen (CDC, 2012)

ℌ1 almost synchronization for non-identical introspective multi-agent systems under external disturbances. - Ehsan Peymani; Håvard Fjær Grip; Ali Saberi; Xu Wang 005; Thor I. Fossen (ACC, 2013)

ℋ∞ almost synchronization for homogeneous networks of non-introspective SISO agents under external disturbances. - Ehsan Peymani; Håvard Fjær Grip; Ali Saberi; Thor I. Fossen (CDC, 2013)

ℌ∞ almost regulated synchronization and ℌ∞ almost formation for heterogeneous networks under external disturbances. - Ehsan Peymani; Håvard Fjær Grip; Ali Saberi; Xu Wang 005; Thor I. Fossen (ECC, 2013)

2D Path Following for Marine Craft: A Least-Square Approach. - Ehsan Peymani; Thor I. Fossen (NOLCOS, 2013)

H∞ almost output synchronization for heterogeneous networks of introspective agents under external disturbances. - Ehsan Peymani; Håvard Fjær Grip; Ali Saberi; Xu Wang 005; Thor I. Fossen (Autom., 2014)

Homogeneous networks of non-introspective agents under external disturbances - H∞ almost synchronization. - Ehsan Peymani; Håvard Fjær Grip; Ali Saberi (Autom., 2015)

Path following of underwater robots using Lagrange multipliers. - Ehsan Peymani; Thor I. Fossen (Robotics Auton. Syst., 2015)