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An overview of structural systems theory

Guilherme Ramos; A. PedroAguiar; Sérgio Pequito Automatica DOI: https://doi.org/10.1016/j.automatica.2022.110229 Abstract(EN): This paper provides an overview of the research conducted in the context of structural (or structured) systems. These are parametrized models used to assess and design system theoretical properties without considering a specific realization of the parameters (which could be uncertain or unknown). The research […]

Model Predictive Control for Self Driving Cars: A Case Study Using the Simulator CARLA within a ROS Framework

Daniel R Morais, A Pedro Aguiar ICARSC 2022 DOI: 10.1109/ICARSC55462.2022.9784788 Abstract(EN): Over the past few years, autonomous driving vehicles have been growing rapidly due to advances in technology, namely computing power and improvements in sensors and actuators. This paper presents a research work that addresses the autonomous driving problem. More specifically, a Model Predictive Control […]

A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach

Pramod Maurya, Helio Mitio Morishita, Antonio Pascoal, A. Pedro Aguiar Sensors (MDPI) DOI: 10.3390/s22114293 Abstract(EN): This article addresses the problem of path following of marine vehicles along straight lines in the presence of currents by resorting to an inner-outer control loop strategy, with due account for the presence of currents. The inner-outer loop control structures exhibit […]

A Secure Federated Deep Learning-Based Approach for Heating Load Demand Forecasting in Building Environment

Moradzadeh, A.; Moayyed, H.; Mohammadi Ivatloo, B.; Aguiar, AP. ; Anvari Moghaddam, A.  IEEE Acces ID Authenticus: P-00V-ZNM DOI: 10.1109/access.2021.3139529 Abstract (EN): Recently, with the establishment of new thermal regulations, the energy efficiency of buildings has increased significantly, and various deep learning-based methods have been presented to accurately forecast the heating load demand of buildings. However, all of […]

Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance

Hausler, AJ; Saccon, A; Aguiar, AP; Hauser, J; Pascoal, AM IEEE Transactions on Control Systems Technology ID Authenticus: P-00R-YR9 DOI: 10.1109/TCST.2015.2475399 Abstract:We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of […]

Second-Order-Optimal Minimum-Energy Filters on Lie Groups

Saccon, A; Trumpf, J; Mahony, R; Aguiar, AP IEEE Transactions on Automatic Control ID Authenticus: P-00M-57F DOI: 10.1109/tac.2015.2506662 Abstract: Systems on Lie groups naturally appear as models for physical systems with full symmetry. We consider the state estimation problem for such systems where both input and output measurements are corrupted by unknown disturbances. We provide an explicit formula […]

Moving Path Following for Unmanned Aerial Vehicles With Applications to Single and Multiple Target Tracking Problems

Oliveira, T; Aguiar, AP; Encarnacao, P IEEE Transactions on Robotics ID Authenticus: P-00K-VS8 DOI: 10.1109/tro.2016.2593044 Abstract: This paper introduces the moving path following (MPF) problem, in which a vehicle is required to converge to and follow a desired geometric moving path, without a specific temporal specification, thus generalizing the classical path following that only applies to stationary paths. […]

Safe Coordinated Maneuvering of Teams of Multirotor Unmanned Aerial Vehicles: A Cooperative Control Framework For Multivehicle, Time-Critical Missions

Cichella, V; Choe, R; Mehdi, SB; Xargay, E; Hovakimyan, N; Dobrokhodov, V; Kaminer, I; Pascoal, AM; Aguiar, AP IEEE CONTROL SYSTEMS MAGAZINE ID Authenticus: P-00K-SAC DOI: 10.1109/mcs.2016.2558443 Abstract: Multirotor unmanned aerial vehicles (UAVs) have experienced a very fast-paced technological development over the past years. Flight control systems have evolved from simple stability augmentation systems, barely enabling an external […]

On convergence and Performance Certification of a Continuous-time Economic Model Predictive Control Scheme with Time-varying Performance Index

Alessandretti, A; Aguiar, AP; Jones, CN AUTOMATICA ID Authenticus: P-00K-93B DOI: 10.1016/j.automatica.2016.01.020 Abstract: This paper addresses the design of convergence and performance certified sampled-data model predictive control (MPC) laws with a time-dependent economic performance index. More precisely, using a dissipativity property of the system, we provide a set of sufficient conditions that guarantee convergence of the closed-loop state […]

Minimum Cost Input/Output Design for Large-scale Linear Structural Systems

Pequito, S; Kar, S; Aguiar, AP AUTOMATICA ID Authenticus: P-00K-92Z DOI: 10.1016/j.automatica.2016.02.005 Abstract: In this paper, we provide optimal solutions to two different (but related) input/output design problems involving large-scale linear dynamical systems, where the cost associated to each directly actuated/measured state variable can take different values, but is independent of the input/output performing the task. Under these […]