Icing Detection and Identification for Unmanned Aerial Vehicles using Adaptive Nested Multiple Models

Cristofaro, A; Johansen, TA; Aguiar, AP   INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING ID Authenticus: P-00N-9QX DOI: 10.1002/acs.2787 Abstract: A multiple-model approach for icing diagnosis and identification in small unmanned aerial vehicles is proposed. The accretion of ice layers on wings and control surfaces modifies the shape of the aircraft and, consequently, alters the performance and controllability […]

The Robust Minimal Controllability Problem

Pequito, S; Ramos, G; Kar, S; Aguiar, AP; Ramos, J AUTOMATICA ID Authenticus: P-00M-TXZ DOI: 10.1016/j.automatica.2017.04.053 Abstract: In this paper, we address the robust minimal controllability problem, where the goal is, given a linear time invariant system, to determine a minimal subset of state variables to be actuated to ensure controllability under additional constraints. We study the problem […]

Input-to-State-Stability Approach to Economic Optimization in Model Predictive Control

Alessandretti, A; Aguiar, AP; Jones, CN  IEEE Transactions on Automatic Control ID Authenticus: P-00N-697 DOI: 10.1109/tac.2017.2700388 Abstract: This paper presents a model predictive control (MPC) scheme where a combination of a stabilizing stage cost and an economic stage cost is employed to allow the minimization of an economic performance index while still guaranteeing convergence toward a desired steady […]

Composability and Controllability of Structural Linear Time-invariant Systems: Distributed Verification

Carvalho, JF; Pequito, S; Aguiar, AP; Kar, S; Johansson, KH AUTOMATICA ID Authenticus: P-00M-E6Z DOI: 10.1016/j.automatica.2016.12.016 Abstract: Motivated by the development and deployment of large-scale dynamical systems, often comprised of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. Specifically, we study controllability in the structural system theoretic sense, structural controllability, […]

Self-Triggered Time Coordinated Deployment Strategy for Multiple Relay UAVs to Work as a Point-to-Point Communication Bridge

Braga, J; Praveen Jain, RP; Aguiar, AP; João Tasso Sousa 2017 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS) ID Authenticus: P-00N-RJ7 DOI: 10.1109/red-uas.2017.8101634 Abstract: The use of multiple heterogeneous, low-cost, small Unmanned Aerial Vehicles (UAVs) as a tool in several application domains is becoming increasingly important. One critical aspect to enable the use of […]

Path tracking for Waypoint lists Based on a Pure Pursuit Method for Fixed wing UAS

Balampanis, F; Aguiar, AP; Maza, I; Ollero, A  2017 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS) ID Authenticus: P-00N-RJ8 DOI: 10.1109/red-uas.2017.8101643 Abstract: This paper introduces a method for path tracking based on a basic pure pursuit (PP) algorithmic strategy. To increase the robustness and reliability in coverage and tracking tasks using multiple Unmanned Aerial […]

A Design Method for Distributed Luenberger Observers

Rego, FFC; Aguiar, AP; Pascoal, AM; Jones, CN  2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) ID Authenticus: P-00N-MR9 DOI: 10.1109/cdc.2017.8264153 Abstract: The paper addresses the problem of designing distributed observers for discrete linear time-invariant (LTI) systems with distributed sensor nodes subjected to bounded measurement noise. A solution is proposed in terms of a distributed LTI […]

A Distributed Model Predictive Control Scheme for Coordinated Output Regulation

Alessandretti, A; Aguiar, AP  20th World Congress of the International-Federation-of-Automatic-Control (IFAC) ID Authenticus: P-00N-4YW DOI: 10.1016/j.ifacol.2017.08.1550 Abstract: This paper addresses the coordinated output regulation control problem. Consider a network of agents with associated output equations, where the latter is a function of the state of the agent and a coordination vector. Each agent can access its state, its […]

Single and Multiple Motion Control of Autonomous Robotic Vehicles

Aguiar, AP 2017 11th International Workshop on Robot Motion and Control (RoMoCo) ID Authenticus: P-00N-9RK DOI: 10.1109/romoco.2017.8003910 Abstract: The past few decades have witnessed a significant research effort in the area of motion control for autonomous robotic vehicles. This paper presents a brief survey related to two topics in this area: i) the design of control systems to […]

A Planar Path-Following Model Predictive Controller for Fixed-Wing Unmanned Aerial Vehicles

Alessandretti, A; Aguiar, AP  2017 11th International Workshop on Robot Motion and Control (RoMoCo) ID Authenticus: P-00N-9RJ DOI: 10.1109/romoco.2017.8003893 Abstract: This paper addresses the design of a path-following using a sampled-data Model Predictive Control (MPC) approach for a fixed-wing Unmanned Aerial Vehicle (UAV). In path-following, the motion task consists in steering the vehicle towards a given desired geometric […]