2 citations · 2 across the 3 of their papers we have counts for
5 papers
Sliding Mode Control Barrier Function
Caio I. G. Chinelato, Bruno A. Angélico
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking obje…
The Cubli: Modeling Utilizing Quaternions
Fabio Bobrow, Bruno A. Angelico, Flavius P. R. Martins
This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned…
The Cubli: Modeling and Nonlinear Control Utilizing Unit Complex Numbers
Fabio Bobrow, Bruno A. Angelico, Paulo S. P. da Silva
This paper covers the modeling and nonlinear control of the Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel-based 1D/3D inverted…
Source Seeking in Unknown Environments with Convex Obstacles
Bruno A. Angélico, Luiz F. O. Chamon, Santiago Paternain +2
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly…
Frontal Plane Bipedal Zero Dynamics Control
Arthur de Oliveira, Guilherme Vicinansa, Paulo da Silva +1
In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study…