78 citations · 159 across the 15 of their papers we have counts for
12 papers · 1 filter
Safe whole-body backstepping control for quadcopter path-following
Arthur H. D. Nunes, Arthur Da C. Vangasse, Guilherme V. Raffo +2
This paper presents a novel whole-body Backstepping control strategy for safe quadcopter path-following. The proposed approach introduces an integrated control scheme that combines…
Safe and robust tube-based path-following for robot navigation
Arthur H. D. Nunes, Vinicius M. Gonçalves, Guilherme V. Raffo +2
In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safet…
Point-to-Cloud NMPC with Smooth Avoidance Constraints
Brener G. Ferreira, Vinicius M. Gonçalves, Marcelo A. Santos +1
This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. Th…
Reachability Analysis of Nonlinear Discrete-Time Systems Using Polyhedral Relaxations and Constrained Zonotopes
Brenner S. Rego, Guilherme V. Raffo, Marco H. Terra +1
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxat…
ZETA: a library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems
Brenner S. Rego, Joseph K. Scott, Davide M. Raimondo +2
This paper introduces ZETA, a new MATLAB library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems. It features user-friendly implementations of set repres…
Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
Brenner S. Rego, Daniel N. Cardoso, Marco. H. Terra +1
This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load wi…
Stabilizing NMPC Approaches for Underactuated Mechanical Systems on the SE(3) Manifold
Jean C. Pereira, Valter J. S. Leite, Guilherme V. Raffo
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freed…
Line zonotopes: A tool for state estimation and fault diagnosis of unbounded and descriptor systems
Brenner S. Rego, Davide M. Raimondo, Guilherme V. Raffo
This paper proposes new methods for set-based state estimation and active fault diagnosis (AFD) of linear descriptor systems (LDS). Unlike intervals, ellipsoids, and zonotopes, con…
Set-Point Tracking MPC with Avoidance Features
Marcelo A. Santos, Antonio Ferramosca, Guilherme V. Raffo
This work proposes a finite-horizon optimal control strategy to solve the tracking problem while providing avoidance features to the closed-loop system. Inspired by the set-point t…
Joint state and parameter estimation based on constrained zonotopes
Brenner S. Rego, Diego Locatelli, Davide M. Raimondo +1
This note presents a new method for set-based joint state and parameter estimation of discrete-time systems using constrained zonotopes. This is done by extending previous set-base…
Set-based state estimation and fault diagnosis of linear discrete-time descriptor systems using constrained zonotopes
Brenner S. Rego, Davide M. Raimondo, Guilherme V. Raffo
This paper presents new methods for set-valued state estimation and active fault diagnosis of linear descriptor systems. The algorithms are based on constrained zonotopes, a genera…
Suspended Load Path Tracking Control Using a Tilt-rotor UAV Based on Zonotopic State Estimation
Brenner S. Rego, Guilherme V. Raffo
This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic b…