9 papers
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…
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…
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…