34 citations · 78 across the 11 of their papers we have counts for
12 papers
robust synergistic hybrid feedback
Pedro Casau, Ricardo G. Sanfelice, Carlos Silvestre
Synergistic hybrid feedback refers to a collection of feedback laws that allow for global asymptotic stabilization of a compact set through the following switching logic: given a c…
Formation control of a leader-follower structure in three dimensional space using bearing measurements
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. U…
Quadrotor going through a window and landing: An image-based visual servo control approach
Zhiqi Tang, Rita Cunha, David Cabecinhas +2
This paper considers the problem of controlling a quadrotor to go through a window and land on a planar target, the landing pad, using an Image-Based Visual Servo (IBVS) controller…
A Discrete-time Reputation-based Resilient Consensus Algorithm for Synchronous or Asynchronous Communications
Guilherme Ramos, Daniel Silvestre, Carlos Silvestre
We tackle the problem of a set of agents achieving resilient consensus in the presence of attacked agents. We present a discrete-time reputation-based consensus algorithm for synch…
Relaxed bearing rigidity and bearing formation control under persistence of excitation
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper addresses the problem of time-varying bearing formation control in -dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired…
Bearing-only formation control under persistence of excitation
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper addresses the problem of bearing-only formation control in -dimensional space by exploring persistence of excitation (PE) of the desired bearing reference.…
Robust Global Exponential Stabilization on the -Dimensional Sphere with Applications to Trajectory Tracking for Quadrotors
Pedro Casau, Christopher G. Mayhew, Ricardo G. Sanfelice +1
In this paper, we design a hybrid controller that globally exponentially stabilizes a system evolving on the n-dimensional sphere, denoted by Sn. This hybrid controller is induced…
LiDAR-based Control of Autonomous Rotorcraft for the Inspection of Pier-like Structures: Proofs
Bruno J. Guerreiro, Carlos Silvestre, Rita Cunha +1
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking contro…
The Variational Attitude Estimator in the Presence of Bias in Angular Velocity Measurements
Maziar Izadi, Sasi Prabhakaran Viswanathan, Amit Kumar Sanyal +2
Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is describe…
Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents
M. Morgado, P. Batista, P. Oliveira +1
This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinea…
A Sensor-based Long Baseline Position and Velocity Navigation Filter for Underwater Vehicles
Pedro Batista, Carlos Silvestre, Paulo Oliveira
This paper presents a novel Long Baseline (LBL) position and velocity navigation filter for underwater vehicles based directly on the sensor measurements. The solution departs from…
Multiple-Model Adaptive Control With Set-Valued Observers
Paulo Rosa, Carlos Silvestre, Jeff S. Shamma +1
This paper proposes a multiple-model adaptive control methodology, using set-valued observers (MMAC-SVO) for the identification subsystem, that is able to provide robust stability…