Now showing items 1-7 of 7

  • Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle 

    Cayero Becerra, Julián Francisco; Cugueró Escofet, Josep; Morcego Seix, Bernardo (2014)
    Conference report
    Open Access
    Through this work a deep understanding of the backstepping control technique is sought when applied over non-affine systems. It is shown that in this case appears the necessity to bound the value of internal states and ...
  • Control of a quadruple tank process using a mixed economic and standard MPC 

    Soldevila, Adrià; Cayero Becerra, Julián Francisco; Salazar Cortés, Jean Carlo; Rotondo, Damiano; Puig Cayuela, Vicenç (2014)
    Conference report
    Restricted access - publisher's policy
    This work presents a controller for a non-linear four-tank process as a solution of the CIC 2014 contest organized by the Comité Español de Automàtica. Along the paper we derive a Model Predictive control law that ...
  • Estimating external disturbances in UAVs using linear and spin momenta 

    Cayero Becerra, Julián Francisco; Morcego Seix, Bernardo; Cugueró Escofet, Josep (2018)
    Conference report
    Restricted access - publisher's policy
    This paper deals with the problem of estimating external disturbances acting upon aerial vehicles. First, a dynamic model based on the linear and spin momentum equations of rigid bodies is presented. This model renders the ...
  • Impedance control of a planar quadrotor with an extended Kalman filter external wrench estimator 

    Cayero Becerra, Julián Francisco; Cugueró Escofet, Josep; Morcego Seix, Bernardo (2015)
    Conference report
    Open Access
    In this work we deal with the non-linear control of aerial vehicles under external disturbances. We develop a non-linear velocity controller able to accommodate estimations of the external disturbing forces and moments. ...
  • Modelling and adaptive backstepping control for TX-1570 UAV pathtracking 

    Cayero Becerra, Julián Francisco; Morcego Seix, Bernardo; Nejjari Akhi-Elarab, Fatiha (2014-10-22)
    Article
    Open Access
    The methodology to design an aircraft longitudinal path-tracking controller is shown in this paper. First a thorough modelling process which involves the estimation of the aerodynamic and propulsion system structure and ...
  • Optimal state observation using quadratic boundedness: application to UAV disturbance estimation 

    Cayero Becerra, Julián Francisco; Rotondo, Damiano; Morcego Seix, Bernardo; Puig Cayuela, Vicenç (2019-03-01)
    Article
    Open Access
    This paper presents the design of a state observer which guarantees quadratic boundedness of the estimation error. By using quadratic Lyapunov stability analysis, the convergence rate and the ultimate (steady-state) error ...
  • Study of the validity of a rectangular strip track/soil coupling in railway semi-analytical prediction models 

    Ghangale, Dhananjay; Romeu Garbí, Jordi; Arcos Villamarín, Robert; Noori, Beshshad; Clot Razquin, Arnau; Cayero Becerra, Julián Francisco (2018)
    Conference report
    Restricted access - publisher's policy
    Semi-analytical prediction models for railway-induced vibration problems consider a two-dimensional track coupled with a three-dimensional soil. The semi-analytical models found in the literature assume a simplified model ...