Now showing items 1-8 of 8

    • 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 ...
    • UAV perception for safe flight under physical interaction 

      Cayero Becerra, Julián Francisco (Universitat Politècnica de Catalunya, 2019-06-07)
      Doctoral thesis
      Open Access
      The control of autonomous flying vehicles with navigation purposes is a challenging task. Complexity arises mainly due to the non-linearity and uncertainty inherently present in the flight mechanics and aircraft-air ...