Browsing by Author "Cayero Becerra, Julián Francisco"
Now showing items 1-9 of 9
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A methodology based on 2.5D FEM-BEM for the evaluation of the vibration energy flow radiated by underground railway infrastructures
(Elsevier, 2020-07-01)
Article
Open AccessIn this paper, a comprehensive numerical approach for modelling track/tunnel/soil systems in the context of ground-borne railway-induced vibration problems considering a full-space model of the soil is proposed. All the ... -
Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle
(2014)
Conference report
Open AccessThrough 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
(2014)
Conference report
Restricted access - publisher's policyThis 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
(2018)
Conference report
Restricted access - publisher's policyThis 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
(2015)
Conference report
Open AccessIn 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
(2014-10-22)
Article
Open AccessThe 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
(2019-03-01)
Article
Open AccessThis 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
(2018)
Conference report
Restricted access - publisher's policySemi-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
(Universitat Politècnica de Catalunya, 2019-06-07)
Doctoral thesis
Open AccessThe 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 ...
