Now showing items 21-33 of 33

    • 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 ...
    • Estudio de redes neuronales modulares para el modelado de sistemas dinámicos no lineales 

      Morcego Seix, Bernardo (Universitat Politècnica de Catalunya, 2000-07-17)
      Doctoral thesis
      Open Access
      de la memòria<br/>En aquest estudi es consideren aspectes teòrics i pràctics del modelatge de sistemes no lineals mitjançant xarxes neuronals modulars.<br/>A la vessant teòrica s'ha proposat un model que aprofita les ...
    • Heading control system design for an unmanned helicopter 

      Nejjari Akhi-Elarab, Fatiha; Saldívar, Eleazar; Morcego Seix, Bernardo (IEEE, 2011)
      Conference report
      Restricted access - publisher's policy
    • 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 ...
    • Negotiation and learning in distributed MPC of large scale systems 

      Javalera Rincón, Valeria; Morcego Seix, Bernardo; Puig Cayuela, Vicenç (IEEE Press. Institute of Electrical and Electronics Engineers, 2010)
      Conference report
      Open Access
      A key issue in distributed MPC control of Large Scale Systems (LSS) is how shared variables among the different MPC controller in charge of controlling each system partition (subsystems) are handled. When these connections ...
    • 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 ...
    • Position-heading quadrotor control using LPV techniques 

      Trapiello Fernández, Carlos; Puig Cayuela, Vicenç; Morcego Seix, Bernardo (2019-02-04)
      Article
      Restricted access - publisher's policy
      This work presents a solution for the position-heading control problem of a small quadrotor. The main idea of this paper is to exploit the advantages of the Linear Parameter Varying (LPV) control approach, together with a ...
    • Real-Time Non-Intrusive Assessment of Viewing Distance During Computer Use 

      Argilés Sans, Marc; Cardona Torradeflot, Genís; Pérez Cabré, Elisabet; Pérez Magrané, Ramon; Morcego Seix, Bernardo; Gispets Parcerisas, Joan (2016-10-22)
      Article
      Open Access
      Purpose: To develop and test the sensitivity of an ultrasound-based sensor to assess the viewing distance of visual display terminals operators in real-time conditions. Methods: A modified ultrasound sensor was attached ...
    • Regulació automàtica (elèctrics) : pràctiques : EUETIT 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 2000)
      Book
      Restricted access to the UPC academic community
    • Regulació automàtica 3 : pràctiques : EUETIT 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 2000)
      Book
      Restricted access to the UPC academic community
    • Shifting H infinity linear parameter varying state-feedback controllers subject to time-varying input saturations 

      Ruiz Royo, Adrián; Rotondo, Damiano; Morcego Seix, Bernardo (2020)
      Conference report
      Open Access
      This paper establishes a methodology based on linear matrix inequalities (LMIs) to design a shifting H infinity linear parameter varying (LPV) state-feedback controller for systems affected by time-varying input saturations. ...
    • Tail motion model identification for control design of an unmanned helicopter 

      Morcego Seix, Bernardo; Saldívar, Eleazar; Nejjari Akhi-Elarab, Fatiha (2011)
      Conference report
      Open Access
      This paper explains the methodology developed to design the yaw control system (heading control system) of the α-SAC UAV. The problem of modeling and controlling the tail motion of this UAV along a desired trajectory is ...