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  1. Article ; Online: Adaptive control with unknown mass estimation for a quadrotor-slung-load system.

    Yu, Gan / Xie, Wei / Cabecinhas, David / Cunha, Rita / Silvestre, Carlos

    ISA transactions

    2022  Volume 133, Page(s) 412–423

    Abstract: In aerial load transportation applications, knowing the mass of the load in advance is not always possible. The load dynamics depend on its mass and using a high-performance model-based controller with an inaccurate mass will introduce unmodeled ... ...

    Abstract In aerial load transportation applications, knowing the mass of the load in advance is not always possible. The load dynamics depend on its mass and using a high-performance model-based controller with an inaccurate mass will introduce unmodeled disturbances to the system that will negatively affect the closed-loop performance. This paper addresses the design of a trajectory tracking controller for a quadrotor with a slung-load that has an unknown mass. The proposed solution is an adaptive controller with online estimation designed using the backstepping technique. Nonlinear control laws for thrust and angular velocity, and an adaption law for mass estimation are proposed, which guarantee the convergence of the trajectory tracking and the estimation errors to zero, and are robust to variations in load mass. Simulation and experimental results are presented to assess the validity and performance of the proposed controller.
    Language English
    Publishing date 2022-06-30
    Publishing country United States
    Document type Journal Article
    ZDB-ID 2012746-7
    ISSN 1879-2022 ; 0019-0578
    ISSN (online) 1879-2022
    ISSN 0019-0578
    DOI 10.1016/j.isatra.2022.06.036
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  2. Book ; Online: robust synergistic hybrid feedback

    Casau, Pedro / Sanfelice, Ricardo G. / Silvestre, Carlos

    2022  

    Abstract: 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 collection of Lyapunov functions that are indexed by a logic variable, ... ...

    Abstract 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 collection of Lyapunov functions that are indexed by a logic variable, whenever the currently selected Lyapunov function exceeds the value of another function in the collection by a given margin, then a switch to the corresponding feedback law is triggered. This kind of feedback has been under development over the past decade and it has led to multiple solutions for global asymptotic stabilization on compact manifolds. The contributions of this paper include a synergistic controller design in which the logic variable is not necessarily constant between jumps, a synergistic hybrid feedback that is able to tackle the presence of parametric uncertainty, backstepping of adaptive synergistic hybrid feedbacks, and a demonstration of the proposed solutions to the problem of global obstacle avoidance.

    Comment: 17 pages, 2 figures, submitted for publication
    Keywords Electrical Engineering and Systems Science - Systems and Control
    Subject code 515
    Publishing date 2022-12-31
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  3. Article: Entomopathogenic nematodes (Heterorhabditidae and Steinernematidae), to control Triatoma infestans populations (Hemiptera: Reduviidae), Chagas disease vector

    Eliceche, Daiana Pamela / Achinelly, María Fernanda / Silvestre, Carlos / Micieli, María Victoria / Marti, Gerardo Aníbal

    Biological control. 2022 Feb., v. 165

    2022  

    Abstract: Pyrethroid insecticides are the only strategy to control Triatoma infestans populations (Hemiptera: Reduviidae), the main vector of Chagas disease in Argentina. However, toxicity effects and resistance have resulted from repeated applications of these ... ...

    Abstract Pyrethroid insecticides are the only strategy to control Triatoma infestans populations (Hemiptera: Reduviidae), the main vector of Chagas disease in Argentina. However, toxicity effects and resistance have resulted from repeated applications of these insecticides over long periods. The aim of this study was to evaluate the efficacy of three isolates of entomopathogenic nematodes (EPN): Heterorhabditis bacteriophora (RN and SUP strains) and Steinernema feltiae (NEMAPOM), against pyrethroid-resistant and non-resistant T. infestans populations. Survival of pyrethroid-resistant and non-resistant T. infestans nymphs was significantly reduced in those parasitized by EPN strains compared to the controls, reaching values close to 10%, three and six days after exposure to Heterorhabditis and Steinernema, respectively. The lowest survival of T. infestans nymphs resulted from application of H. bacteriophora strains. No significant differences were observed between pyrethroid-resistant and non-resistant T. infestans populations for any of the parameters evaluated. The three strains were able to multiply and emerge as infective juveniles (IJs) from T. infestans cadavers, completing their lifecycle in both pyrethroid-resistant and non-resistant populations, but highest IJ production was observed in H. bacteriophora strains. Future studies should consider the incorporation of drought-tolerant EPN strains, as well as evaluating an adequate release strategy before field implementation of EPNs as biological control agents of T. infestans.
    Keywords Chagas disease ; Heterorhabditis bacteriophora ; Steinernema feltiae ; Triatoma infestans ; biological control ; disease vectors ; drought tolerance ; entomopathogenic nematodes ; parasitism ; pyrethrins ; toxicity ; Argentina
    Language English
    Dates of publication 2022-02
    Publishing place Elsevier Inc.
    Document type Article
    ZDB-ID 1149971-0
    ISSN 1049-9644
    ISSN 1049-9644
    DOI 10.1016/j.biocontrol.2021.104814
    Database NAL-Catalogue (AGRICOLA)

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    In stock of ZB MED Bonn / Germany

    Z 5854: Show issues

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  4. Article ; Online: Sustainable Reactive Polyurethane Hot Melt Adhesives Based on Vegetable Polyols for Footwear Industry.

    Blasco, Maria Pilar Carbonell / Limiñana, María Ángeles Pérez / Silvestre, Carlos Ruzafa / Calpena, Elena Orgilés / Aís, Francisca Arán

    Polymers

    2022  Volume 14, Issue 2

    Abstract: The aim of this work is to develop sustainable reactive polyurethane hot melt adhesives (HMPUR) for footwear applications based on biobased polyols as renewable resources, where ma-croglycol mixtures of polyadipate of 1,4-butanediol, polypropylene and ... ...

    Abstract The aim of this work is to develop sustainable reactive polyurethane hot melt adhesives (HMPUR) for footwear applications based on biobased polyols as renewable resources, where ma-croglycol mixtures of polyadipate of 1,4-butanediol, polypropylene and different biobased polyols were employed and further reacted with 4-4'-diphenylmethane diisocyanate. The different reactive polyurethane hot melt adhesives obtained were characterized with different experimental techniques, such as Fourier transform infrared spectroscopy (FTIR), thermogravimetric analysis (TGA), differential scanning calorimetry (DSC), softening temperature and melting viscosity. Finally, their adhesion properties were measured from T-peel tests on leather/HMPUR adhesives/SBR rubber joints in order to establish the viability of the used biobased polyols and the amount of these polyols that could be added to reactive polyurethane hot melt adhesives satisfactorily to meet the quality requirements of footwear joints. All biobased polyols and percentages added to the polyurethane adhesive formulations successfully met the quality requirements of footwear, being comparable to traditional adhesives currently used in footwear joints in terms of final strength. Therefore, these new sustainable polyurethane adhesives can be considered as suitable and sustainable alternatives to the adhesives commonly used in footwear joints.
    Language English
    Publishing date 2022-01-11
    Publishing country Switzerland
    Document type Journal Article
    ZDB-ID 2527146-5
    ISSN 2073-4360 ; 2073-4360
    ISSN (online) 2073-4360
    ISSN 2073-4360
    DOI 10.3390/polym14020284
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  5. Article ; Online: Adaptive-Constrained Impedance Control for Human-Robot Co-Transportation.

    Yu, Xinbo / Li, Bin / He, Wei / Feng, Yanghe / Cheng, Long / Silvestre, Carlos

    IEEE transactions on cybernetics

    2022  Volume 52, Issue 12, Page(s) 13237–13249

    Abstract: Human-robot co-transportation allows for a human and a robot to perform an object transportation task cooperatively on a shared environment. This range of applications raises a great number of theoretical and practical challenges arising mainly from the ... ...

    Abstract Human-robot co-transportation allows for a human and a robot to perform an object transportation task cooperatively on a shared environment. This range of applications raises a great number of theoretical and practical challenges arising mainly from the unknown human-robot interaction model as well as from the difficulty of accurately model the robot dynamics. In this article, an adaptive impedance controller for human-robot co-transportation is put forward in task space. Vision and force sensing are employed to obtain the human hand position, and to measure the interaction force between the human and the robot. Using the latest developments in nonlinear control theory, we propose a robot end-effector controller to track the motion of the human partner under actuators' input constraints, unknown initial conditions, and unknown robot dynamics. The proposed adaptive impedance control algorithm offers a safe interaction between the human and the robot and achieves a smooth control behavior along the different phases of the co-transportation task. Simulations and experiments are conducted to illustrate the performance of the proposed techniques in a co-transportation task.
    MeSH term(s) Humans ; Robotics/methods ; Electric Impedance ; Algorithms
    Language English
    Publishing date 2022-11-18
    Publishing country United States
    Document type Journal Article
    ISSN 2168-2275
    ISSN (online) 2168-2275
    DOI 10.1109/TCYB.2021.3107357
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  6. Book ; Online: Formation control of a leader-follower structure in three dimensional space using bearing measurements

    Tang, Zhiqi / Cunha, Rita / Hamel, Tarek / Silvestre, Carlos

    2021  

    Abstract: 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. Using only bearing and relative velocity measurements, distributed control ... ...

    Abstract 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. Using only bearing and relative velocity measurements, distributed control laws are derived for a group of agents with double-integrator dynamics. The key contribution is that the exponential stabilization of the actual formation to the desired one in terms of both shape and scale is guaranteed as long as the PE conditions on the desired formation are satisfied. The approach generalizes stability results provided in prior work for leader-first follower (LFF) structures which are based on bearing rigidity and constraint consistency to ensure the exponential stabilization of the actual formation to a desired static geometric pattern up to a scale factor. Simulations results are provided to illustrate the performance of the proposed control method.

    Comment: arXiv admin note: text overlap with arXiv:2103.06024, arXiv:2009.00209
    Keywords Electrical Engineering and Systems Science - Systems and Control
    Subject code 600
    Publishing date 2021-10-15
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  7. Book ; Online: Relaxed bearing rigidity and bearing formation control under persistence of excitation

    Tang, Zhiqi / Cunha, Rita / Hamel, Tarek / Silvestre, Carlos

    2021  

    Abstract: This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference. A general concept of Bearing Persistently Exciting (BPE) ...

    Abstract This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference. A general concept of Bearing Persistently Exciting (BPE) formation defined in $d$-dimensional space is here fully developed. By providing a desired formation that is BPE, distributed control laws for multi-agent systems under both single- and double-integrator dynamics are proposed using bearing measurements (along with velocity measurements when the agents are described by double-integrator dynamics), which guarantee uniform exponential stabilization of the desired formation in terms of shape and scale. A key contribution of this work is to show that the classical bearing rigidity condition on the graph topology, required for achieving the stabilization of a formation up to a scaling factor, is relaxed and extended in a natural manner by exploring PE conditions imposed either on a specific set of desired bearing vectors or on the whole desired formation. Simulation results are provided to illustrate the performance of the proposed control method.

    Comment: arXiv admin note: text overlap with arXiv:2009.00209
    Keywords Electrical Engineering and Systems Science - Systems and Control
    Subject code 600
    Publishing date 2021-03-10
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  8. Article ; Online: Nonlinear Ride Height Control of Active Air Suspension System with Output Constraints and Time-Varying Disturbances.

    Zhao, Rongchen / Xie, Wei / Zhao, Jin / Wong, Pak Kin / Silvestre, Carlos

    Sensors (Basel, Switzerland)

    2021  Volume 21, Issue 4

    Abstract: This paper addresses the problem of nonlinear height tracking control of an automobile active air suspension with the output state constraints and time-varying disturbances. The proposed control strategy guarantees that the ride height stays within a ... ...

    Abstract This paper addresses the problem of nonlinear height tracking control of an automobile active air suspension with the output state constraints and time-varying disturbances. The proposed control strategy guarantees that the ride height stays within a predefined range, and converges closely to an arbitrarily small neighborhood of the desired height, ensuring uniform ultimate boundedness. The designed nonlinear observer is able to compensate for the time-varying disturbances caused by external random road excitation and perturbations, achieving robust performance. Simulation results obtained from the co-simulation (AMESim-Matlab/Simulink) are given and analyzed, demonstrating the efficiency of the proposed control methodology.
    Language English
    Publishing date 2021-02-23
    Publishing country Switzerland
    Document type Letter
    ZDB-ID 2052857-7
    ISSN 1424-8220 ; 1424-8220
    ISSN (online) 1424-8220
    ISSN 1424-8220
    DOI 10.3390/s21041539
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  9. Book ; Online: Bearing-only formation control under persistence of excitation

    Tang, Zhiqi / Cunha, Rita / Hamel, Tarek / Silvestre, Carlos

    2020  

    Abstract: This paper addresses the problem of bearing-only formation control in $d~(d\geq 2)$-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE, distributed bearing- ... ...

    Abstract This paper addresses the problem of bearing-only formation control in $d~(d\geq 2)$-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE, distributed bearing-only control laws are proposed, which guarantee exponential stabilization of the desired formation only up to a translation vector. The key outcome of this approach relies in exploiting the bearing PE to significantly relax the conditions imposed on the graph topology to ensure exponential stabilization, when compared to the bearing rigidity conditions, and to remove the scale ambiguity introduced by bearing vectors. Simulation results are provided to illustrate the performance of the proposed control method.
    Keywords Electrical Engineering and Systems Science - Systems and Control
    Publishing date 2020-08-31
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  10. Book ; Online: Quadrotor going through a window and landing

    Tang, Zhiqi / Cunha, Rita / Cabecinhas, David / Hamel, Tarek / Silvestre, Carlos

    An image-based visual servo control approach

    2021  

    Abstract: 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 that relies on sensing information from two on-board cameras and an IMU. ... ...

    Abstract 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 that relies on sensing information from two on-board cameras and an IMU. The maneuver is divided into two stages: crossing the window and landing on the pad. For the first stage, a control law is proposed that guarantees that the vehicle will not collide with the wall containing the window and will go through the window with non-zero velocity along the direction orthogonal to the window, keeping at all times a safety distance with respect to the window edges. For the landing stage, the proposed control law ensures that the vehicle achieves a smooth touchdown, keeping at all time a positive height above the plane containing the landing pad. For control purposes, the centroid vectors provided by the combination of the spherical image measurements of a collection of landmarks (corners) for both the window and the landing pad are used as position measurement. The translational optical flow relative to the wall, window edges, and landing plane is used as velocity cue. To achieve the proposed objective, no direct measurements nor explicit estimate of position or velocity are required. Simulation and experimental results are provided to illustrate the performance of the presented controller.
    Keywords Electrical Engineering and Systems Science - Systems and Control
    Subject code 629
    Publishing date 2021-10-12
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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