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This paper proposes an architecture based on a multiple-model solution for height and yaw control of a quadrotor transporting an unknown constant load, added before the flight. Estimates of the inertial parameters (mass and z-axis inertia) and state variables (vertical position, velocity, yaw angle and rate) are obtained using data from the onboard sensors. A Multiple-Model Adaptive Controller (MMAC) architecture is proposed. The control of each partial model is based on a steady state Linear Quadratic Regulator (LQR), using integrative action for the height control. The resulting system is validated with load variations of up to 10% of the vehicle mass, both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor.
Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. Multiple-Model Adaptive Control Architecture for a Quadrotor with Constant Unknown Mass and Inertia. Aerospace Science and Technology 2021, 117, 106899 .
AMA StylePedro Outeiro, Carlos Cardeira, Paulo Oliveira. Multiple-Model Adaptive Control Architecture for a Quadrotor with Constant Unknown Mass and Inertia. Aerospace Science and Technology. 2021; 117 ():106899.
Chicago/Turabian StylePedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2021. "Multiple-Model Adaptive Control Architecture for a Quadrotor with Constant Unknown Mass and Inertia." Aerospace Science and Technology 117, no. : 106899.
This paper presents a methodology for height and yaw angle control of a quadrotor that transports an unknown constant load added before the flight. Based on measurements from the onboard sensors, estimates of inertial parameters – mass and z-axis inertia – and state variables – vertical position, velocity, yaw angle and rate – are provided resorting to Multiple-Model Adaptive Estimators. The number and worst case performance of Kalman filters is selected based on the Baram Proximity Measure. The proposed control methods are a steady state Linear Quadratic Regulator (LQR) with integrative action for the height, and an LQR controller for the yaw angle. The overall system obtained is validated with load variations of up to 10% of the vehicle mass, both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor.
Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. Multiple-model control architecture for a quadrotor with constant unknown mass and inertia. Mechatronics 2020, 73, 102455 .
AMA StylePedro Outeiro, Carlos Cardeira, Paulo Oliveira. Multiple-model control architecture for a quadrotor with constant unknown mass and inertia. Mechatronics. 2020; 73 ():102455.
Chicago/Turabian StylePedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2020. "Multiple-model control architecture for a quadrotor with constant unknown mass and inertia." Mechatronics 73, no. : 102455.
A control solution for an Unmanned Aerial Vehicle encapsulating a nonlinear inner-loop based on the application of feedback linearization to the attitude and altitude dynamics is proposed in this paper. Linear quadratic controllers with integrative action are implemented not only to the resulting inner-loop chain of integrators, but also to the outer-loop, that controls the horizontal movement and, consequently, stabilizes the zero-dynamics. The required full state-feedback relies on measurements from motion sensors and on-flight estimates provided by Kalman filters and a nonlinear attitude filter. In simulation, the capacity of trajectory tracking and withstanding significant deviations of the mass and inertia values of the proposed control structure are evaluated while considering saturation and noisy measurements. The simulations results were experimentally validated using a commercially available drone. The modeling and control system architecture are validated by the experimental results. Additionally, a comparison with the results achieved with a linear control solution developed in a previous work is drawn.
Luís Martins; Carlos Cardeira; Paulo Oliveira. Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control. Journal of Intelligent & Robotic Systems 2020, 101, 1 -17.
AMA StyleLuís Martins, Carlos Cardeira, Paulo Oliveira. Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control. Journal of Intelligent & Robotic Systems. 2020; 101 (1):1-17.
Chicago/Turabian StyleLuís Martins; Carlos Cardeira; Paulo Oliveira. 2020. "Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control." Journal of Intelligent & Robotic Systems 101, no. 1: 1-17.
This paper presents a methodology and the experimental validation for collaborative load transportation using two UAVs (Unmanned Aerial Vehicles). The state variables are estimated, based on measurements from motion sensors installed on-board. Control and estimation solutions were required to ensure the stability of the system, while guaranteeing null steady-state position and estimation errors. The vertical velocity is also estimated since there is no sensor on-board the UAVs capable of providing this measure directly. The relative position between the UAVs is estimated using only on-board sensors and images acquired by the UAV front camera. The controllers and estimators resort to linear and optimal control techniques, as the Linear Quadratic Regulators and Kalman filters. The proposed control system is validated both in simulation and experimentally, resorting to a commercially available quadrotor equipped with an Inertial Measurement Unit, an ultrasound height sensor, vertical and frontal cameras.
T. Bacelar; J. Madeiras; R. Melicio; C. Cardeira; P. Oliveira. On-board implementation and experimental validation of collaborative transportation of loads with multiple UAVs. Aerospace Science and Technology 2020, 107, 106284 .
AMA StyleT. Bacelar, J. Madeiras, R. Melicio, C. Cardeira, P. Oliveira. On-board implementation and experimental validation of collaborative transportation of loads with multiple UAVs. Aerospace Science and Technology. 2020; 107 ():106284.
Chicago/Turabian StyleT. Bacelar; J. Madeiras; R. Melicio; C. Cardeira; P. Oliveira. 2020. "On-board implementation and experimental validation of collaborative transportation of loads with multiple UAVs." Aerospace Science and Technology 107, no. : 106284.
This paper presents a traffic light system based on wireless communication that provides a support infrastructure for intelligent control in the context of smart cities and aerotropolis areas. An aerotropolis is a metropolitan subregion with an infrastructure centered an airport. Traffic intensity is increasing all over the world. Intelligent dynamic traffic light system control is being sought to replace classic conventional manual and time-based systems. In this work, a wireless sensor network is designed and implemented to feed real-time data into an intelligent traffic light system control. A physical prototype is implemented for experimental validation outside the laboratory environment. The physical prototype shows robustness against unexpected issues and local failures. The results are positive in terms of the scope of experience gained, and there is potential for these tests to be extended to larger areas.
João Cunha; Nelson Batista; Carlos Cardeira; Rui Melicio. Wireless Networks for Traffic Light Control on Urban and Aerotropolis Roads. Journal of Sensor and Actuator Networks 2020, 9, 26 .
AMA StyleJoão Cunha, Nelson Batista, Carlos Cardeira, Rui Melicio. Wireless Networks for Traffic Light Control on Urban and Aerotropolis Roads. Journal of Sensor and Actuator Networks. 2020; 9 (2):26.
Chicago/Turabian StyleJoão Cunha; Nelson Batista; Carlos Cardeira; Rui Melicio. 2020. "Wireless Networks for Traffic Light Control on Urban and Aerotropolis Roads." Journal of Sensor and Actuator Networks 9, no. 2: 26.
This paper presents a navigation system based on Kalman complementary filtering for position and attitude estimation, with an application for Unmanned Air Vehicles (UAVs), in denied Global Positioning System (GPS) areas. Using inertial measurements, vector observations and landmarks positioning, the proposed complementary filters provide attitude estimates resorting to Euler angles representation and position estimates relative to a fixed inertial frame, while compensating for rate gyro and velocity biases using a gyroscope noise and velocity bias models. Stability and performance properties for the operating conditions are derived and the procedure on how to tune the parameters of the filters in the frequency domain is emphasized. Requirements on low computational burden were a priority in both the vision algorithm and navigation system, making it suitable for off-the-shelf hardware. Experimental results obtained in real time with an implementation of the proposed algorithm running on a laptop communicating with an AR.Drone 2.0 via Wi-Fi are presented and discussed.
João Madeiras; Carlos Cardeira; Paulo Oliveira. Vision-Aided Complementary Filter for Attitude and Position Estimation: Design, Analysis and Experimental Validation. IFAC-PapersOnLine 2019, 52, 388 -393.
AMA StyleJoão Madeiras, Carlos Cardeira, Paulo Oliveira. Vision-Aided Complementary Filter for Attitude and Position Estimation: Design, Analysis and Experimental Validation. IFAC-PapersOnLine. 2019; 52 (12):388-393.
Chicago/Turabian StyleJoão Madeiras; Carlos Cardeira; Paulo Oliveira. 2019. "Vision-Aided Complementary Filter for Attitude and Position Estimation: Design, Analysis and Experimental Validation." IFAC-PapersOnLine 52, no. 12: 388-393.
This paper presents a methodology for angular control of a quadrotor that transports a constant unknown load, given the estimates on both inertia and angular velocity, based on measurements from an indoor multi-camera motion capture system and a gyroscope. The proposed control method is an LQR controller and the proposed estimation method is a Multi-Model Adaptive Estimator (MMAE). The control system obtained is validated both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor.
Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. MMAE/LQR Yaw Control System of a Quadrotor for Constant Unknown Inertia. IFAC-PapersOnLine 2019, 52, 170 -175.
AMA StylePedro Outeiro, Carlos Cardeira, Paulo Oliveira. MMAE/LQR Yaw Control System of a Quadrotor for Constant Unknown Inertia. IFAC-PapersOnLine. 2019; 52 (12):170-175.
Chicago/Turabian StylePedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2019. "MMAE/LQR Yaw Control System of a Quadrotor for Constant Unknown Inertia." IFAC-PapersOnLine 52, no. 12: 170-175.
In this paper, an inner-outer loop control structure with linear quadratic optimal controllers and integrative action is proposed for trajectory tracking of an Unmanned Aerial Vehicle. The dynamic model of the quadrotor is derived and linearized in preparation for the design of the controllers. The full state-feedback relies on measurements from motion sensors installed on-board and on on-flight estimates provided by Kalman filters and an attitude filter. The control system obtained is validated in simulation and implemented in a commercially available drone, equipped with an Inertial Measurement Unit, a compass and an altimeter. The inertial position of the drone is given by a motion capture system.
Luís Martins; Carlos Cardeira; Paulo Oliveira. Linear Quadratic Regulator for Trajectory Tracking of a Quadrotor. IFAC-PapersOnLine 2019, 52, 176 -181.
AMA StyleLuís Martins, Carlos Cardeira, Paulo Oliveira. Linear Quadratic Regulator for Trajectory Tracking of a Quadrotor. IFAC-PapersOnLine. 2019; 52 (12):176-181.
Chicago/Turabian StyleLuís Martins; Carlos Cardeira; Paulo Oliveira. 2019. "Linear Quadratic Regulator for Trajectory Tracking of a Quadrotor." IFAC-PapersOnLine 52, no. 12: 176-181.
This document details the implementation and test of a self-calibrating estimation architecture for the sideslip of a Formula Student prototype. The proposed algorithm fuses several sensors being the most relevant an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). It is presented a comparison between a linear and a non-linear estimators, and their consequences. The algorithm is tested with real data from a Formula Student vehicle, and validated with a differential GPS. It is also reported an implementation of the proposed algorithm in a micro-controller, and tested with a radio-controlled (RC) vehicle. These results are also validated with the data from a more accurate indoor motion system.
André Antunes; Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. Implementation and testing of a sideslip estimation for a formula student prototype. Robotics and Autonomous Systems 2019, 115, 83 -89.
AMA StyleAndré Antunes, Pedro Outeiro, Carlos Cardeira, Paulo Oliveira. Implementation and testing of a sideslip estimation for a formula student prototype. Robotics and Autonomous Systems. 2019; 115 ():83-89.
Chicago/Turabian StyleAndré Antunes; Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2019. "Implementation and testing of a sideslip estimation for a formula student prototype." Robotics and Autonomous Systems 115, no. : 83-89.
The torque vectoring controller is the electrical substitute of a mechanical differential, with the advantage of improving the stability and handling of the vehicle. This work tackles the design, implementation and testing of a torque vectoring algorithm to be implemented in a Formula Student prototype. First is presented a dynamic test model used for the design and tuning of the controllers, which is then validated with real data from a real vehicle. Secondly, a computation methodology to achieve a reference value is proposed. Two controllers are presented, a PID and a LQR controller, with both being designed and tested in simulation. In a final part, the two controllers are implemented in a Formula Student prototype. The results from the vehicle with and without the controllers are then compared and the performance improvement discussed.
João Antunes; André Antunes; Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. Testing of a torque vectoring controller for a Formula Student prototype. Robotics and Autonomous Systems 2019, 113, 56 -62.
AMA StyleJoão Antunes, André Antunes, Pedro Outeiro, Carlos Cardeira, Paulo Oliveira. Testing of a torque vectoring controller for a Formula Student prototype. Robotics and Autonomous Systems. 2019; 113 ():56-62.
Chicago/Turabian StyleJoão Antunes; André Antunes; Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2019. "Testing of a torque vectoring controller for a Formula Student prototype." Robotics and Autonomous Systems 113, no. : 56-62.
This paper presents a methodology for height control of a quadrotor that transports a constant unknown load, given the estimates on both weight and state variables, based on measurements from motion sensors installed on-board. The proposed control and estimation framework is a Multi-Model Adaptive Controller using LQR with integrative action and Kalman filter with integrative component. The control system obtained is validated both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor equipped with an IMU, an ultrasound height sensor, and a barometer, among other sensors.
Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018, 4192 -4197.
AMA StylePedro Outeiro, Carlos Cardeira, Paulo Oliveira. MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018; ():4192-4197.
Chicago/Turabian StylePedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2018. "MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , no. : 4192-4197.
This paper presents the conception and real prototype implementation of an original superconducting frictionless Zero Field Cooling (ZFC) bearing. In previous work, a viability study of a ZFC-superconducting bearing concept was conducted. It showed that the virtual prototype was feasible. Moreover, the simulation studies showed that a ZFC superconducting track provides not only effective lateral stability but also higher levitation forces than the commonly used Field Cooling (FC) tracks. In this paper, the new Zero Field Cooling bearing virtual prototype is modeled in 3D and physically realized. The implementation was made in high density polyurethane, for low temperature robustness, using both a three axes CNC milling machine and an additive manufacturing technique. Results show the effectiveness of the real bearing. Static analysis was done and dynamic analysis was also introduced.
Antonio J. Arsenio; Miguel L. Roque; Martim V. Carvalho; Carlos Cardeira; Rui Melicio; Paulo J. Costa Branco. Implementation of a YBCO Superconducting ZFC-Magnetic Bearing Prototype. IEEE Transactions on Industry Applications 2018, 55, 327 -335.
AMA StyleAntonio J. Arsenio, Miguel L. Roque, Martim V. Carvalho, Carlos Cardeira, Rui Melicio, Paulo J. Costa Branco. Implementation of a YBCO Superconducting ZFC-Magnetic Bearing Prototype. IEEE Transactions on Industry Applications. 2018; 55 (1):327-335.
Chicago/Turabian StyleAntonio J. Arsenio; Miguel L. Roque; Martim V. Carvalho; Carlos Cardeira; Rui Melicio; Paulo J. Costa Branco. 2018. "Implementation of a YBCO Superconducting ZFC-Magnetic Bearing Prototype." IEEE Transactions on Industry Applications 55, no. 1: 327-335.
This paper focuses on control of a Darrieus vertical axis wind turbine prototype. Throughout this work a control strategy is proposed and a methodology is presented in order to achieve a solid foundation for the control process. A non linear dynamic model of the Darrieus prototype equipped with a permanent magnet synchronous generator was developed. The model was linearized and some controllers are developed, namely a PID controller and a Linear Quadratic Regulator. The controllers were tested in the linear and non linear models.
Tobias Pereira; Nelson Batista; Carlos Cardeira; Paulo Oliveira; Rui Melicio. Darrieus Wind Turbine Prototype Control Study. 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM) 2018, 853 -858.
AMA StyleTobias Pereira, Nelson Batista, Carlos Cardeira, Paulo Oliveira, Rui Melicio. Darrieus Wind Turbine Prototype Control Study. 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM). 2018; ():853-858.
Chicago/Turabian StyleTobias Pereira; Nelson Batista; Carlos Cardeira; Paulo Oliveira; Rui Melicio. 2018. "Darrieus Wind Turbine Prototype Control Study." 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM) , no. : 853-858.
This paper presents a methodology for height control of a quadrotor that transports a constant unknown load, given the estimates on both weight and state variables, based on measurements from motion sensors installed on-board. The proposed controller is the sub-optimal steady state solution of an LQR problem, where an integrative effect is added to guarantee null steady state position error on average. The in flight load weight estimation problem is tackled resorting to a multiple-model adaptive estimator, providing also vertical velocity estimates. The control system obtained is validated both in simulation and resorting to an off-the-shelf commercially available quadrotor equipped with an IMU, an ultrasound height sensor, and a barometer, among other sensors.
Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. LQR/MMAE Height Control System of a Quadrotor for Constant Unknown Load Transportation. 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO) 2018, 389 -394.
AMA StylePedro Outeiro, Carlos Cardeira, Paulo Oliveira. LQR/MMAE Height Control System of a Quadrotor for Constant Unknown Load Transportation. 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO). 2018; ():389-394.
Chicago/Turabian StylePedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2018. "LQR/MMAE Height Control System of a Quadrotor for Constant Unknown Load Transportation." 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO) , no. : 389-394.
This paper aims the experimental validation of a mobile robot navigation system, using self-localization based on principal component analysis (PCA) of ceiling depth images. In this approach, a roadmap based on generalized Voronoi diagram (GVD) is built from an occupancy grid, that is defined in the ceiling mapping to the PCA database. The system resorts to the Dijkstra algorithm to planning paths, using the GVD-based roadmap, from which a set of waypoints are extracted. During the mission, the robot is commanded by a controller based on dipolar navigation functions (DNF) along the waypoints, being self-located using only the information provided from ceiling depth images and other on-board sensors. The navigation system ensures that the robot reaches its destination, travelling along safety trajectories, while computing its pose with global stable estimates, from Kalman filters (KF). The navigation is achieved without the need to structure the environment, searching by specific features, and to linearize the model. The results are experimentally validated in an indoor environment, using a differential-drive mobile robot.
Fernando Carreira; Joao Calado; Carlos Cardeira; Paulo Oliveira. Navigation System for Mobile Robots Using PCA-Based Localization from Ceiling Depth Images: Experimental Validation. 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO) 2018, 159 -164.
AMA StyleFernando Carreira, Joao Calado, Carlos Cardeira, Paulo Oliveira. Navigation System for Mobile Robots Using PCA-Based Localization from Ceiling Depth Images: Experimental Validation. 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO). 2018; ():159-164.
Chicago/Turabian StyleFernando Carreira; Joao Calado; Carlos Cardeira; Paulo Oliveira. 2018. "Navigation System for Mobile Robots Using PCA-Based Localization from Ceiling Depth Images: Experimental Validation." 2018 13th APCA International Conference on Control and Soft Computing (CONTROLO) , no. : 159-164.
This paper presents a methodology for height control of a quadrotor that transports a constant unknown load, given the estimates on both weight and state variables, based on measurements from motion sensors installed on-board. The proposed controller is an adaptive controller, scheduling LQR gains and gravitational force compensation. The in flight estimation problem is tackled resorting to a multiple-model adaptive estimator, providing also vertical velocity estimates. The control system obtained is validated both in simulation and resorting to an off-the-shelf commercially available quadrotor equipped with an IMU, an ultrasound height sensor, and a barometer, among other sensors.
Pedro Outeiro; Carlos Cardeira; Paulo Oliveira. Adaptive/multi-model height control system of a quadrotor constant unknown load transportation. 2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) 2018, 65 -70.
AMA StylePedro Outeiro, Carlos Cardeira, Paulo Oliveira. Adaptive/multi-model height control system of a quadrotor constant unknown load transportation. 2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). 2018; ():65-70.
Chicago/Turabian StylePedro Outeiro; Carlos Cardeira; Paulo Oliveira. 2018. "Adaptive/multi-model height control system of a quadrotor constant unknown load transportation." 2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) , no. : 65-70.
This paper presents an experimentally verified finite-element multiphysics model developed to simulate the coupled electro and thermodynamic processes (electromagnetic, thermal, and fluid-flow with liquid-gas phase transition) occurring between liquid nitrogen (LN 2 ) and HTS YBCO bulks. The model allows estimating: 1) the thermal time constants related to bulk HTS losing/gaining its superconducting state, and mainly 2) the LN 2 liquid-to-gas flow rate due to superconductor Joule losses caused by electromagnetic induction heating of it. Model accuracy is evaluated, for example, by comparing the cooling time needed to zero-field-cool the YBCO bulk, and the quantity of LN 2 vaporized as the superconductor cool. Other important issues identified were time evolution and spatial distribution of temperature in the superconductor, heat flux, nitrogen liquid flow, and also nitrogen gas concentration for specific cooling scenarios. Full-scale experimental tests in our laboratory allowed us to validate with success the model and its effectiveness predictions.
Antonio J. Arsenio; Rui Melicio; Carlos Cardeira; Paulo J. Da Costa Branco. The Critic Liquid–Gas Phase Transition Between Liquid Nitrogen and YBCO HTS Bulks: From FEM Modeling to its Experimental Study for ZFC Levitation Devices. IEEE Transactions on Applied Superconductivity 2018, 28, 1 -8.
AMA StyleAntonio J. Arsenio, Rui Melicio, Carlos Cardeira, Paulo J. Da Costa Branco. The Critic Liquid–Gas Phase Transition Between Liquid Nitrogen and YBCO HTS Bulks: From FEM Modeling to its Experimental Study for ZFC Levitation Devices. IEEE Transactions on Applied Superconductivity. 2018; 28 (4):1-8.
Chicago/Turabian StyleAntonio J. Arsenio; Rui Melicio; Carlos Cardeira; Paulo J. Da Costa Branco. 2018. "The Critic Liquid–Gas Phase Transition Between Liquid Nitrogen and YBCO HTS Bulks: From FEM Modeling to its Experimental Study for ZFC Levitation Devices." IEEE Transactions on Applied Superconductivity 28, no. 4: 1-8.
This paper describes an estimator architecture for a Formula Student Prototype, based on data from an inertial measurement unit (IMU), a global positioning system (GPS), and from the underlying dynamic model of the car. A non-linear dynamic model of the car and realistic models for the sensors are presented. The estimates of attitude, rate-gyro bias, position, velocity and sideslip are based on Kalman filtering techniques. The resulting system is validated on a Formula Student prototype and assessed given ground truth data obtained by a set of differential GPS receivers installed onboard.
André Antunes; Carlos Cardeira; Paulo Oliveira. Application of Sideslip Estimation Architecture to a Formula Student Prototype. Advances in Intelligent Systems and Computing 2017, 409 -421.
AMA StyleAndré Antunes, Carlos Cardeira, Paulo Oliveira. Application of Sideslip Estimation Architecture to a Formula Student Prototype. Advances in Intelligent Systems and Computing. 2017; ():409-421.
Chicago/Turabian StyleAndré Antunes; Carlos Cardeira; Paulo Oliveira. 2017. "Application of Sideslip Estimation Architecture to a Formula Student Prototype." Advances in Intelligent Systems and Computing , no. : 409-421.
Torque Vectoring (TV) has the objective to substitute the need of a mechanical differential, while improving the handling and response of the wheeled vehicle. This work addresses the design of a torque vectoring system in an rear wheel driven formula student prototype. The proposed solution resorts to a PID controller for yaw rate tracking with an evenly distributed torque to each wheel. Also an LQR scheme is discussed, for tracking the yaw rate and the lateral velocity. To assess and design, first a 7 degree of freedom (DOF) non linear model is constructed, followed by a linear 2 DOF model, both validated with real data. The linear model, is used to design and simulate the proposed controllers. When the controller is within the desired parameters it is tested in the non linear model. Tests with the vehicle are performed to verify the contribution of the controller to the overall performance of the vehicle.
Joao Antunes; Carlos Cardeira; Paulo Oliveira. Torque Vectoring for a Formula Student Prototype. Advances in Intelligent Systems and Computing 2017, 422 -433.
AMA StyleJoao Antunes, Carlos Cardeira, Paulo Oliveira. Torque Vectoring for a Formula Student Prototype. Advances in Intelligent Systems and Computing. 2017; ():422-433.
Chicago/Turabian StyleJoao Antunes; Carlos Cardeira; Paulo Oliveira. 2017. "Torque Vectoring for a Formula Student Prototype." Advances in Intelligent Systems and Computing , no. : 422-433.
A good management of renewable energy systems and energy storage requires Short Term Load Forecasting (STLF). In particular, Artificial Neural Networks (ANN) have proved their ability to cope with data driven nonlinear models. In this paper ANN models are used with input variables such as apartment area, numbers of occupants, electrical appliance consumption and time, in order to achieve a robust model to be used in forecasting energy consumption of general homes. A feed-forward ANN trained with the Levenberg-Marquardt algorithm is tested and their results show a quite accurate model foreseeing that ANNs are a promising tool for STLF.
Filipe Rodrigues; Carlos Cardeira; J. M. F. Calado. Neural Networks Applied to Short Term Load Forecasting: A Case Study. Blockchain Technology and Innovations in Business Processes 2017, 67, 173 -197.
AMA StyleFilipe Rodrigues, Carlos Cardeira, J. M. F. Calado. Neural Networks Applied to Short Term Load Forecasting: A Case Study. Blockchain Technology and Innovations in Business Processes. 2017; 67 ():173-197.
Chicago/Turabian StyleFilipe Rodrigues; Carlos Cardeira; J. M. F. Calado. 2017. "Neural Networks Applied to Short Term Load Forecasting: A Case Study." Blockchain Technology and Innovations in Business Processes 67, no. : 173-197.