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Prof. Dr. Sauro Longhi
Department of Information Engineering, Università Politecnica delle Marche, Ancona, Italy
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Academic Career Length
44Years (1983-Present)
(Calculated once Scilit publication data is synced: current year − year of first publication + 1)
Representative Publications
View All Publications21 October 2009 in Journal of Intelligent & Robotic Systems
Journal Article
ACA. Cesetti
A. Cesetti
Emanuele FrontoniAMAdriano Mancini
Adriano ManciniPZPrimo Zingaretti
Primo ZingarettiSLSauro Longhi
Sauro Longhi1 March 2014 in Journal of Guidance, Control, and Dynamics
Journal Article
In this paper, the problem of designing a control law in case of rotor failure in quadrotor vehicles is addressed. First, a nonlinear mathematical model for a quadrotor vehicle is derived, which includes translational and rotational dynamics. Then a robust feedback linearization controller is developed, which sacrifices the controllability of the yaw state due to rotor failure to linearize the closed-loop system around a working point, where roll and pitch angles are zero and the angular speed around the vertical axis is a nonzero constant. An H∞ loop shaping technique is adopted to achieve regulation of these variables around the chosen working point. Finally, an outer loop is proposed for achieving control of the linear displacement under the assumption of small angles approximation for the pitch and roll angles. The proposed control strategy allows the vehicle to use the remaining three functional rotors to enter a constant angular speed around its vertical axis, granting stability and representing an ...
14 November 2014 in IEEE Transactions on Industrial Electronics
Journal Article
AGAndrea Giantomassi
Andrea Giantomassi
Francesco FerracutiSISabrina Iarlori
Sabrina Iarlori
GIGianluca Ippoliti
Gianluca Ippoliti
SLSauro Longhi
Sauro LonghiThis paper deals with the problem of fault detection and diagnosis of induction motor based on motor current signature analysis. Principal component analysis is used to reduce the three-phase current space to a 2-D space. Kernel density estimation (KDE) is adopted to evaluate the probability density functions of each healthy and faulty motor, which can be used as features in order to identify each fault. Kullback-Leibler divergence is used as an index to identify the dissimilarity between two probability distributions, and it allows automatic fault identification. The aim is also to improve computational performance in order to apply online a monitoring system. KDE is improved by fast Gaussian transform and a points reduction procedure. Since these techniques achieve a remarkable computational cost reduction with respect to the standard KDE, the algorithm can be used online. Experiments are carried out using two alternate current motors: An asynchronous induction machine and a single-phase motor. The faults considered to test the developed algorithm are cracked rotor, out-of-tolerance geometry rotor, and backlash. Tests are carried out at different load and voltage levels to show the proposed method performance.
31 May 2011 in IEEE Transactions on Industrial Electronics
Journal Article
MCMaria Letizia Corradini
Maria Letizia Corradini
GIGianluca Ippoliti
Gianluca Ippoliti
SLSauro Longhi
Sauro LonghiGOGiuseppe Orlando
Giuseppe OrlandoThis paper presents a discrete-time variable-structure-based control and a speed estimator designed for a permanent-magnet synchronous motor (PMSM). A cascade control scheme is proposed which provides accurate speed tracking performance. In this control scheme the speed estimator is a robust digital differentiator that provides the first derivative of the encoder position measurement. The analysis of the control stability is given and the ultimate boundedness of the speed tracking error is proved. The control scheme is experimentally tested on a commercial PMSM drive. Reported experimental evidence shows that the proposed solution produces good speed trajectory tracking performance and it is robust in the presence of disturbances affecting the system.
1 January 2011 in IFAC Proceedings Volumes
Journal Article
10 August 2012 in Journal of Intelligent & Robotic Systems
Journal Article
About Me
Prof. Dr. Sauro Longhi holds the position of Full Professor of Automatic Control at the Università Politecnica delle Marche and President of the Society of Professors and Researchers on Automatic Control. Since May 2014, he has also been President of the GARR Consortium, the Italian national IT network for universities and research. From 2013 to 2019, he was the Rector of Università Politecnica delle Marche. His research interests include modeling, identification, and control of linear and non-linear systems; control of mobile robots, submarine vehicles, ships, and unmanned aerial vehicles; cooperative control of autonomous agents and service robots for applications assistive to support mobility and cognitive actions; home and building automation; web technology on process control and remote control laboratories; decentralized control over networks; sensor networks; power management in hybrid cars; electric motor control; system-integrated control; management and control of renewable energy resources; efficient management of energy systems; and automatic fault detection and isolation. He has published more than 500 articles in international magazines and newspapers and is the author of four patents. He is a component of the Scientific and Technical Committee of the University Centre Innovation and Entrepreneurship (Engineering Faculty) for technology transfer and the creation of new high-technology companies in Ambient Assisted Living.