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Adaptive Backstepping Control of a Quadcopter with Uncertain Vehicle Mass, Moment of Inertia, and Disturbances Journal article
IEEE Transactions on Industrial Electronics, 2021
Authors:  Wei Xie;  David Cabecinhas;  Rita Cunha;  Carlos Silvestre
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Robust Flight Control  Quadcopter Aircraft  Model Uncertainties  Disturbances  Estimator Design  
Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances Journal article
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020,Page: 1-13
Authors:  Wei Xie;  David Cabecinhas;  Rita Cunha;  Carlos Silvestre
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Collision Free  Cooperative Path Following (Cpf)  Disturbance Estimator  Multiple Quadcopters  Robust  
Improved Maneuverability for Multirotor Aerial Vehicles using Globally Stabilizing Feedbacks Conference paper
Proceedings of the American Control Conference
Authors:  Casau,Pedro;  Cunha,Rita;  Silvestre,Carlos
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Trajectory tracking control of an underactuated autonomous surface craft in the presence of environmental disturbances Conference paper
Proceeding - 2019 IEEE 7th Conference on Systems, Process and Control, ICSPC 2019, Melaka, Malaysia, 13-14 Dec. 2019
Authors:  Wei Xie;  David Cabecinhas;  Rita Cunha;  Carlos Silvestre
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Underactuated Surface Craft  Trajectory Tracking  Robust Control  Environmental Disturbances  
Multi-vehicle cooperative control for load transportation Conference paper
IFAC-PapersOnLine, Cranfield, ENGLAND, AUG 27-30, 2019
Authors:  Tiago Valentim;  Rita Cunha;  Paulo Oliveira;  David Cabecinhas;  Carlos Silvestre
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Autonomous Vehicles  Cascaded Systems  Differential Flatness  Nonlinear Control  Slung-load Transportation  
Trajectory planning and control for drone replacement for multidrone cinematography Conference paper
IFAC-PapersOnLine, Cranfield, ENGLAND, AUG 27-30, 2019
Authors:  Marta Marques;  Bruno J. Guerreiro;  Rita Cunha;  Carlos Silvestre
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Control  Formation Flying  Guidance And Navigation  Uav Dynamics  
Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints Conference paper
IFAC-PapersOnLine, Cranfield, ENGLAND, AUG 27-30, 2019
Authors:  Gan Yu;  David Cabecinhas;  Rita Cunha;  Carlos Silvestre
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Aircraft Control  Optimization Problems  Trajectory Planning  
Path Following Controller Design for an Underactuated Hovercraft with External Disturbances Conference paper
International Conference on Control, Automation and Systems
Authors:  Lu,Dinis;  Xie,Wei;  Cabecinhas,David;  Cunha,Rita;  Silvestre,Carlos
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disturbance  path following  trajectory tracking  uncertain vehicle parameters  underactuated hovercraft  
A 3-D Trailer Approach to Leader-Following Formation Control Journal article
IEEE Transactions on Control Systems Technology, 2019,Volume: 28,Issue: 6,Page: 2292-2308
Authors:  Pedro Pereira;  Rita Cunha;  David Cabecinhas;  Carlos Silvestre;  Paulo Oliveira
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Motion Planning  Path Planning  Nonlinear Control Systems  Unmanned Aerial Vehicles  
Nonlinear Backstepping Control of a Quadrotor-Slung Load System Journal article
IEEE/ASME Transactions on Mechatronics, 2019,Volume: 24,Issue: 5,Page: 2304-2315
Authors:  Gan Yu;  David Cabecinhas;  Rita Cunha;  Carlos Silvestre
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Air Transportation  Lyapunov Methods  Motion Control  Unmanned Aerial Vehicles