Marco H. Terra
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View article: Drone-based fault recognition in power systems: a systematic review of intelligent methods
Drone-based fault recognition in power systems: a systematic review of intelligent methods Open
Electrical power systems are susceptible to several damaging effects, potentially leading to faults reaching safety limits and posing critical operational risks. Traditionally, manual inspection has been employed to detect such faults; how…
View article: ZETA: a library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems
ZETA: a library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems Open
This paper introduces ZETA, a new MATLAB library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems. It features user-friendly implementations of set representations based on zonotopes, namely zonotopes, constrained…
View article: Set-based state estimation of nonlinear discrete-time systems using constrained zonotopes and polyhedral relaxations
Set-based state estimation of nonlinear discrete-time systems using constrained zonotopes and polyhedral relaxations Open
This paper presents a new algorithm for set-based state estimation of nonlinear discrete-time systems with bounded uncertainties. The novel method builds upon essential properties and computational advantages of constrained zonotopes (CZs)…
View article: Discrete-Time Markovian Jump Linear Robust Filtering for Visual and GPS Aided Magneto-Inertial Navigation
Discrete-Time Markovian Jump Linear Robust Filtering for Visual and GPS Aided Magneto-Inertial Navigation Open
Sensor fusion is a major field in autonomous mobile robots navigation research. These methods integrate information obtained from accelerometers, rate gyros and monocular cameras to provide pose and orientation of the robot, which are know…
View article: Reachability Analysis of Nonlinear Discrete-Time Systems Using Polyhedral Relaxations and Constrained Zonotopes<sup>*</sup>
Reachability Analysis of Nonlinear Discrete-Time Systems Using Polyhedral Relaxations and Constrained Zonotopes<sup>*</sup> Open
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions t…
View article: Dynamic Q-planning for Online UAV Path Planning in Unknown and Complex Environments
Dynamic Q-planning for Online UAV Path Planning in Unknown and Complex Environments Open
Unmanned Aerial Vehicles need an online path planning capability to move in high-risk missions in unknown and complex environments to complete them safely. However, many algorithms reported in the literature may not return reliable traject…
View article: Dynamic Q-planning for Online UAV Path Planning in Unknown and Complex Environments
Dynamic Q-planning for Online UAV Path Planning in Unknown and Complex Environments Open
Unmanned Aerial Vehicles need an online path planning capability to move in high-risk missions in unknown and complex environments to complete them safely. However, many algorithms reported in the literature may not return reliable traject…
View article: Robust and intelligent control of quadrotors subject to wind gusts
Robust and intelligent control of quadrotors subject to wind gusts Open
The combination of artificial neural networks with advanced control techniques has shown great potential to reject uncertainties and disturbances that affect the quadrotor during trajectory tracking. However, it is still a complex and litt…
View article: Second-Order Position-Based Visual Servoing of a Robot Manipulator
Second-Order Position-Based Visual Servoing of a Robot Manipulator Open
Visual Servoing is an established approach for controlling robots using visual feedback. Most controllers in this domain generate velocity control signals to guide the cameras to desired positions and orientations. However, the dynamic cha…
View article: Biomechanical inverted pendulum: a model for initial testing of interaction controls
Biomechanical inverted pendulum: a model for initial testing of interaction controls Open
Computational models of the neuromusculoskeletal system are useful for developing controls applied to rehabilitation robots. However, due to the high non-linearity, number of states and degrees of freedom, some models require a reasonable …
View article: Robust Regulator for Markov Jump Linear Systems with Random State Delays and Uncertain Transition Probabilities
Robust Regulator for Markov Jump Linear Systems with Random State Delays and Uncertain Transition Probabilities Open
The recursive robust regulation problem for Markov jump linear systems with state delay is investigated. The random delay belongs to a known interval and its maximum variation rate is considered. The transition probabilities matrix is subj…
View article: Markovian Transparency Control of an Exoskeleton Robot
Markovian Transparency Control of an Exoskeleton Robot Open
In wearable robotics, certain applications require the robot to be transparent, i.e., imperceptible to the user. This is a very difficult cooperative control task due to the inherent coupling between human and robot, unpredictable human mo…
View article: Robust linear quadratic regulator applied to an inverted pendulum
Robust linear quadratic regulator applied to an inverted pendulum Open
The natural instability of an inverted pendulum and its dynamics richness, in terms of nonlinearity, provide a nice apparatus to reproduce behaviors of analogous systems. In this way, it is useful to perform benchmark tests for new control…
View article: Adaptive Algorithm for Gait Segmentation Using a Single IMU in the Thigh Pocket
Adaptive Algorithm for Gait Segmentation Using a Single IMU in the Thigh Pocket Open
sponsorship: This work was supported in part by the Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior (CAPES), Brazil, under Finance Code 001 and Grant PNPD-88887.368451/2019-00; and in part by the Sao Paulo Research Foundation (…
View article: Polytopic Robust Distributed Kalman Consensus Filter for Sensor Networks
Polytopic Robust Distributed Kalman Consensus Filter for Sensor Networks Open
Distributed estimation is a fundamental task performed by sensor networks, often achieved through the Kalman consensus filter. However, it requires exact models, which is seldom possible in practice since parametric uncertainties are usual…
View article: Disturbance Observer-Based Robust Control of a Quadrotor Subject to Parametric Uncertainties and Wind Disturbance
Disturbance Observer-Based Robust Control of a Quadrotor Subject to Parametric Uncertainties and Wind Disturbance Open
We propose a disturbance observer-based controller to deal with the trajectory tracking problem of a quadrotor subject to parametric uncertainties and wind disturbance. The design is based on the combination of a recursive robust linear-qu…
View article: Robust Recursive Regulator for Systems Subject to Polytopic Uncertainties
Robust Recursive Regulator for Systems Subject to Polytopic Uncertainties Open
We present a robust recursive framework for the regulation of discrete-time linear systems subject to polytopic uncertainties. Based on regularized least-squares with a penalty parameter, we formulate a convex optimization problem and weig…
View article: Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties
Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties Open
We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the gene…
View article: Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling
Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling Open
The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based guar…
View article: Markovian robust filtering and control applied to rehabilitation robotics
Markovian robust filtering and control applied to rehabilitation robotics Open
In this article, we deal with rehabilitation robot robust control in order to obtain best performance in the human-robot interaction. This class of system is subject to abrupt changes due to exogenous inputs and parameter variations caused…
View article: Robust Markovian Impedance Control applied to a Modular Knee-Exoskeleton
Robust Markovian Impedance Control applied to a Modular Knee-Exoskeleton Open
Lower limb exoskeletons have improved mobility and safety during gait rehabilitation. Joint actuators can be programmed to produce sufficient joint torque to promote human movement. However, the mechanical impedance of the human joints cha…
View article: Robust Distributed Consensus-Based Filtering for Uncertain Systems over Sensor Networks
Robust Distributed Consensus-Based Filtering for Uncertain Systems over Sensor Networks Open
Distributed consensus-based estimation is one of the main applications of sensor networks. Most approaches are highly dependent on exact model knowledge. This limitation motivated the development of robust distributed filters that deal wit…
View article: Optimal guaranteed cost control of discrete-time linear systems subject to structured uncertainties
Optimal guaranteed cost control of discrete-time linear systems subject to structured uncertainties Open
In this paper, we propose state- and static output-feedback generalized\nguaranteed cost control (GCC) approaches for discrete-time linear systems\nsubject to norm-bounded structured parametric uncertainties. This method\nenables the conve…
View article: Robust recursive linear quadratic regulator for wheeled mobile robots based on optical motion capture cameras
Robust recursive linear quadratic regulator for wheeled mobile robots based on optical motion capture cameras Open
In this paper, we deal with nonholonomic wheeled mobile robots (WMR) modeled as uncertain nonlinear systems. Sources of uncertainties can be due to erroneous estimation of mass, inertia, and center of gravity and due to payload time‐varyin…
View article: Recursive Estimation for Discrete-Time Markovian Jump Singular Systems with Random State Delays
Recursive Estimation for Discrete-Time Markovian Jump Singular Systems with Random State Delays Open
This paper deals with the estimation problem for discrete-time Markovian jump singular systems with known random state delays. By application of the lifting method and modeling of time-varying delay as a mode-dependent Markov chain, the sy…