Blar i NTNU Open på forfatter "Cristofaro, Andrea"
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A multiple model adaptive architecture for the state estimation in discrete-time uncertain LPV systems
Rotondo, Damiano; Hassani, Vahid; Cristofaro, Andrea (Journal article, 2017)This paper addresses the problem of multiple model adaptive estimation (MMAE) for discrete-time linear parameter varying (LPV) systems that are affected by parametric uncertainty. The MMAE system relies on a finite number ... -
Combining model-free and model-based angle of attack estimation for small fixed-wing UAVs using a standard sensor suite
Wenz, Andreas Wolfgang; Cristofaro, Andrea; Johansen, Tor Arne (Chapter, 2016)We propose to estimate steady and turbulent wind velocities and aerodynamic coefficients of a fixed-wing Unmanned Aerial Vehicle (UAV) by using frequency separation as well as kinematic, aerodynamic and wind models combined ... -
Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers
Rotondo, Damiano; Cristofaro, Andrea; Johansen, Tor Arne; Nejjari, F; Puig, V (Journal article; Peer reviewed, 2017)This paper proposes a discrete-time linear parameter varying (LPV) unknown input observer (UIO) for the diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs). The proposed approach, which is ... -
Estimation in uncertain switched systems using a bank of interval observers: local vs glocal approach
Rotondo, Damiano; Efimov, Denis; Cristofaro, Andrea; Johansen, Tor Arne (Peer reviewed; Journal article, 2021)This paper discusses some issues related with the design of a bank of interval observers for uncertain switched systems, in which several sources of uncertainty are considered: parametric uncertainties, unknown disturbances, ... -
Fault tolerant control of uncertain dynamical systems using interval virtual actuators
Rotondo, Damiano; Cristofaro, Andrea; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)In this paper, a model reference fault tolerant control strategy based on a reconfiguration of the reference model, with the addition of a virtual actuator block, is presented for uncertain systems affected by disturbances ... -
Fault-tolerant control allocation for overactuated nonlinear systems
Cristofaro, Andrea; Polycarpou, Marios M.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)This paper addresses the problem of fault-tolerant control allocation for input affine nonlinear systems. The proposed scheme is divided in three main tasks: fault detection and estimation using a nonlinear observer, fault ... -
Fault-tolerant control allocation: an Unknown Input Observer based approach with constrained output fault directions
Cristofaro, Andrea; Johansen, Tor Arne (Journal article; Peer reviewed, 2013)This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy ... -
Fault-tolerant input allocation with actuator dynamics: finite-time control reconfiguration
Cristofaro, Andrea; Johansen, Tor Arne (Conference object; Journal article; Peer reviewed, 2014)This paper focuses on fault tolerant control allocation for overactuated systems with actuator dynamics. The proposed scheme for fault detection and isolation is based on unknown input observers and the main contribution ... -
Icing Detection and Identification for Unmanned Aerial Vehicles using Adaptive Nested Multiple Models
Cristofaro, Andrea; Aguiar, A. P.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)A multiple-model approach for icing diagnosis and identification in small unmanned aerial vehicles is proposed. The accretion of ice layers on wings and control surfaces modifies the shape of the aircraft and, consequently, ... -
Icing diagnosis in unmanned aerial vehicles using an LPV multiple model estimator
Rotondo, Damiano; Cristofaro, Andrea; Hassani, Vahid; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)The phenomenon of icing, i.e. ice accretion on aircraft surfaces, affects the flight performance of unmanned aerial vehicles (UAVs). Autonomous icing detection schemes are needed in order to assure high efficiency and limit ... -
LPV model reference control for fixed-wing UAVs
Rotondo, Damiano; Cristofaro, Andrea; Gryte, Kristoffer; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)This paper proposes a linear parameter varying (LPV) model reference-based control for fixed-wing unmanned aerial vehicles (UAVs), which achieves agile and high performance tracking objectives in extended flight envelopes, ... -
Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers
Rotondo, Damiano; Cristofaro, Andrea; Johansen, Tor Arne; Nejjari, Fatiha; Puig, Vicenç (Journal article; Peer reviewed, 2018)This paper proposes a linear parameter varying (LPV) interval unknown input observer for the robust fault diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs) described by an uncertain model. ... -
Ship collision avoidance and COLREGS compliance using simulation-based control behavior selection with predictive hazard assessment
Johansen, Tor Arne; Perez, Tristan; Cristofaro, Andrea (Journal article; Peer reviewed, 2016)This paper describes a concept for a collision avoidance system for ships, which is based on model predictive control. A finite set of alternative control behaviors are generated by varying two parameters: offsets to the ... -
State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers
Rotondo, Damiano; Cristofaro, Andrea; Johansen, Tor Arne; Nejjari, F; Puig, V (Journal article; Peer reviewed, 2017)This paper proposes a linear parameter varying (LPV) interval observer for state estimation and unknown inputs decoupling in uncertain continuous-time LPV systems. Two different problems are considered and solved: (1) the ...