Carlos Castillo - Academia.edu (original) (raw)

Papers by Carlos Castillo

Research paper thumbnail of Unmanned helicopter waypoint trajectory tracking using model predictive control

2007 Mediterranean Conference on Control & Automation, 2007

A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopter... more A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopters is presented. A linear model predictive controller is used to take advantage of the fast algorithms available to solve convex optimization problems. The proposed MPCTT system is compared with a velocity tracking and a position tracking system implemented with classical PIDs from previous research work. Obtained simulation results demonstrate the superiority of the proposed MPCTT approach, generating a substantially less control effort in order to track waypoint trajectories. The unmanned helicopter used for the proposed MPCTT system is considered as a (linearized) linear statespace model obtained for hovering and slow motion; however, as shown, the MPCTT is robust enough to perform trajectory tracking under a cruise flight mode, too.

Research paper thumbnail of Robustification of decentralized PID control for small unmanned rotorcraft

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

This paper presents a practical and simple approach to the design of autonomous flight control of... more This paper presents a practical and simple approach to the design of autonomous flight control of miniature helicopters. It considers a standard easily tunable PID control as the starting step of the design. Then, robust loop-shaping techniques are applied to derive a controller with optimal properties with respect to robustness, noise sensitivity, and bandwidth. Comprehensive analysis and simulation experiments show

Research paper thumbnail of Modeling and Visualization of Multiple Autonomous Heterogeneous Vehicles

2005 IEEE International Conference on Systems, Man and Cybernetics

... Similar characteristics present OPAL-RT's RT-LAB UAV Engineering Simulator [... more ... Similar characteristics present OPAL-RT's RT-LAB UAV Engineering Simulator [22]. ... 5 Using the Simulation and Visualization Platform In order to perform dynamic simulation, dynamic models of the robot vehicles have to be derived. ...

Research paper thumbnail of Small Scale Helicopter Analysis and Controller Design for Non-Aggressive Flights

2005 IEEE International Conference on Systems, Man and Cybernetics

A simplified analysis is presented for controller design of small scale helicopters for non-aggre... more A simplified analysis is presented for controller design of small scale helicopters for non-aggressive flight scenarios. A MATLAB based detailed approach was followed to analyze the mathematical characteristics of the system, and to aid the design process of PID/PD and fuzzy logic controllers for the yaw, the pitch, the roll (Euler angles) and the height variables for hover and slow flight. Both controllers have demonstrated promising results and they are simple and mathematically sound.

Research paper thumbnail of Small Unmanned Helicopter Simplified and Decentralized Optimization-Based Controller Design for Non-Aggressive Flights

International Transactions on Systems Science and Applications, 2006

Research paper thumbnail of Efficacy of a Final Lab Practicum and Lab Reports for Assessment in a Fundamentals Electric Circuits Laboratory

faculty.atu.edu

In a fundamental electrical engineering laboratory course, the traditional team based approach to... more In a fundamental electrical engineering laboratory course, the traditional team based approach to laboratory structure with two or more members per lab team was not as effective for teaching basic laboratory skills and knowledge as a lab structure that allowed students to perform ...

Research paper thumbnail of Unmanned helicopter waypoint trajectory tracking using model predictive control

2007 Mediterranean Conference on Control & Automation, 2007

A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopter... more A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopters is presented. A linear model predictive controller is used to take advantage of the fast algorithms available to solve convex optimization problems. The proposed MPCTT system is compared with a velocity tracking and a position tracking system implemented with classical PIDs from previous research work. Obtained simulation results demonstrate the superiority of the proposed MPCTT approach, generating a substantially less control effort in order to track waypoint trajectories. The unmanned helicopter used for the proposed MPCTT system is considered as a (linearized) linear statespace model obtained for hovering and slow motion; however, as shown, the MPCTT is robust enough to perform trajectory tracking under a cruise flight mode, too.

Research paper thumbnail of Robustification of decentralized PID control for small unmanned rotorcraft

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

This paper presents a practical and simple approach to the design of autonomous flight control of... more This paper presents a practical and simple approach to the design of autonomous flight control of miniature helicopters. It considers a standard easily tunable PID control as the starting step of the design. Then, robust loop-shaping techniques are applied to derive a controller with optimal properties with respect to robustness, noise sensitivity, and bandwidth. Comprehensive analysis and simulation experiments show

Research paper thumbnail of Modeling and Visualization of Multiple Autonomous Heterogeneous Vehicles

2005 IEEE International Conference on Systems, Man and Cybernetics

... Similar characteristics present OPAL-RT's RT-LAB UAV Engineering Simulator [... more ... Similar characteristics present OPAL-RT's RT-LAB UAV Engineering Simulator [22]. ... 5 Using the Simulation and Visualization Platform In order to perform dynamic simulation, dynamic models of the robot vehicles have to be derived. ...

Research paper thumbnail of Small Scale Helicopter Analysis and Controller Design for Non-Aggressive Flights

2005 IEEE International Conference on Systems, Man and Cybernetics

A simplified analysis is presented for controller design of small scale helicopters for non-aggre... more A simplified analysis is presented for controller design of small scale helicopters for non-aggressive flight scenarios. A MATLAB based detailed approach was followed to analyze the mathematical characteristics of the system, and to aid the design process of PID/PD and fuzzy logic controllers for the yaw, the pitch, the roll (Euler angles) and the height variables for hover and slow flight. Both controllers have demonstrated promising results and they are simple and mathematically sound.

Research paper thumbnail of Small Unmanned Helicopter Simplified and Decentralized Optimization-Based Controller Design for Non-Aggressive Flights

International Transactions on Systems Science and Applications, 2006

Research paper thumbnail of Efficacy of a Final Lab Practicum and Lab Reports for Assessment in a Fundamentals Electric Circuits Laboratory

faculty.atu.edu

In a fundamental electrical engineering laboratory course, the traditional team based approach to... more In a fundamental electrical engineering laboratory course, the traditional team based approach to laboratory structure with two or more members per lab team was not as effective for teaching basic laboratory skills and knowledge as a lab structure that allowed students to perform ...