E
Edson Roberto De Pieri
Researcher at Universidade Federal de Santa Catarina
Publications - 85
Citations - 706
Edson Roberto De Pieri is an academic researcher from Universidade Federal de Santa Catarina. The author has contributed to research in topics: Mobile robot & Control theory. The author has an hindex of 13, co-authored 84 publications receiving 613 citations. Previous affiliations of Edson Roberto De Pieri include École normale supérieure de Cachan.
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Proceedings ArticleDOI
A reactive controller framework for quadrupedal locomotion on challenging terrain
Victor Barasuol,Jonas Buchli,Claudio Semini,Marco Frigerio,Edson Roberto De Pieri,Darwin G. Caldwell +5 more
TL;DR: A task space CPG-based trajectory generation that can be modulated according to terrain irregularities and the posture of the robot trunk, and a null space based attitude control for the trunk and a push recovery algorithm based on the concept of capture points are implemented.
Journal ArticleDOI
Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
Julio Cesar Lins Barreto S,André Gustavo Scolari Conceição,Carlos E. T. Dorea,Luciana Martinez,Edson Roberto De Pieri +4 more
TL;DR: In this article, a cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller, allowing the use of efficient algorithms for linear MPC with constraints.
Journal ArticleDOI
Brief paper: Bounded Nash type controls for uncertain linear systems
TL;DR: This paper deals with multicriteria controls for systems coping with polytopic uncertainties, inspired by a Nash strategy for exactly known systems, reformulated as a nonconvex coupling between Semi-Definite Programming problems.
Journal ArticleDOI
Bank of controllers and virtual thrusters for fault-tolerant control of autonomous underwater vehicles
Carlos Henrique Farias dos Santos,Daisy Isabel Kang Cardozo,Romeu Reginatto,Edson Roberto De Pieri +3 more
TL;DR: In this article, the authors proposed a fault-tolerant control based on a virtual thruster approach for AUVs with four horizontal and two vertical thrusters, which can cope with the problem of fault tolerant control of AUVs.
Journal ArticleDOI
Trajectory Tracking of a Nonholonomic Mobile Robot with Kinematic Disturbances: A Variable Structure Control Design
Nardênio Almeida Martins,Ebrahim Samer El'youssef,Douglas Wildgrube Bertol,Edson Roberto De Pieri,Ubirajara F. Moreno,Eugênio B. Castelan +5 more
TL;DR: A neural compensator, which is nonlinear and continuous, in lieu of the discontinuous portion of the control signals present in classical forms is used, to minimize the problems found in practical implementations of the classical variable structure controllers.