Publications

Journal papers:

  • Ricardo, J. A., Santos, D. A. Robust Collision Avoidance for Mobile Robots in the Presence of Moving Obstacles. IEEE Control Systems Letters, v. 1, p. 1-1, 2023. Link
  • Ricardo, J. A., Giacomossi, L., Trentin, J. F. S., Brancalion, J. F. B., Maximo, M. R. O. A., Santos, D. A. Cooperative Threat Engagement Using Drone Swarms. IEEE Access, v. 11, p. 9529-9546, 2023. Link
  • Ricardo, J. A., Santos, D. A. Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles. Nonlinear Dynamics, 2023 (accepted). Link
  • Ricardo, J. A., Santos, D. A. Robust Collision-Free Guidance and Control for Underactuated Multirotor Aerial Vehicles. Drones, 7(10), 611, 2023. Link
  • Trentin, J. F., Santos, D. A., Da Silva, S., Schaub, H. Dynamic modeling and control of a spherical pendulum with a VSCMG. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 44, p. 1-14, 2022. Link
  • Trentin, J. F., Santos, D. A. Predefined-time global sliding mode control design for a 3D pendulum. NONLINEAR DYNAMICS, 2022. Link
  • Santos, D. A.; Bezerra, J. A. On the Control Allocation of Fully Actuated Multirotor Aerial Vehicles. Aerospace Science and Technology, v. 1, p. 107424, 2022. Link
  • Ricardo JR, J. A.; Santos, D. A. Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles. ISA Transactions, v. 1, p. 15, 2022. Link
  • Bezerra, J. A.; Santos, D. A. On the guidance of fully-actuated multirotor aerial vehicles under control allocation constraints using the receding-horizon strategy. ISA Transactions, v. 1, p. 1-15, 2021. Link
  • Bezerra, J. A.; Santos, D. A. Optimal Exact Control Allocation for Under-Actuated Multirotor Aerial Vehicles. IEEE Control Systems Letters, v. 1, p. 1-1, 2021. Link
  • Silva Jr, A. L.; Santos, D. Erratum to -Fast Nonsingular Terminal Sliding Mode Flight Control for Multirotor Aerial Vehicles-. IEEE Transactions on Aerospace and Electronic Systems, v. 57, p. 3549-3549, 2021. Link
  • Santos, D. A.; Lagoa, C. M. Wayset-based guidance of multirotor aerial vehicles using robust tube-based model predictive control. ISA Transactions, v. 1, p. 1-38, 2021. Link
  • Silva Jr, A. L., Santos, D. A. Fast Nonsingular Terminal Sliding Mode Flight Control for Multirotor Aerial Vehicles. IEEE Transactions on Aerospace and Electronic Systems, 2020. Link
  • Santos, D. A., Cunha Jr, A. Flight Control of a Hexa-Rotor Airship: Uncertainty Quantification for a Range of Temperature and Pressure Conditions. ISA Transactions, 2019. Link
  • Prado, I. A. A., Pereira, M. F. V., Santos, D. A., Balthazar, J. M. Experimental evaluation of HJB optimal controllers for the attitude dynamics of a multirotor aerial vehicle. ISA Transactions, v. 77, p. 188-200, 2018. Link
  • Viana, I. B., Santos, D. A., Góes, L. C. S. Formation control of multirotor aerial vehicles using decentralized MPC. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 40, p. 306, 2018. Link
  • Prado, I. A. A., Santos, D. A. A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle. Journal of Aerospace Technology and Management, v. 9, p. 116-128, 2017. Link
  • Viana, I. B., Santos, D. A., Góes, L. C. S., Prado, I. A. A. Distributed Formation Flight Control of Multirotor Helicopters. Journal of Control, Automation and Electrical Systems, v. 28, p. 502-515, 2017. Link
  • Castro, D. F., Santos, D. A. A Software-in-the-Loop Simulation Scheme for Position Formation Flight of Multicopters. Journal of Aerospace Technology and Management, v. 8, p. 431-440, 2016. Link
  • Prado, I. A. A., Castro, D. F., Pereira, M. F. V., Santos, D. A., Balthazar, J. M. A note on polynomial chaos expansions for designing a linear feedback control for nonlinear systems. Nonlinear Dynamics, v. 1, p. 1-14, 2016. Link
  • Santos, D. A., Goncalves, P. F. S. M. Attitude Determination of Multirotor Aerial Vehicles Using Camera Vector Measurements. Journal of Intelligent & Robotic Systems, v. 1, p. 1-11, 2016. Link
  • Santos, D. A., Yoneyama, T. A Fault-Tolerant Filter for Systems Subject to Stochastic Faults. Journal of Control, Automation and Electrical Systems, v. 28, p. 94-104, 2016. Link
  • Yan, J.; Santos, D. A., Bernstein, D. S. Adaptive control with convex saturation constraints. IET Control Theory & Applications, v. 8, p. 1096-1104, 2014. Link
  • Viegas, W. V. C., Santos, D. A., Waschburger, R., Waldmann, J. Controle em três eixos para aquisição de atitude por satélite universitário partindo de condições iniciais desfavoráveis. Controle & Automação, v. 23, p. 231-246, 2012. Link
  • Santos, D. A., Yoneyama, T. A Bayesian solution to the multiple composite hypothesis testing for fault diagnosis in dynamic systems. Automatica, v. 47, p. 158-163, 2011. Link

Conference papers:

  • SANTOS, D. A. Globally Robust Sliding Mode Command Tracking Under Input Bounds Using a Time-Optimal Sigmoid Trajectory. In: 26th International Congress of Mechanical Engineering (COBEM), 2021. 26th International Congress of Mechanical Engineering.
  • ROEFERO, L. G. P. ; RICARDO JR, J. A. ; SANTOS, D. A. Waypoint-Based Guidance for Multirotor Aerial Vehicles Using Adaptive Global Sliding Modes. In: 26th International Congress of Mechanical Engineering (COBEM), 2021. 26th International Congress of Mechanical Engineering (COBEM), 2020.
  • RICARDO JR, J. A. ; SANTOS, D. A. Formation Guidance of Fully-Actuated Multirotor Aerial Vehicles Using Global Sliding Modes. In: 26th International Congress of Mechanical Engineering (COBEM), 2021. 26th International Congress of Mechanical Engineering (COBEM), 2021.
  • SILVA, J. F. R. P. A. ; SANTOS, D. A. Attitude Determination for Multirotor Aerial Vehicle Using a Super-Twisting Sliding Mode Observer. In: 26th International Congress of Mechanical Engineering (COBEM), 2021. 26th International Congress of Mechanical Engineering (COBEM), 2021.
  • BEZERRA, J. A. ; SANTOS, D. A. Evaluation of Control Allocation Methods for Multirotor Aerial Vehicles. In: 26th International Congress of Mechanical Engineering (COBEM), 2021. 26th International Congress of Mechanical Engineering (COBEM), 2021.
  • BEZERRA, J. A.; SANTOS, D. A. Lyapunov-Based Control Design for a Fully-Actuated Non-Planar Hexa-Rotor Aerial Vehicle. In: 26th International Congress of Mechanical Engineering (COBEM), 2021. 26th International Congress of Mechanical Engineering (COBEM), 2021.
  • RICARDO JR, J. A. ; SANTOS, D. A. Aerodynamic Subsonic Model at Transitional/Turbulent Reynolds Number for Bluff-Ellipsoidal Hulls. In: FEDSM2020, 2020, Orlando. Proceedings of Proceedings of the ASME 2020 Fluids Engineering Division Summer Meeting FEDSM2020 July 12-16, 2020, Orlando, USA, 2020.
  • BEZERRA, J. A.; SANTOS, D. A. Nonlinear Receding Horizon Guidance of a Thrust-Vectoring Quadrotor Under Control Allocation Constraints. In: XLI Ibero-Latin-American Congress on Computational Methods in Engineering, 2020, Foz do Iguaçu. Proceedings of the XLI Ibero-Latin-American Congress on Computational Methods in Engineering, 2020.
  • RICARDO JR, J. A.; SANTOS, D. A. Attitude Tracking Control for a Quadrotor Aerial Robot Using Adaptive Sliding Modes. In: XLI Ibero-Latin-American Congress on Computational Methods in Engineering, 2020, Foz do Iguaçu. Proceedings of the XLI Ibero-Latin-American Congress on Computational Methods in Engineering, 2020.
  • RICARDO JR, J. A.; SANTOS, D. A. Smooth Second-Order Sliding Mode Flight Control of an Ellipsoidal Multirotor Airship. In: XLI Ibero-Latin-American Congress on Computational Methods in Engineering, 2020, Foz do Iguaçu. Proceedings of the XLI Ibero-Latin-American Congress on Computational Methods in Engineering, 2020.
  • RICARDO JR, J. A.; SANTOS, D. A. Dynamic Modeling and Control of a Balloon Multicopter. In: Conferência Brasileira de Dinâmica, Controle e Aplicações, 2019, São Carlos. DICON 2019 Conferência Brasileira de Dinâmica, Controle e Aplicações, 2019.
  • CAREGNATO NETO, A.; SANTOS, D. A. Formation Generation with Collision Avoidance for a Multi-UAV System. In: Conferência Brasileira de Dinâmica, Controle e Aplicações, 2019, São Carlos. DINCON 2019 Conferência Brasileira de Dinâmica, Controle e Aplicações, 2019.
  • BARBOSA, J. P. A.; SANTOS, D. A.; DIAS, S. S. A Visual-Inertial Navigation System Using AprilTag for Real-Time MAV Applications. In: 25th IEEE International Conference on Mechatronics and Machine Vision in Practice, 2018, Stuttgart. 25th IEEE International Conference on Mechatronics and Machine Vision in Practice, 2018.
  • DIOGENES, H. B.; SANTOS, D. A. Dynamic Modeling and Control of a Quadcopter with Longitudinal-Tilting Rotors. In: XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering (CILAMCE), 2017, Florianópolis. Proceedings of the XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering, 2017.
  • SILVA JR, A. L.; SANTOS, D. A. Flight Control of a Multirotor Aerial vehicle Using a Nonsingular Terminal Sliding Mode Control. In: XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering (CILAMCE), 2017, Florianópolis. Proceedings of the XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering (CILAMCE), 2017.
  • ASFORA, B. A.; MOURA, E. A.; SANTOS, D. A. Comparative Evaluation of Filtering Methods in an Experimental Visual-Inertial Attitude Determination Setup. In: XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering (CILAMCE), 2017, Florianópolis. Proceedings of the XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering, 2017.
  • SANTOS, D. A.; CUNHA JR, A. Dynamic Modeling and Flight Control of a Balloon-Quadcopter Unmanned Aerial Vehicle. In: XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering (CILAMCE), 2017, Florianópolis. Proceedings of the XXXVIII Iberian Latin-American Congress on Computational Methods in Engineering, 2017.
  • ASFORA, B. A. ; SANTOS, D. A. Comparison of Filtering Methods for Stereo Visual-Inertial Navigation of Multirotor Aerial Vehicles. In: 24th ABCM International Congress of Mechanical Engineering, 2017, Curitiba. 24th ABCM International Congress of Mechanical Engineering, 2017.
  • CUNHA, M. K. C. ; SANTOS, D. A. ; HEMERLY, E. M. Quadrotor Aerial Vehicles Under Actuator Failures – An Adaptive Approach. In: 24th ABCM International Congress of Mechanical Engineering, 2017, Curitiba. 24th ABCM International Congress of Mechanical Engineering, 2017.
  • SANTOS, D. A.; AFONSO, R. J. M. Dynamic Modeling, Flight Control and Trajectory Planning for a Balloon-Hexacopter. In: 24th ABCM International Congress of Mechanical Engineering, 2017, Curitiba. 24th ABCM International Congress of Mechanical Engineering, 2017.
  • SILVA, J. A. B. G. ; SANTOS, D. A. Model Predictive Controller Used in Guidance with Obstacle Avoidance of Multirotor Aerial Vehicles. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • DIOGENES, H. B. ; SANTOS, D. A. Modelling, Design and Simulation of a Quadrotor with Tilting Rotors Actuated by a Memory Shape Wire. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • VIANA, I. B. ; SANTANA, L. M. ; BALLET, R. ; SANTOS, D. A. ; Góes, L.C.S. Experimental Validation of a Trajectory Tracking Control using the AR.Drone Quadrotor. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • PEREIRA, M. F. V. ; CASTRO, D. F. ; PRADO, I. A. A. ; SANTOS, D. A. ; BALTHAZAR, J. M. Linear Feedback Control for a Nonlinear Multirotor Aerial Vehicle Model with Stochastic Parameter Uncertainty. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • PRADO, I. A. A. ; CASTRO, D. F. ; PEREIRA, M. F. V. ; SANTOS, D. A. Polynomial Chaos-based analysis of Multirotor Aerial Vehicles Model Subjected to Uncertainties. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • BALLET, R. ; SANTOS, D. A. ; ZORAN, S. Position, Velocity and Heading Estimation for Unmanned Aerial Vehicles Using Camera and Inertial Sensors. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • CASTRO, D. F. ; PRADO, I. A. A. ; PEREIRA, M. F. V. ; SANTOS, D. A. ; BALTHAZAR, J. M. ; MORALES, M. A. V. Hovering Analysis of a Tethered Multirotor Under External Disturbance. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • SANTANA, L. M. ; SANTOS, D. A. ; VIANA, I. B. ; BALLET, R. A Low-Cost Position and Velocity Estimation System for Multirotor Aerial Vechicles Using a Static Kinect Sensor. In: Congresso Brasileiro de Automática, 2016, Vitória. Congresso Brasileiro de Automática, 2016.
  • SILVA, J. A. B. G. ; PRADO, I. A. A. ; SANTOS, D. A. Sliding Mode Control Applied to Waypoint-Based Guidance of Multirotor Aerial Vehicles. In: Congresso Brasileiro de Automática, 2016, Vitória. Congresso Brasileiro de Automática, 2016.
  • BARBOSA, J. P. A. ; BALLET, R. ; SANTOS, D. A. ; DIAS, S. S. A Visual-Inertial Navigation Algorithm for Micro Aerial Vehicles Using the Unscented Kalman Filter. In: Congresso Brasileiro de Automática, 2016, Vitória. Congresso Brasileiro de Automática, 2016.
  • SANTOS, D. A.; BALLET, R. ; MOURA, E. A. Visual-Inertial REQUEST for Attitude Determination of Multirotor Aerial Vehicles. In: Congresso Brasileiro de Engenharia Mecânica, 2016, Fortaleza. CONEM 2016, 2016.
  • SANTOS, D. A.; PRADO, I. A. A.; BEZERRA, J. A. Waypoint-Based Guidance with Obstacle Avoidance for Multirotor Vehicles Using a Model Predictive Controller. In: 23rd ABCM International Congress on Mechanical Engineering, 2015, Rio de Janeiro. 23rd ABCM International Congress on Mechanical Engineering, 2015.
  • COSTA, J. D.; SANTOS, D. A. Backstepping Controller for Attitude Control of a Quadrotor UAV. In: 23rd ABCM International Congress on Mechanical Engineering, 2015, Rio de Janeiro. 23rd ABCM International Congress on Mechanical Engineering, 2015.
  • VIANA, I. B.; PRADO, I. A. A.; CASTRO, D. F.; SANTOS, D. A. ; Góes, L.C.S. . Decentralized Model Predictive Control of a Formation of Multirotor Helicopters. In: 23rd ABCM International Congress on Mechanical Engineering, 2015, Rio de Janeiro. 23rd ABCM International Congress on Mechanical Engineering, 2015.
  • VIANA, I. B.; PRADO, I. A. A.; SANTOS, D. A.; Góes, L.C.S. Formation Flight Control of Multirotor Helicopters with Collision Avoidance. In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), 2015, Denver. 2015 International Conference on Unmanned Aircraft Systems (ICUAS), 2015.
  • CASTRO, D. F.; SANTOS, J. S.; OLIVEIRA, M. B. X.; SANTOS, D. A. ; Góes, L.C.S. Modeling and Control of Tethered Unmanned Multicopters in Hovering Flight. In: AIAA Modeling and Simulation Technologies Conference, 2015, Dallas. AIAA Modeling and Simulation Technologies Conference, 2015.
  • VIANA, I. B. ; PRADO, I. A. A. ; SANTOS, D. A. ; Góes, L.C.S. Trajectory Tracking Control of an Aerial Robot with Obstacle Avoidance. In: 11th IFAC Symposium on Robot Control, 2015, Salvador. 11th IFAC Symposium on Robot Control, 2015.
  • PRADO, IGOR AFONSO ACAMPORA ; ANTONIO DOS SANTOS, DAVI. A safe position tracking strategy for multirotor helicopters. In: 2014 22nd Mediterranean Conference of Control and Automation (MED), 2014, Palermo. 22nd Mediterranean Conference on Control and Automation, 2014. p. 1433.
  • SANTOS, DAVI ANTONIO; SAOTOME, OSAMU; CELA, ARBEN. Trajectory control of multirotor helicopters with thrust vector constraints. In: 2013 21st Mediterranean Conference on Control & Automation (MED), 2013, Platanias. 21st Mediterranean Conference on Control and Automation, 2013. p. 375.
  • YAN, J.; SANTOS, D. A.; BERNSTEIN, D. S. Adaptive Control with Convex Saturation Constraints. In: Dynamic Systems and Control Conference, 2013, Palo Alto. Proceedings of the ASME 2013 Dynamic Systems and Control Conference, 2013.
  • GONCALVES, P. F. S. M.; BRUSNICKI, R.; SANTOS, D. A. Attitude Determination of Multirotors Using Camera Vector Measurements. In: International Congress of Mechanical Engineering, 2013, Ribeirão Preto. Proceedings of the 22nd International Congress of Mechanical Engineering, 2013.
  • PRADO, I. A. A.; SANTOS, D. A. Multirotor Position Tracking Using a Linear Constrained Model Predictive Controller. In: International Congress of Mechanical Engineering, 2013, Ribeirão Preto. Proceedings of the 22nd International Congress of Mechanical Engineering, 2013.
  • PRADO, I. A. A.; CASTRO, D. F.; GONCALVES, P. F. S. M.; SANTOS, D. A. Software-in-the-Loop Simulation for Multirotor Position Tracking Using a Linear Constrained Model Predictive Control. In: Simpósio Brasileiro de Automação Inteligente, 2013, Fortaleza. Anais do Simpósio Brasileiro de Automação Inteligente, 2013.
  • CASTRO, D. F.; PRADO, I. A. A.; GONCALVES, P. F. S. M.; SANTOS, D. A. ; Góes, L.C.S. Simulation Scheme for Quadricopter Control with LabVIEW and X-Plane. In: Simpósio Brasileiro de Automação Inteligente, 2013, Fortaleza. Anais do Simpósio Brasileiro de Automação Inteligente, 2013.
  • SANTOS, D. A.; YONEYAMA, T. Diagnóstico Bayesiano de Falhas Utilizando Sequência de Inovação. In: XVIII Congresso Brasileiro de Automatica, 2010, Bonito-MS. CBA 2010, 2010. p. 2883-2890.
  • SANTOS, D. A.; YONEYAMA, T. . Fault-Tolerant Attitude Determination System of an Earth-Pointing Satellite. In: 20h International Congress of Mechanical Engineering COBEM2009, 2009, Gramado. 20h International Congress of Mechanical Engineering COBEM2009, 2009. v. 1.
  • SANTOS, D. A.; WALDMANN, J. . Attitude and Angular Rete Estimation from Vector Measurements of Magnetometer and Sun Sensor for the Low-Cost ITASAT Satellite. In: 20th International Congress of Mechanical Engineering COBEM2009, 2009, Gramado. Anais do 20th International Congress of Mechanical Engineering COBEM2009, 2009. v. 1.
  • WASHBURGER, R.; SANTOS, D. A. ; WALDMANN, J. . Magnetorquer-Only Attitude Control System Robust to Wide Range of Initial Conditions for Low-Cost Spin-Stabilized ITASAT Satellite. In: 20th International Congress of Mechanical Engineering COBEM2009, 2009, Gramado. Anais do 20th International Congress of Mechanical Engineering COBEM2009, 2009. v. 1.
  • SANTOS, D. A.; WALDMANN, J. Attitude and Angular Rate Estimation for a Low-Cost Satellite. In: International Congress of Mechanical Engineering (COBEM), 2007, Brasília. Anais do 19th International Congress of Mechanical Engineering COBEM2007, 2007. v. 1.
  • SANTOS, D. A.; WALDMANN, J. . Attitude and Angular Velocity Estimation Using Unscented Kalman Filter. In: Simpósio Brasileiro de Engenharia Inercial, 2007, Rio de Janeiro. Anais do V Simpósio Brasileiro de Engenharia Inercial, 2007. v. 1. p. 18-22.
  • SANTOS, D. A.; WALDMANN, J. . Minimum Variance Satellite Attitude Estimation Using Different Parameterizations. In: Simpósio Brasileiro de Engenharia Inercial, 2007, Rio de Janeiro. Anais do V Simpósio Brasileiro de Engenharia Inercial, 2007. v. 1. p. 23-28.