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Path tracking control of a four-wheel robotic vehicle under adverse terrain conditions

Grant number: 14/06610-8
Support Opportunities:Scholarships in Brazil - Doctorate
Effective date (Start): September 01, 2014
Effective date (End): August 02, 2017
Field of knowledge:Engineering - Electrical Engineering
Acordo de Cooperação: Coordination of Improvement of Higher Education Personnel (CAPES)
Principal Investigator:Paulo Augusto Valente Ferreira
Grantee:Rafael de Angelis Cordeiro
Host Institution: Faculdade de Engenharia Elétrica e de Computação (FEEC). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
Associated scholarship(s):16/00693-4 - Synthesis of nonlinear path tracking controllers for an Off-Road Four-Wheeled robotic vehicle, BE.EP.DR   14/27240-4 - Estimation of tire-ground interaction forces under all-terrain conditions, BE.EP.DR


This PhD scholarship proposal, required by Mr. Rafael de Angelis Cordeiro, focuses on the autonomous mobility in four-wheel robotic vehicles under adverse conditions of terrains (characterized by slopes, irregularities, adherence changes, ...) like agricultural machineries and off-road vehicles. Thus, this research aims in develop path tracking controllers for ground vehicles, covering state observers synthesis and nonlinear control strategies, focusing on autonomous navigation in adverse terrains. This proposal is related to the VERO Project (VEículo RObótico de exterior) created by the Centro de Tecnologia da Informação Renato Archer (CTI) in partnership with the Faculdade de Engenharia Elétrica e de Computação (FEEC/UNICAMP), the Faculdade de Engenharia Mecânica (FEM/UNICAMP), the Instituto de Mecânica of the Instituto Superio Técnico (IDMEC/IST), in Portugal, and the Laboratoire Heuristique et Diagnostic des Systèmes Complexes (Heudiasyc), associated with the Centre National de la Recherche Scientifique (CNRS) and the Université de Technologie de Compiègne (UTC), in France. Therefore, in addition to the advising of Professors Paulo Valente Ferreira (FEEC/UNICAMP) and Ely Paiva (FEM/UNICAMP), this proposal includes also the cooperation of Professor José Raul Azinheira (IDMEC/IST), who supervised the candidate in her master program, including an internship of the student at the IDMEC/IST for three months, and professor Alessandro Victorino (Heudiasyc/CNRS/UTC). This proposal previews an internship of the candidate for six months on each European institution. (AU)

News published in Agência FAPESP Newsletter about the scholarship:
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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; AZINHEIRA, JOSE R.; FERREIRA, V, PAULO A.; DE PAIVA, ELY C.; BUENO, SAMUEL S.. Estimation of Vertical , Lateral , and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 24, n. 2, p. 561-571, . (18/04905-1, 14/27240-4, 14/50851-0, 14/02672-9, 14/06610-8, 16/00693-4)
CORDEIRO, R. A.; RIBEIRO, A. M.; AZINHEIRA, J. R.; VICTORINO, A. C.; FERREIRA, P. A. V.; DE PAIVA, E. C.; BUENO, S. S.; IEEE. Road Grades and Tire Forces Estimation Using Two-Stage Extended Kalman Filter in a Delayed Interconnected Cascade Structure. 2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), v. N/A, p. 6-pg., . (16/00693-4, 14/06610-8, 14/50851-0, 14/27240-4, 14/02672-9)
CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; FERREIRA, PAULO A. V.; DE PAIVA, ELY C.; BUENO, SAMUEL S.. Tire-Ground Forces Estimation in a 4-Wheel Vehicle Using a Delayed Interconnected Cascade-Observer Structure. IFAC PAPERSONLINE, v. 49, n. 15, p. 6-pg., . (14/27240-4, 14/06610-8, 14/02672-9)
Academic Publications
(References retrieved automatically from State of São Paulo Research Institutions)
CORDEIRO, Rafael de Angelis. Estimação de forças de interação pneu-solo em veículos de quatro rodas e suas influências durante manobras em condições extremas. 2017. Doctoral Thesis - Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Elétrica e de Computação Campinas, SP.

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