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Posts

Future Blog Post

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Published: January 01, 2199

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Blog Post number 4

less than 1 minute read

Published: August 14, 2015

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 3

less than 1 minute read

Published: August 14, 2014

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 2

less than 1 minute read

Published: August 14, 2013

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 1

less than 1 minute read

Published: August 14, 2012

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

portfolio

Portfolio item number 1

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Portfolio item number 2

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projects

Control barrier functions

Control barrier functions for discrete-time systems with applications to robotics and aerospace systems

Optimization for controller synthesis

Controller Learning and Synthesis based on Control and Trajectory Optimization

Adaptive Model Predictive Control

Adaptive Model Predictive Control for Aerospace Applications and Performance Diagnostics

Adaptive Autopilot for UAVs

Adaptive Digital Autopilot Development for Unmanned Aerial Vehicles (UAVs)

Adaptive Control of Self-Excited Systems

Adaptive Control of Self-Excited Systems with Application to Thermoacoustic Oscillations

Multicopter Controllers for Embedded Systems

Development and Evaluation of Multicopter Controllers for Computationally Limited Embedded Systems

Gaussian Processes for Model Reference Adaptive Control

Implementation of Gaussian Processes (GPs) to estimate adaptive elements in model reference adaptive control (MRAC)

Obstacle Avoidance Device for Multirotor UAVs

Development of a Multicopter Device with interface to PX4 Autopilot to Enable Obstacle Avoidance

Decision Support System with UAVs for high-altitude environments

Design of Decision Support System through UAVs for Management, Optimization and Control of High Andean Agriculture Systems in response to Climate Change

publications

Quadcopter design for medicine transportation in the Peruvian Amazon Rainforest

Published in Proceedings of International Conference on Electronics, Electrical Engineering and Computing, 2016

A quadcopter UAV system is proposed to be used for aerial transportation of medicine.

Recommended citation: J. A. Paredes, J. Acevedo, H. Mogrovejo, J. Villalta, and R. Furukawa, "Quadcopter design for medicine transportation in the Peruvian Amazon Rainforest," in Proc. Int. Congr. Electron. Elect. Eng. Comput. (INTERCON), IEEE, 2016, pp. 1–6.

Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems

Published in Proceedings of the Technical and Scientific Conference of the Andean Council, 2016

A Fuzzy-PD Controller structure is proposed with the purpose of combining the behaviors of several PD controller configurations.

Recommended citation: J. A. Paredes, C. Jacinto, R. Ramirez, I. Vargas, and L. Trujillano, "Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems," in Proc. Tech. Sci. Conf. Andean Council (ANDESCON), IEEE, 2016, pp. 1–4.

Fuzzy-PD Controller for behavior mixing and improved performance in quadcopter attitude control systems

Published in Proceedings of the Latin America Congress on Computational Intelligence, 2016

A Fuzzy-PD Controller structure based on the Sugeno fuzzy inference method is proposed to combine the behaviors of several PD controller configurations to control the states of a given quadcopter system and improve their individual performance.

Recommended citation: J. A. Paredes, C. Jacinto, R. Ramirez, I. Vargas, and L. Trujillano, "Fuzzy-PD Controller for behavior mixing and improved performance in quadcopter attitude control systems," in Proc. Latin Amer. Conf. Comput. Intell. (LA-CCI), IEEE, 2016, pp. 1–6.

Aerial photography for 3D reconstruction in the Peruvian Highlands through a fixed-wing UAV system

Published in Proceedings of the International Conference on Mechatronics, 2017

An UAV system capable of carrying an image acquisition system and capable of 30 minutes of flight time in high-altitude (between 5000 and 6200 m.a.s.l.), windy environments is proposed

Recommended citation: D. A. Flores, C. Saito, J. A. Paredes, and F. Trujillano, "Aerial photography for 3D reconstruction in the Peruvian Highlands through a fixed-wing UAV system," in Proc. Int. Conf. Mechatron. (ICM), IEEE, 2017, pp. 388–392.

Multispectral imaging of crops in the Peruvian Highlands through a fixed-wing UAV system

Published in Proceedings of the International Conference on Mechatronics, 2017

A Fixed-Wing UAV (Unmanned Aerial Vehicle) System with Multispectral Cameras is proposed for identifying stressed crops over a determined zone. This system features an aircraft capable of 50 minutes of flight time at high-altitude with windy conditions.

Recommended citation: D. A. Flores, C. Saito, J. A. Paredes, and F. Trujillano, "Multispectral imaging of crops in the Peruvian Highlands through a fixed-wing UAV system," in Proc. Int. Conf. Mechatron. (ICM), IEEE, 2017, pp. 399–403.

Multispectral imaging system with UAV integration capabilities for crop analysis

Published in Proceedings of the First IEEE International Symposium of Geoscience and Remote Sensing (GRSS-CHILE), 2017

This paper provides a design proposition for a multispectral system for interfacing with an onboard flight controller to synchronize data acquisition and obtain aerial multispectral images for the identification of crop conditions, which can be used for proper decision making in agriculture activities.

Recommended citation: J. A. Paredes, J. González, C. Saito, and A. Flores, "Multispectral imaging system with UAV integration capabilities for crop analysis," in Proc. Int. Symp. Geosci. Remote Sens. (GRSS-CHILE), IEEE, 2017, pp. 1-4.

On the design of an UAV-based store and forward transport network for wildlife inventory in the western Amazon rainforest

Published in Proceedings of the International Conference on Electronics, Electrical Engineering and Computing, 2017

In this paper, the design of hardware and software of a low-cost long-lasting time flight drone is proposed with the purpose of serving as a data mule to export data from an isolated wireless multimedia sensor network located in a remote nature reservation.

Recommended citation: L. C. Caballero, C. Saito, R. B. Micheline, and J. A. Paredes, "On the design of an UAV-based store and forward transport network for wildlife inventory in the western Amazon rainforest," in Proc. Int. Congr. Electron. Elect. Eng. Comput. (INTERCON), IEEE, 2017, pp. 1–4.

Study of effects of high-altitude environments on multicopter and fixed-wing UAVs’ energy consumption and flight time

Published in Proceedings of the International Conference on Automation Science and Engineering, 2017

By using aeronautical theoretical background to construct a hypothesis concerning how altitude affects the energy consumption and, consequently, flight time of both types of UAV, a qualitative analysis of flight missions held at different altitudes will be performed to find a correlation between the energy consumption and target altitude to determine if low altitude flight missions could be used to predict consumption at high-altitude environments.

Recommended citation: J. A. Paredes, C. Saito, M. Abarca, and F. Cuellar, "Study of effects of high-altitude environments on multicopter and fixed-wing UAVs' energy consumption and flight time," in Proc. Conf. Autom. Sci. Eng. (CASE), IEEE, 2017, pp. 1645-1650.

Design and development of an hexacopter for air quality monitoring at high altitudes

Published in Proceedings of the International Conference on Automation Science and Engineering, 2017

This paper describes the design of a hexacopter platform for air quality measurement purposes outfitted with gear that allows it to fly at altitudes up to 5000 meters above sea level (MASL).

Recommended citation: M. Abarca, C. Saito, A. Angulo, J. A. Paredes, and F. Cuellar, "Design and development of an hexacopter for air quality monitoring at high altitudes," in Proc. Conf. Autom. Sci. Eng. (CASE), IEEE, 2017, pp. 1457-1462.

Obstacle Detection and Avoidance Device for Multirotor UAVs through interface with Pixhawk Flight Controller

Published in Proceedings of the International Conference on Automation Science and Engineering, 2018

A device for enabling obstacle detection and avoidance capabilities on a Pixhawk Flight controller driven Multi-rotor Unmanned Aerial Vehicle (UAV) is proposed as a mean of increasing the navigation and guidance capabilities of this system.

Recommended citation: J. Gonzalez, A. Chavez, J. A. Paredes, and C. Saito, "Obstacle Detection and Avoidance Device for Multirotor UAVs through interface with Pixhawk Flight Controller," in Proc. Conf. Autom. Sci. Eng. (CASE), IEEE, 2018, pp. 110-115.

A Time-Delayed Lur’e model with Biased Self-Excited Oscillations

Published in Proceedings of the American Control Conference, 2020

This paper presents a Lur’e model that exhibits biased oscillations under constant inputs. The model involves arbitrary asymptotically stable linear dynamics, time delay, a washout filter, and a saturation nonlinearity.

Recommended citation: J. A. Paredes, S. A. U. Islam, and D. S. Bernstein, "A Time-Delayed Lur'e model with Biased Self-Excited Oscillations," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2020, pp. 2699-2704.

Design and Characterization of the Dual Independent Swirl Combustor Facility (DISCo)

Published in Proceedings of the AIAA SciTech Forum, 2021

The present work is aimed at discussing the design, hardware development, and characterization of the Dual Independent Swirl Combustor (DISCo) facility, which is a laboratory-scale gas turbine model combustor that is designed to exhibit thermoacoustic instabilities.

Recommended citation: R. Ramesh, J. A. Paredes, D. Bernstein, and M. Gamba, "Design and Characterization of the Dual Independent Swirl Combustor Facility (DISCo)," in Proc. AIAA SciTech Forum, 2021, p. 3479.

Identification of Self-Excited Systems Using Discrete-Time, Time-Delayed Lur’e Models

Published in Proceedings of the American Control Conference, 2021

This paper considers system identification for systems whose output is asymptotically periodic under constant inputs. The model used for system identification is a discrete-time Lur’e model consisting of asymptotically stable linear dynamics, a time delay, a washout filter, and a static nonlinear feedback mapping.

Recommended citation: J. A. Paredes and D. S. Bernstein, "Identification of Self-Excited Systems Using Discrete-Time, Time-Delayed Lur'e Models," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2021, pp. 3939–3944.

Experimental Implementation of an Adaptive Digital Autopilot

Published in Proceedings of the American Control Conference, 2021

This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot control system architecture with adaptive digital control laws based on retrospective cost adaptive control (RCAC).

Recommended citation: A. Goel, J. A. Paredes, H. Dadhaniya, S. A. U. Islam, A. M. Salim, S. Ravela, and D. S. Bernstein, "Adaptive Stabilization of Thermoacoustic Oscillations in a Rijke Tube," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2021, pp. 3737–3742.

Development, implementation, and experimental outdoor evaluation of quadcopter controllers for computationally limited embedded systems

Published in Annual Reviews in Control, 2021

This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter flight controllers, including Explicit Model Predictive Control, Linear Quadratic Regulator, and Proportional Integral Derivative.

Recommended citation: J. A. Paredes, P. Sharma, B. Ha, M. Lanchares, E. Atkins, P. Gaskell, and I. Kolmanovsky, "Development, implementation, and experimental outdoor evaluation of quadcopter controllers for computationally limited embedded systems," Annu. Rev. Contr., vol. 52, pp. 372–389, 2021.

Experimental Investigation of Adaptive Feedback Control on a Dual-Swirl-Stabilized Gas Turbine Model Combustor

Published in Proceedings of the AIAA SciTech Forum, 2022

The present work considers adaptive control, where the feedback control law operates with a low bandwidth relative to the open-loop dynamics of the combustor, and adapts to a wide range of operating points, applied to a swirl-stabilized gas turbine model combustor called the Dual Independent Swirl Combustor (DISCo) with the primary objective of reducing the amplitude of the combustion instabilities.

Recommended citation: J. A. Paredes, R. Ramesh, S. Obidov, M. Gamba, and D. Bernstein, "Experimental Investigation of Adaptive Feedback Control on a Dual-Swirl-Stabilized Gas Turbine Model Combustor," in Proc. AIAA SciTech Forum, 2022, p. 2058.

An adaptive PID autotuner for multicopters with experimental results

Published in Proceedings of the International Conference on Robotics and Automation, 2022

This paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results.

Recommended citation: J. Spencer, J. Lee, J. A. Paredes, A. Goel, and D. Bernstein, "An adaptive PID autotuner for multicopters with experimental results," in Proc. Int. Conf. Robot. Autom. (ICRA), IEEE, 2022, pp. 7846–7853.

Adaptive Stabilization of Thermoacoustic Oscillations in a Rijke Tube

Published in Proceedings of the American Control Conference, 2022

This paper provides a numerical and experimental investigation of retrospective cost adaptive control (RCAC) for adaptively suppressing thermoacoustic oscillations in a Rijke-tube experiment under sampled-data control.

Recommended citation: J. A. Paredes, S. A. U. Islam, and D. S. Bernstein, "Adaptive Stabilization of Thermoacoustic Oscillations in a Rijke Tube," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2022, pp. 28-33.

Experimental Flight Testing of a Fault-Tolerant Adaptive Autopilot for Fixed-Wing Aircraft

Published in Proceedings of the American Control Conference, 2023

This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are updated using retrospective cost adaptive control.

Recommended citation: J. Lee, J. Spencer, S. Shao, J. A. Paredes, D. S. Bernstein, and A. Goel, "Experimental Flight Testing of a Fault-Tolerant Adaptive Autopilot for Fixed-Wing Aircraft," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2023, pp. 2981–2986.

Experimental Implementation of Retrospective Cost Adaptive Control for Suppressing Thermoacoustic Oscillations in a Rijke Tube

Published in IEEE Transactions on Control Systems Technology, 2023

This work provides an experimental investigation of retrospective cost adaptive control for suppressing thermoacoustic oscillations in a Rijke tube experiment under sampled-data control and varying system operating conditions.

Recommended citation: J. A. Paredes and D. S. Bernstein, "Experimental Implementation of Retrospective Cost Adaptive Control for Suppressing Thermoacoustic Oscillations in a Rijke Tube," IEEE Trans. Contr. Sys. Tech., vol. 31, no. 6, pp. 2484–2498, 2023, DOI: 10.1109/TCST.2023.3262223.

Output-only identification of self-excited systems using discrete-time Lur’e models with application to a gas-turbine combustor

Published in International Journal of Control, 2024

Nonlinear identification of self-excited systems is considered using a Lur’e model structure, where a linear model is connected in feedback with a nonlinear feedback function. To facilitate identification, the nonlinear feedback function is assumed to be continuous and piecewise affine (CPA).

Recommended citation: J. A. Paredes, Y. Yang, and D. S. Bernstein, "Output-only identification of self-excited systems using discrete-time Lur'e models with application to a gas-turbine combustor," Int. J. Contr., vol. 97, no. 2, pp. 187–212, 2024.

Performance Comparison of Adaptive Autopilot Architectures for Multicopter Stabilization and Trajectory Tracking

Published in Proceedings of the AIAA SciTech Forum, 2024

In this paper, we develop, implement, and compare the performance of two distinct autopilot architectures for multicopter control. Specifically, we consider the cascaded P-PI controller architecture and the full-state feedback with integral action controller architecture.

Recommended citation: Y. Y. Chee, P. Oveissi, J. Paredes, D. S. Bernstein, and A. Goel, "Performance Comparison of Adaptive Autopilot Architectures for Multicopter Stabilization and Trajectory Tracking," in Proc. AIAA SciTech Forum, 2024, p. 1391.

Experimental Application of a Quasi-Static Adaptive Controller to a Dual Independent Swirl Combustor

Published in Combustion Science and Technology, 2024

This paper develops an adaptive feedback-control technique that operates with actuators that have low bandwidth relative to the dynamics of the combustor. Single and multiple objective control scenarios such as minimizing thermoacoustic oscillations while maintaining a user-defined temperature at the exit of the combustor are studied.

Recommended citation: J. A. Paredes, R. Ramesh, M. Gamba, and D. S. Bernstein, "Experimental Application of a Quasi-Static Adaptive Controller to a Dual Independent Swirl Combustor," Comb. Sci. Tech., vol. 197, no. 9, pp. 2116–2149, 2024.

Output-Only Identification of Lur’e Systems with Prandtl-Ishlinskii Hysteresis Nonlinearities

Published in IFAC-PapersOnLine, 2024

In this paper, we introduce a two-step algorithm to identify Lur’e systems with Prandtl-Ishlinskii hysteresis feedback nonlinearities.

Recommended citation: K. F. Aljanaideh, M. Al Janaideh, R. J. Richards, J. A. Paredes, and D. S. Bernstein, "Output-Only Identification of Lur’e Systems with Prandtl-Ishlinskii Hysteresis Nonlinearities," in IFAC-PapersOnLine, vol. 58, no. 15, pp. 366–371, 2024.

Self-Excited Dynamics of Discrete-Time Lur’e Systems with Affinely Constrained, Piecewise-C1 Feedback Nonlinearities

Published in IEEE Open Journal of Control Systems, 2024

The main result of this paper provides sufficient conditions under which a discrete-time Lur’e system is self-excited in the sense that its response is 1) nonconvergent for almost all initial conditions, and 2) bounded for all initial conditions.

Recommended citation: J. A. Paredes, O. Kouba, and D. S. Bernstein, "Self-Excited Dynamics of Discrete-Time Lur'e Systems with Affinely Constrained, Piecewise-C1 Feedback Nonlinearities," IEEE Open J. Contr. Sys., vol. 3, pp. 214–224, 2024.

Retrospective Cost-Based Extremum Seeking Control with Vanishing Perturbation for Online Output Minimization

Published in Proceedings of the American Control Conference, 2024

This paper develops a retrospective cost-based ESC(RC/ESC) technique for online output minimization with a vanishing perturbation, that is, a perturbation that becomes zero as time increases independently from the state of the controller or the controlled system.

Recommended citation: J. A. Paredes, J. M. Portella Delgado, D. S. Bernstein, and A. Goel, "Retrospective Cost-Based Extremum Seeking Control with Vanishing Perturbation for Online Output Minimization," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2024, pp. 2344-2349.

Data-Driven Retrospective-Cost-Based Adaptive Digital PID Control

Published in Proceedings of the American Control Conference, 2024

This paper develops an adaptive digital controller for sampled-data systems with unknown dynamics. The adaptive digital PID controller is based on data-driven retrospective cost adaptive control (DDRCAC) with online closed-loop system identification.

Recommended citation: Y. Y. Chee, J. A. Paredes, and D. S. Bernstein, "Data-Driven Retrospective-Cost-Based Adaptive Digital PID Control," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2024, pp. 5163–5168.

Output-Only Identification of Lur’e Systems with Hysteretic Feedback Nonlinearities

Published in Proceedings of the American Control Conference, 2024

This paper considers output-only identification for discrete-time hysteretic Lur’e (DTHL) systems, which are Lur’e systems with hysteretic feedback. The discrete-time model used to identify DTHL systems consists of asymptotically stable linear dynamics, a time delay, a washout filter, and a hysteretic nonlinear feedback mapping.

Recommended citation: R. J. Richards, Y. Yang, J. A. Paredes, and D. S. Bernstein, "Output-Only Identification of Lur'e Systems with Hysteretic Feedback Nonlinearities," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2024, pp. 2891–2896.

A Hammerstein-Weiner Modification of Adaptive Autopilot for Parameter Drift Mitigation with Experimental Results

Published in Proceedings of the American Control Conference, 2024

This paper presents a Wiener adaptive autopilot for multicopters to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot.

Recommended citation: Y. Y. Chee, P. Oveissi, S. Shao, J. Lee, J. A. Paredes, D. S. Bernstein, "A Hammerstein-Weiner Modification of Adaptive Autopilot for Parameter Drift Mitigation with Experimental Results," in Proc. Amer. Contr. Conf. (ACC), IEEE, 2024, pp. 1556-1561.

Predictive Cost Adaptive Control of Fixed-Wing Aircraft Without Prior Modeling

Published in Proceedings of the AIAA Scitech Forum, 2025

The present paper investigates the performance of predictive cost adaptive control (PCAC) for fixed-wing aircraft control without using any prior aerodynamic model or offline data collection.

Recommended citation: R. Richards, J. Paredes, and D. Bernstein, "Predictive Cost Adaptive Control of Fixed-Wing Aircraft Without Prior Modeling," in Proc. AIAA SciTech Forum, 2025, p. 2081.