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Identificação

Identificação pessoal

Nome completo
David Alexandre Cabecinhas

Identificadores de autor

Ciência ID
4C1A-5EC8-66E3
ORCID iD
0000-0002-3050-7924
Google Scholar ID
iX-AoC4AAAAJ
Researcher Id
O-7863-2014
Scopus Author Id
23090436900
Formação
Grau Classificação
2014/11/21
Concluído
 Engenharia Electrotécnica e de Computadores (Doutoramento)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Nonlinear control of autonomous air vehicles" (TESE/DISSERTAÇÃO)
 Muito bom com distinção / Pass with Distinction
2006
Concluído
 Engenharia Electrotécnica e de Computadores (Licenciatura)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Sistema de Aterragem Automática para Aviões Não Tripulados / System for Automatic Landing of Unmanned Airplanes" (TESE/DISSERTAÇÃO)
 17
Percurso profissional

Ciência

Categoria Profissional
Instituição de acolhimento 		Empregador
2019 - Atual Investigador Contratado (Investigação) Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
Laboratório de Robótica e Sistemas de Engenharia, Portugal
2013 - 2019 Investigador Contratado (Investigação) University of Macau Faculty of Science and Technology, Macau
2007 - 2013 Investigador (Investigação) Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Projetos

Bolsa

Designação Financiadores
2008/11 - 2011/10 ObservFly - Aeronave não Tripulada para Aplicação em Ciências do Mar
64546PRJ
 Fundação para a Ciência e a Tecnologia
2007 - 2011 SFRH/BD/31439/2006
SFRH/BD/31439/2006
Bolseiro de Doutoramento

Projeto

Designação Financiadores
2022 - 2025 RAIECO - Hybrid underwater robotic systems and Artificial Intelligence-based seabed imaging tools for marine ecosystem studies
DRI/India/0699/2020
 Fundação para a Ciência e a Tecnologia
2021 - 2024 RAMONES - Radioactivity Monitoring in Ocean Ecosystems
101017808
 European Commission
2020/09/01 - 2022/09 EU BLUEROSES - Blue Robotics for Sustainable Eco-friendly Services for Innovative Marinas & Leisure Boats
863619
Investigador responsável
Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
 European Maritime and Fisheries Fund
Em curso
2018 - 2021 OCEANTECH
OCEANTECH, ANI/PT2020
 Agência Nacional de Inovação SA
2015 - 2018 SAVEMOB - Sensor-based control of Aerial Vehicles for Health Monitoring of Buildings and Industrial Facilities
FDCT/048/2014/A1
Investigador
University of Macau Faculty of Science and Technology, Macau
Concluído
2015 - 2018 STORK - Synergistic Transport of Objects by Rotorcraft
MYRG2015-00126-FST
Investigador
University of Macau Faculty of Science and Technology, Macau
Concluído
2015 - 2016 ANCONSYS - Advanced Nonlinear Control and Navigation Systems for Autonomous Surface Crafts
FDCT/065/2014/A
Investigador
Concluído
2010 - 2013 SCARVE - Controlo baseado em informação sensorial para veículos robóticos aéreos
PTDC/EEA-CRO/102857/2008
 Fundação para a Ciência e a Tecnologia
Produções

Publicações

Artigo em conferência
  1. Mertzimekis, T.J.; Nomikou, P.; Petra, E.; Batista, P.; Cabecinhas, D.; Pascoal, A.; Sebastiño, L.; et al. "Radioactivity monitoring in ocean ecosystems (RAMONES)". 2021.
    10.1145/3462203.3475906
  2. Oliveira, T.; Trindade, P.; Cabecinhas, D.; Batista, P.; Cunha, R.. "Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles". 2021.
    10.1109/ICARSC52212.2021.9429816
  3. Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Global practical tracking for a hovercraft with unmeasured linear velocity and disturbances". 2020.
    10.1016/j.ifacol.2020.12.1482
  4. Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Trajectory tracking control of an underactuated autonomous surface craft in the presence of environmental disturbances". 2019.
    10.1109/ICSPC47137.2019.9068012
  5. Cabecinhas, D.; Silvestre, C.. "Trajectory tracking control of a nonlinear autonomous surface vessel". 2019.
    10.23919/acc.2019.8815125
  6. Lu, D.; Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Path Following Controller Design for an Underactuated Hovercraft with External Disturbances". 2019.
    10.23919/ICCAS47443.2019.8971493
  7. Yu, G.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints". 2019.
    10.1016/j.ifacol.2019.11.069
  8. Valentim, T.; Cunha, R.; Oliveira, P.; Cabecinhas, D.; Silvestre, C.. "Multi-vehicle cooperative control for load transportation". 2019.
    10.1016/j.ifacol.2019.11.269
  9. Yu, G.; Li, J.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A nonlinear trajectory tracking controller for helicopters: Design and experimental evaluation". 2016.
    10.1109/TENCON.2015.7373191
  10. Heng, X.; Cabecinhas, D.; Cunha, R.; Silvestre, C.; Qingsong, X.. "A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation". 2016.
    10.1109/TENCON.2015.7372729
  11. Tang, Z.; Li, L.; Serra, P.; Cabecinhas, D.; Hamel, T.; Cunha, R.; Silvestre, C.. "Homing on a moving dock for a quadrotor vehicle". 2016.
    10.1109/TENCON.2015.7373193
  12. Pereira, P.; Cabecinhas, D.; Cunha, R.; Silvestre, C.; Oliveira, P.. "Three dimensional trajectory planner for real time leader following". 2014.
    10.1109/ICRA.2014.6907827
  13. Cunha, R.; Cabecinhas, D.; Silvestre, C.. "Nonlinear trajectory tracking control of a quadrotor vehicle". 2014.
  14. Pereira, P.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "Trailer-like leader following trajectory planning". 2014.
    10.1109/CDC.2014.7039969
  15. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A robust landing and sliding maneuver controller for a quadrotor vehicle on a sloped incline". 2014.
    10.1109/ICRA.2014.6906905
  16. Casau, P.; Sanfelice, R.G.; Cunha, R.; Cabecinhas, D.; Silvestre, C.. "A hybrid feedback controller for robust global trajectory tracking of quadrotor-like vehicles with minimized attitude error". 2014.
    10.1109/ICRA.2014.6907784
  17. Serra, P.; Cunha, R.; Hamel, T.; Cabecinhas, D.; Silvestre, C.. "Landing on a moving target using image-based visual servo control". 2014.
    10.1109/CDC.2014.7039721
  18. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A nonlinear quadrotor trajectory tracking controller with disturbance rejection". 2014.
    10.1109/ACC.2014.6858615
  19. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection". 2013.
  20. Roldao, V.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "A novel leader-following strategy applied to formations of quadrotors". 2013.
  21. Casau, P.; Sanfelice, R.G.; Cunha, R.; Cabecinhas, D.; Silvestre, C.. "Global trajectory tracking for a class of underactuated vehicles". 2013.
  22. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Experimental validation of a globally stabilizing feedback controller for a quadrotor aircraft with wind disturbance rejection". 2013.
  23. Cabecinhas, D.; Bras, S.; Silvestre, C.; Oliveira, P.; Cunha, R.. "Integrated solution to quadrotor stabilization and attitude estimation using a pan and tilt camera". 2012.
    10.1109/CDC.2012.6426201
  24. Casau, P.; Cabecinhas, D.; Silvestre, C.. "Almost global stabilization of a vertical take-off and landing aircraft in hovered flight". 2012.
  25. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Saturated output feedback control of a quadrotor aircraft". 2012.
  26. Casau, P.; Cabecinhas, D.; Silvestre, C.. "Transition control for a fixed-wing vertical take-off and landing aircraft". 2011.
    10.3182/20110828-6-IT-1002.02711
  27. Casau, P.; Cabecinhas, D.; Silvestre, C.. "Autonomous Transition Flight for a Vertical Take-Off and Landing aircraft". 2011.
    10.1109/CDC.2011.6160819
  28. Cabecinhas, D.; Naldi, R.; Marconi, L.; Silvestre, C.; Cunha, R.. "Robust take-off and landing for a quadrotor vehicle". 2010.
    10.1109/ROBOT.2010.5509430
  29. Cabecinhas, D.; Silvestre, C.; Cunha, R.. "Vision-based quadrotor stabilization using a pan and tilt camera". 2010.
    10.1109/CDC.2010.5717082
  30. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Rotorcraft path following control for extended flight envelope coverage". 2009.
    10.1109/CDC.2009.5400665
  31. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Output-feedback control for almost global stabilization of fully-actuated rigid bodies". 2008.
    10.1109/CDC.2008.4738956
  32. Rosa, P.; Silvestre, C.; Cabecinhas, D.; Cunha, R.. "Autolanding controller for a fixed wing unmanned air vehicle". 2007.
  33. Cabecinhas, D.; Silvestre, C.; Rosa, P.; Cunha, R.. "Path-following control for coordinated turn aircraft maneuvers". 2007.
Artigo em revista
  1. Joel Reis; Gan Yu; David Cabecinhas; Carlos Silvestre. "High-performance quadrotor slung load transportation with damped oscillations". International Journal of Robust and Nonlinear Control (2023): http://dx.doi.org/10.1002/rnc.6306.
    10.1002/rnc.6306
  2. øystein volden; David Cabecinhas; António Pascoal; Thor I. Fossen. "Development and experimental evaluation of visual-acoustic navigation for safe maneuvering of unmanned surface vehicles in harbor and waterway areas". Ocean Engineering (2023): http://dx.doi.org/10.1016/j.oceaneng.2023.114675.
    10.1016/j.oceaneng.2023.114675
  3. Gan Yu; Joel Reis; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Reduced-Complexity Active Disturbance Rejection Controller for Quadrotor-Slung-Load Transportation". IEEE Transactions on Systems, Man, and Cybernetics: Systems (2023): https://doi.org/10.1109/TSMC.2023.3263881.
    10.1109/TSMC.2023.3263881
  4. Jiqiang Li; Guoqing Zhang; David Cabecinhas; Antonio Pascoal; Wenjun Zhang. "Prescribed performance path following control of USVs via an output-based threshold rule". IEEE Transactions on Vehicular Technology (2023): http://dx.doi.org/10.1109/tvt.2023.3338518.
    10.1109/tvt.2023.3338518
  5. Xuan-Zhi Zhu; David Cabecinhas; Wei Xie; Pedro Casau; Carlos Silvestre; Pedro Batista; Paulo Oliveira. "Kalman–Bucy filter-based tracking controller design and experimental validations for a quadcopter with parametric uncertainties and disturbances". International Journal of Systems Science (2022): https://doi.org/10.1080/00207721.2022.2096939.
    10.1080/00207721.2022.2096939
  6. Gan Yu; Wei Xie; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Adaptive control with unknown mass estimation for a quadrotor–slung-load system". ISA Transactions (2022): https://doi.org/10.1016/j.isatra.2022.06.036.
    10.1016/j.isatra.2022.06.036
  7. Wei Xie; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Adaptive Backstepping Control of a Quadcopter With Uncertain Vehicle Mass, Moment of Inertia, and Disturbances". IEEE Transactions on Industrial Electronics (2022): 1-1. https://doi.org/10.1109/TIE.2021.3055181.
    10.1109/TIE.2021.3055181
  8. Yu, G.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and tracking". Autonomous Robots (2022): http://www.scopus.com/inward/record.url?eid=2-s2.0-85125766930&partnerID=MN8TOARS.
    10.1007/s10514-022-10035-y
  9. Joel Reis; Wei Xie; David Cabecinhas; Carlos Silvestre. "Nonlinear Backstepping Controller for an Underactuated ASV With Model Parametric Uncertainty: Design and Experimental Validation". IEEE Transactions on Intelligent Vehicles (2022): https://doi.org/10.1109/TIV.2022.3221739.
    10.1109/TIV.2022.3221739
  10. Sneha Gajbhiye; David Cabecinhas; Carlos Silvestre; Rita Cunha. "Geometric finite-time inner-outer loop trajectory tracking control strategy for quadrotor slung-load transportation". Nonlinear Dynamics (2021): https://doi.org/10.1007/s11071-021-07026-6.
    10.1007/s11071-021-07026-6
  11. Zhiqi Tang; Rita Cunha; David Cabecinhas; Tarek Hamel; Carlos Silvestre. "Quadrotor going through a window and landing: An image-based visual servo control approach". Control Engineering Practice 112 (2021): 104827-104827. https://doi.org/10.1016/j.conengprac.2021.104827.
    10.1016/j.conengprac.2021.104827
  12. Xie, W.; Yu, G.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Global saturated tracking control of a quadcopter with experimental validation". IEEE Control Systems Letters 5 1 (2021): 169-174. http://www.scopus.com/inward/record.url?eid=2-s2.0-85094194053&partnerID=MN8TOARS.
    10.1109/LCSYS.2020.3000561
  13. Xie, W.; Reis, J.; Cabecinhas, D.; Silvestre, C.. "Correction to: Design and experimental validation of a nonlinear controller for underactuated surface vessels (Nonlinear Dynamics, (2020), 102, 4, (2563-2581), 10.1007/s11071-020-06058-8)". Nonlinear Dynamics 104 2 (2021): 1451-1454. http://www.scopus.com/inward/record.url?eid=2-s2.0-85102042019&partnerID=MN8TOARS.
    10.1007/s11071-021-06313-6
  14. Zhao, R.; Xie, W.; Wong, P.K.; Cabecinhas, D.; Silvestre, C.. "Adaptive vehicle posture and height synchronization control of active air suspension systems with multiple uncertainties". Nonlinear Dynamics 99 3 (2020): 2109-2127. http://www.scopus.com/inward/record.url?eid=2-s2.0-85076614833&partnerID=MN8TOARS.
    10.1007/s11071-019-05412-9
  15. Wei Xie; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances". IEEE Transactions on Systems, Man, and Cybernetics: Systems (2020): 1-13. https://doi.org/10.1109/TSMC.2020.3032401.
    10.1109/TSMC.2020.3032401
  16. Xie, W.; Reis, J.; Cabecinhas, D.; Silvestre, C.. "Design and experimental validation of a nonlinear controller for underactuated surface vessels". Nonlinear Dynamics 102 4 (2020): 2563-2581. http://www.scopus.com/inward/record.url?eid=2-s2.0-85095442411&partnerID=MN8TOARS.
    10.1007/s11071-020-06058-8
  17. Gan Yu; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Nonlinear Backstepping Control of a Quadrotor-Slung Load System". IEEE/ASME Transactions on Mechatronics 24 5 (2019): 2304-2315. https://doi.org/10.1109/TMECH.2019.2930211.
    10.1109/TMECH.2019.2930211
  18. Wei Xie; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Robust Motion Control of an Underactuated Hovercraft". IEEE Transactions on Control Systems Technology 27 5 (2019): 2195-2208. https://doi.org/10.1109/TCST.2018.2862861.
    10.1109/TCST.2018.2862861
  19. David Cabecinhas; Sergio Bras; Rita Cunha; Carlos Silvestre; Paulo Oliveira. "Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera". IEEE Transactions on Control Systems Technology 27 1 (2019): 14-29. https://doi.org/10.1109/TCST.2017.2768515.
    10.1109/TCST.2017.2768515
  20. Pedro Pereira; Rita Cunha; David Cabecinhas; Carlos Silvestre; Paulo Oliveira. "A 3-D Trailer Approach to Leader-Following Formation Control". IEEE Transactions on Control Systems Technology (2019): 1-17. https://doi.org/10.1109/TCST.2019.2939119.
    10.1109/TCST.2019.2939119
  21. Zhao, R.; Xie, W.; Wong, P.K.; Cabecinhas, D.; Silvestre, C.. "Robust Ride Height Control for Active Air Suspension Systems with Multiple Unmodeled Dynamics and Parametric Uncertainties". IEEE Access 7 (2019): 59185-59199. http://www.scopus.com/inward/record.url?eid=2-s2.0-85065904024&partnerID=MN8TOARS.
    10.1109/ACCESS.2019.2913451
  22. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A trajectory tracking control law for a quadrotor with slung load". Automatica 106 (2019): 384-389. http://www.scopus.com/inward/record.url?eid=2-s2.0-85066086742&partnerID=MN8TOARS.
    10.1016/j.automatica.2019.04.030
  23. Bruno J. Guerreiro; Carlos Silvestre; Rita Cunha; David Cabecinhas. "LiDAR-Based Control of Autonomous Rotorcraft for the Inspection of Pierlike Structures". IEEE Transactions on Control Systems Technology 26 4 (2018): 1430-1438. https://doi.org/10.1109/TCST.2017.2705058.
    10.1109/TCST.2017.2705058
  24. David Cabecinhas; Pedro Batista; Paulo Oliveira; Carlos Silvestre. "Hovercraft Control With Dynamic Parameters Identification". IEEE Transactions on Control Systems Technology 26 3 (2018): 785-796. https://doi.org/10.1109/TCST.2017.2692733.
    10.1109/TCST.2017.2692733
  25. Pereira, P.O.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "Leader following trajectory planning: A trailer-like approach". Automatica 75 (2017): 77-87. http://www.scopus.com/inward/record.url?eid=2-s2.0-84993939787&partnerID=MN8TOARS.
    10.1016/j.automatica.2016.09.001
  26. Serra, P.; Cunha, R.; Hamel, T.; Cabecinhas, D.; Silvestre, C.. "Landing of a quadrotor on a moving target using dynamic image-based visual servo control". IEEE Transactions on Robotics 32 6 (2016): 1524-1535. http://www.scopus.com/inward/record.url?eid=2-s2.0-84990829764&partnerID=MN8TOARS.
    10.1109/TRO.2016.2604495
  27. Cabecinhas, D.; Naldi, R.; Silvestre, C.; Cunha, R.; Marconi, L.. "Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle". IEEE Transactions on Control Systems Technology 24 2 (2016): 400-412. http://www.scopus.com/inward/record.url?eid=2-s2.0-84941136554&partnerID=MN8TOARS.
    10.1109/TCST.2015.2454445
  28. Casau, P.; Sanfelice, R.G.; Cunha, R.; Cabecinhas, D.; Silvestre, C.. "Robust global trajectory tracking for a class of underactuated vehicles". Automatica 58 (2015): 90-98. http://www.scopus.com/inward/record.url?eid=2-s2.0-84931359794&partnerID=MN8TOARS.
    10.1016/j.automatica.2015.05.011
  29. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A nonlinear quadrotor trajectory tracking controller with disturbance rejection". Control Engineering Practice 26 1 (2014): 1-10. http://www.scopus.com/inward/record.url?eid=2-s2.0-84897713304&partnerID=MN8TOARS.
    10.1016/j.conengprac.2013.12.017
  30. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection". IEEE Transactions on Control Systems Technology (2014): http://www.scopus.com/inward/record.url?eid=2-s2.0-84902707367&partnerID=MN8TOARS.
    10.1109/TCST.2014.2326820
  31. Roldão, V.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "A leader-following trajectory generator with application to quadrotor formation flight". Robotics and Autonomous Systems 62 10 (2014): 1597-1609. http://www.scopus.com/inward/record.url?eid=2-s2.0-84906315984&partnerID=MN8TOARS.
    10.1016/j.robot.2014.05.002
  32. Casau, P.; Cabecinhas, D.; Silvestre, C.. "Hybrid control strategy for the autonomous transition flight of a fixed-wing aircraft". IEEE Transactions on Control Systems Technology 21 6 (2013): 2194-2211. http://www.scopus.com/inward/record.url?eid=2-s2.0-84887083641&partnerID=MN8TOARS.
    10.1109/TCST.2012.2221091
  33. Cabecinhas, D.; Naldi, R.; Marconi, L.; Silvestre, C.; Cunha, R.. "Robust take-off for a quadrotor vehicle". IEEE Transactions on Robotics 28 3 (2012): 734-742. http://www.scopus.com/inward/record.url?eid=2-s2.0-84862001647&partnerID=MN8TOARS.
    10.1109/TRO.2012.2187095
  34. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Almost global stabilization of fully-actuated rigid bodies". Systems and Control Letters 58 9 (2009): 639-645. http://www.scopus.com/inward/record.url?eid=2-s2.0-67650217549&partnerID=MN8TOARS.
    10.1016/j.sysconle.2009.04.007

Outros

Outra produção
  1. LiDAR-Based control of autonomous rotorcraft for the inspection of pier-like structures: Proofs. 2017. Guerreiro, B.J.; Silvestre, C.; Cunha, R.; Cabecinhas, D.. http://www.scopus.com/inward/record.url?eid=2-s2.0-85095547672&partnerID=MN8TOARS.
Atividades

Orientação

Título / Tema
Papel desempenhado 		Curso (Tipo)
Instituição / Organização
2024/09 - Atual Adaptive Marine Environment Inspection and Mapping using Networked Surface and Underwater Robots
Coorientador
Universidade de Lisboa Instituto Superior Técnico, Portugal
2023 - Atual Autonomous Aerial Cinematography - Distributed Target Tracking, Motion Planning and Control of Aerial Vehicles Moving in Unstructured Environments
Coorientador
 DEEC (Doutoramento)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - 2022/03 Nonlinear control of a quadrotor slung load system
Coorientador
University of Macau Faculty of Science and Technology, Macau
2016 - 2021/05 Robust motion control and cooperation of marine and aerial vehicles
Coorientador
University of Macau Faculty of Science and Technology, Macau

Júri de grau académico

Tema
Tipo de participação 		Nome do candidato (Tipo de grau)
Instituição / Organização
2015 Backstepping Control of Boat under Nonlinear Damping and Disturbances
Arguente principal
 Yu Zhenning (Mestrado)
University of Macau Faculty of Science and Technology, Macau