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Identification

Personal identification

Full name
David Alexandre Cabecinhas

Author identifiers

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
Education
Degree Classification
2014/11/21
Concluded
 Engenharia Electrotécnica e de Computadores (Doutoramento)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Nonlinear control of autonomous air vehicles" (THESIS/DISSERTATION)
 Muito bom com distinção / Pass with Distinction
2006
Concluded
 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" (THESIS/DISSERTATION)
 17
Affiliation

Science

Category
Host institution 		Employer
2019 - Current Contracted Researcher (Research) Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
Laboratório de Robótica e Sistemas de Engenharia, Portugal
2013 - 2019 Contracted Researcher (Research) University of Macau Faculty of Science and Technology, Macau SAR China
2007 - 2013 Researcher (Research) Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Projects

Grant

Designation Funders
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
PhD Student Fellow

Contract

Designation Funders
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
Principal investigator
Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
 European Maritime and Fisheries Fund
Ongoing
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
Researcher
University of Macau Faculty of Science and Technology, Macau SAR China
Concluded
2015 - 2018 STORK - Synergistic Transport of Objects by Rotorcraft
MYRG2015-00126-FST
Researcher
University of Macau Faculty of Science and Technology, Macau SAR China
Concluded
2015 - 2016 ANCONSYS - Advanced Nonlinear Control and Navigation Systems for Autonomous Surface Crafts
FDCT/065/2014/A
Researcher
Concluded
2010 - 2013 SCARVE - Controlo baseado em informação sensorial para veículos robóticos aéreos
PTDC/EEA-CRO/102857/2008
 Fundação para a Ciência e a Tecnologia
Outputs

Publications

Conference paper
  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.
Journal article
  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

Other

Other output
  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.
Activities

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2024/09 - Current Adaptive Marine Environment Inspection and Mapping using Networked Surface and Underwater Robots
Co-supervisor
Universidade de Lisboa Instituto Superior Técnico, Portugal
2023 - Current Autonomous Aerial Cinematography - Distributed Target Tracking, Motion Planning and Control of Aerial Vehicles Moving in Unstructured Environments
Co-supervisor
 DEEC (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - 2022/03 Nonlinear control of a quadrotor slung load system
Co-supervisor
University of Macau Faculty of Science and Technology, Macau SAR China
2016 - 2021/05 Robust motion control and cooperation of marine and aerial vehicles
Co-supervisor
University of Macau Faculty of Science and Technology, Macau SAR China

Jury of academic degree

Topic
Role 		Candidate name (Type of degree)
Institution / Organization
2015 Backstepping Control of Boat under Nonlinear Damping and Disturbances
(Thesis) Main arguer
 Yu Zhenning (Master)
University of Macau Faculty of Science and Technology, Macau SAR China