Marco M. Nicotra

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This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is shown that the tethered UAV is able to maintain a non-zero attitude while hovering in a constant position. The control(More)
This paper addresses the problem of using unmanned aerial vehicles for the transportation of suspended loads. The proposed solution introduces a novel control law capable of steering the aerial robot to a desired reference while simultaneously limiting the sway of the payload. The stability of the equilibrium is proven rigorously through the application of(More)
This paper introduces a novel control law that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of constraints. This is done by translating the state space constraints into an upper bound on the value of the Lyapunov function and by manipulating the velocity of the applied reference to enforce this bound.(More)
Doped catalyst-free GaAs nanowires have been grown by molecular beam epitaxy with the gallium-assisted method. The spatial dependence of the dopant concentration and resistivity have been measured by Raman spectroscopy and four point electrical measurements. Along with theoretical considerations, the doping mechanisms have been revealed. Two competing(More)
This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in the state space into constraints on the Lyapunov function and then modulating the reference velocity so as to limit(More)
This paper develops an Explicit Reference Governor that provides constraint-handling capabilities to pre-stabilized EulerLagrange systems. Using passivity arguments, it is shown that the constraints on the state variables can be translated into constraints on the energy of the closed-loop system. These energy constraints can then be enforced in(More)
Accurate state-of-charge (SOC) and state-ofhealth (SOH) estimation is critical to ensure a reliable batterymanagement system (BMS). This problem is addressed here by resorting to a grey box battery model based on the socalled equivalent hydraulic model (EHM). It allows taking into account in a simple way the difference between bulk concentration and(More)
Surface X-ray diffraction has been employed to elucidate the structure of the interface between a well-characterized (001) surface of 0.1 wt % Nb−SrTiO3 and liquid H2O. Results are reported for the clean surface, the surface in contact with a drop of liquid water, and the surface after the water droplet has been removed with a flow of nitrogen. The(More)