David Cabecinhas

Research Assistant

Position: Research Assistant of the Instituto Superior Técnico

Group: Dynamical Systems and Ocean Robotics Lab (DSOR)

FCT: J0422390VNE

[1] RAIECO – Hybrid Underwater Robotic Systems and Artificial Intelligence-Based Seabed Imaging Tools for Marine Ecosystem Studies [2022-07; 2025-06]

[2] RAMONES – Radioactivity Monitoring in Ocean Ecosystems – EU – Horizon 2020 [2021-01; 2024-12]

[1] Blue RoSES – Blue Robotics for Sustainable Eco-friendly Services for innovative marinas & leisure boats – EU [2019-12; 2022-05]

[2] OceanTech – Collaborative vehicles and operation management systems for deep sea exploration – P2020 [2017-12; 2021-10]

[3] SCARVE – Sensor-based Control of Aerial Robotic Vehicles – FCT [2010-04; 2013-03]

[1] Wei Xie, gan yu, David Cabecinhas, Carlos Silvestre, Weidong Zhang, Wei He "Robust collision-free formation control of quadrotor fleets: Trajectory generation and tracking with experimental validation", Control Engineering Practice, Vol 145, No 105842, 2024

[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 Volume 280, 114675, 2023

[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

[4] Rongchen Zhao, Wei Xie, Pak Kin Wong, David Cabecinhas, Carlos Silvestre "Adaptive vehicle posture and height synchronization control of active air suspension systems with multiple uncertainties", Nonlinear Dynamics, Volume 99, Pages 2109–2127, 2023

[5] 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

[6] Joel Reis, gan yu, David Cabecinhas, Carlos Silvestre "High-performance quadrotor slung load transportation with damped oscillations", Int J Robust Nonlinear Control, 2022

[7] Xuanzhi, 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, vol. 54, no. 1, pp. 17-41, 2022

[8] gan yu, Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre "Adaptive control with unknown mass estimation for a quadrotor–slung-load system", 2022

[9] gan yu, David Cabecinhas, Rita Cunha, Carlos Silvestre "Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and tracking", Autonomous Robots volume 46, pages 499–513 , 2022

[10] 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, doi: 10.1109/TSMC.2020.3032401, 2022

[11] 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, Vol. 107, pp 2291–2308, 2021

[12] 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, Vol. 112, 104827, 2021 - PDF

[13] 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, vol. 69, no. 1, pp. 549-559, 2021

[14] Wei Xie, gan yu, David Cabecinhas, Rita Cunha, Carlos Silvestre "Global Saturated Tracking Control of a Quadcopter With Experimental Validation", IEEE Control Systems Letters, vol. 5, no. 1, pp. 169-174, January, 2021

[15] Wei Xie, Joel Reis, David Cabecinhas, Carlos Silvestre "Design and experimental validation of a nonlinear controller for underactuated surface vessels", Nonlinear Dynamics Vol. 102, pp 2563–2581, 2020, 2020

[16] Tiago Valentim, Rita Cunha, Paulo Oliveira, David Cabecinhas, Carlos Silvestre "Multi-vehicle Cooperative Control for Load Transportation", 21st IFAC Symposium on Automatic Control in Aerospace ACA 2019, vol. 52, 2019, pp. 358–363, 2019

[17] gan yu, David Cabecinhas, Rita Cunha, Carlos Silvestre "Nonlinear backstepping control of a quadrotor-slung load system", IEEE/ASME Transactions on Mechatronics, vol. 24, no. 5, pp. 2304–2315, 2019

[18] 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, vol. 28, no. 6, pp. 2292-2308, 2020, doi: 10.1109/TCST.2019.2939119, 2019

[19] Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre "Robust motion control of an underactuated hovercraft", IEEE Transactions on Control Systems Technology, vol. 27, no. 5, pp. 2195–2208, 2019

[20] David Cabecinhas, Rita Cunha, Carlos Silvestre "A trajectory tracking control law for a quadrotor with slung load", Automatica, vol. 106, pp. 384–389, 2019

[21] Rongchen Zhao, Wei Xie, Pak Kin Wong, David Cabecinhas, Carlos Silvestre "Robust Ride Height Control for Active Air Suspension Systems With Multiple Unmodeled Dynamics and Parametric Uncertainties", IEEE Access, vol. 7, pp. 59185-59199, 2019, doi: 10.1109/ACCESS.2019.2913451, 2019

[22] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas "LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures", IEEE Transactions on Control Systems Technology, Volume 26, Issue 4, Pages 1430 - 1438, 2018

[23] David Cabecinhas, Pedro Batista, Paulo Oliveira, Carlos Silvestre "Hovercraft control with dynamic parameters identification", IEEE Transactions on Control Systems Technology, 26(3): 785-796, May, 2018 - PDF

[24] David Cabecinhas, Sérgio Brás, 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, vol. 27, no. 1, pp. 14–29, 2017

[25] Pedro Ótão Pereira, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira "Leader following trajectory planning: A trailer-like approach", Automatica, vol. 75, pp. 77-87, 2017

[26] Pedro Serra, Rita Cunha, Tarek Hamel, David Cabecinhas, Carlos Silvestre "Landing of a quadrotor on a moving target using dynamic image-based visual servo control", IEEE Transactions on Robotics, vol. 32, no. 6, pp. 1524–1535, 2016

[27] David Cabecinhas, R. Naldi, Carlos Silvestre, Rita Cunha, L. Marconi "Robust landing and sliding maneuver hybrid controller for a quadrotor vehicle", IEEE Transactions on Control Systems Technology, Vol. 24, No. 2, pp. 400 - 412, March, 2016

[28] Xie Heng, David Cabecinhas, Rita Cunha, Carlos Silvestre, Xu Quingsong "A trajectory tracking lqr controller for a quadrotor: Design and experimental evaluation", Proc. of TENCON 2015 - 2015 IEEE Region 10 Conference, 2015

[29] Pedro Casau, R. G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre "Robust Global Trajectory Tracking for a Class of Underactuated Vehicles", Automatica, Elsevier, Vol. 58, Issue 8, pp. 90-98, August , 2015 - PDF

[30] David Cabecinhas, Rita Cunha, Carlos Silvestre "A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection", IEEE Transactions on Control Systems Technology, Vol. 23, N0. 2, pp. 708-714, 2015

[31] David Cabecinhas, Rita Cunha, Carlos Silvestre "A nonlinear quadrotor trajectory tracking controller with disturbance rejection", Elsevier Control Engineering Practice, Vol. 21, No. 3, pp. 242-252, May, 2014

[32] Valter Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira "A leader-following trajectory generator with application to quadrotor formation flight", Elsevier Robotics and Autonomous Systems, Vol. 62, No. 10, pp. 1597-1609, October, 2014

[33] Pedro Casau, David Cabecinhas, Carlos Silvestre "Hybrid Control Strategy for the Autonomous Transition Flight of a Fixed-Wing Aircraft", IEEE Transactions on Control Systems Technology, Vol. 21, No. 6, pp. 2194-2211, November, 2013 - PDF

[34] David Cabecinhas, R. Naldi, L. Marconi, Carlos Silvestre, Rita Cunha "Robust Take-off for a Quadrotor Vehicle", IEEE Transactions on Robotics, Vol. 28 , Issue 3, pp. 734 742, June, 2012

[35] David Cabecinhas, Rita Cunha, Carlos Silvestre "Output-feedback control for almost global stabilization of fully-actuated rigid bodies", Elsevier Systems and Control Letters, Vol. 58, Issue 9, pp. 639-645, 2008

No publications found for author "cap-davidalexandre"

[1] David Cabecinhas, Luís Sebastião, António Pascoal, M. Caccia "The EU project BlueRoSES – Blue Robotics for Sustainable Eco-friendly Services", 7as Jornadas de Engenharia Hidrográfica / 2as Jornadas Luso-Espanholas de Hidrografia, 2023 - PDF

[2] T. J. Mertzimekis, P. Nomikou, E. Petra, Pedro Batista, David Cabecinhas, António Pascoal, Luís Sebastião, J. Escartín, K. Kebkal, K. Karantzalos, A.Mallios, K. Nikolopoulos, L. Maigne "Radioactivity Monitoring in Ocean Ecosystems (RAMONES)", Proceedings of the ACM International Conference on Information Technology for Social Good, Rome, Italy, pp. 216-220, 2021 - PDF

[3] Tiago Oliveira, Pedro Trindade, David Cabecinhas, Pedro Batista, Rita Cunha "Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles", Proc. f IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2021

[4] Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre "Global Practical Tracking for a Hovercraft with Unmeasured Linear Velocity and Disturbances", 21st IFAC World Congress, Berlin, 2020, 2020 - PDF

[5] Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre "Trajectory Tracking Control of an Underactuated Autonomous Surface Craft in the Presence of Environmental Disturbances", IEEE 7th Conference on Systems, Process and Control (ICSPC), Melaka, 2019, pp. 54-58, doi: 10.1109/ICSPC47137.2019.9068012, 2019 - PDF

[6] Dinis Lu, Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre "Path Following Controller Design for an Underactuated Hovercraft with External Disturbances", 2019 19th International Conference on Control, Automation and Systems (ICCAS), Jeju, 2019, pp. 76-81, doi: 10.23919/ICCAS47443.2019.8971493, 2019

[7] gan yu, David Cabecinhas, Rita Cunha, Carlos Silvestre "Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints", 21st IFAC Symposium on Automatic Control in Aerospace ACA 2019, vol. 52, pp. 55–60, 2019

[8] David Cabecinhas, Carlos Silvestre "Trajectory Tracking Control of a nonlinear Autonomous Surface Vessel", 2019 American Control Conference (ACC), Philadelphia, PA, USA, 2019, pp. 4380-4385, doi: 10.23919/ACC.2019.8815125, 2019 - PDF

[9] gan yu, Jianan Li, David Cabecinhas, Rita Cunha, Carlos Silvestre "A nonlinear trajectory tracking controller for helicopters: Design and experimental evaluation", TENCON 2015 - 2015 IEEE Region 10 Conference, 2015

[10] Zhiqi Tang, Linquian Li, Pedro Serra, David Cabecinhas, Tarek Hamel, Rita Cunha, Carlos Silvestre "Homing on a moving dock for a quadrotor vehicle", TENCON 2015 - 2015 IEEE Region 10 Conference, 2015

[11] David Cabecinhas, Rita Cunha, Carlos Silvestre "A Robust Landing and Sliding Maneuver Controller for a Quadrotor Vehicle on a Sloped Incline", Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[12] P. Pereira, David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Oliveira "Three Dimensional Trajectory Planner for Real Time Leader Following", Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[13] Pedro Casau, R. G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre "A Hybrid Feedback Controller for Robust Global Trajectory Tracking of Quadrotor-like Vehicles with Minimized Attitude Error", Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[14] David Cabecinhas, Carlos Silvestre, Rita Cunha "A Nonlinear Quadrotor Trajectory Tracking Controller with Disturbance Rejection", Proc. of ACC 2014 - American Control Conference, Portland, OR, USA, 2014

[15] Pedro Serra, Rita Cunha, T. Hamel, David Cabecinhas, Carlos Silvestre "Landing on a Moving Target using Image-Based Visual Servo Control", Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014

[16] P. Pereira, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira "Trailer-Like Leader Following Trajectory Planning", Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014

[17] David Cabecinhas, Rita Cunha, Carlos Silvestre "Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection", Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF

[18] V. Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira "A novel leader-following strategy applied to formations of quadrotors", Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF

[19] Pedro Casau, R. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre "Global Trajectory Tracking for a Class of Underactuated Vehicles", Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF

[20] David Cabecinhas, Rita Cunha, Carlos Silvestre "Experimental Validation of a Globally Stabilizing Feedback Controller for a Quadrotor Aircraft with Wind Disturbance Rejection", Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF

[21] P. Casau, David Cabecinhas, Carlos Silvestre "Almost Global Stabilization of a Vertical Take-Off and Landing Aircraft in Hovered Flight", Proc. of ACC 2012 - American Control Conference, Montreal, Canada, 2012

[22] David Cabecinhas, Rita Cunha, Carlos Silvestre "Saturated Output Feedback Control of a Quadrotor Aircraft", Proc. of ACC 2012 - American Control Conference, Montreal, Canada, 2012

[23] David Cabecinhas, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Rita Cunha "Integrated Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera", Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012

[24] P. Casau, David Cabecinhas, Carlos Silvestre "Transition Control for a Fixed-Wing Vertical Take-Off and Landing Aircraft", Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[25] P. Casau, David Cabecinhas, Carlos Silvestre "Autonomous Transition Flight for a Vertical Take-Off and Landing Aircraft", Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011

[26] David Cabecinhas, Carlos Silvestre, Rita Cunha "Vision-Based Quadrotor Stabilization Using a Pan and Tilt Camera", Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010

[27] David Cabecinhas, R. Naldi, L. Marconi, Carlos Silvestre, Rita Cunha "Robust take-off and landing for a quadrotor vehicle", Proc. of ICRA 2010 - IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010

[28] David Cabecinhas, Rita Cunha, Carlos Silvestre "Nonlinear Trajectory Tracking Control of a Quadrotor Vehicle", Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009

[29] David Cabecinhas, Rita Cunha, Carlos Silvestre "Output-Feedback Control for Almost Global Stabilization of Fully-Actuated Rigid Bodies", Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2009

[30] David Cabecinhas, Rita Cunha, Carlos Silvestre "Rotorcraft Path Following Control for Extended Flight Envelope Coverage", Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009

[31] David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Rosa "Path-Following Control for Coordinated Turn Aircraft Maneuvers", Proc. of GNC 2007 - AIAA Guidance and Control Conference, Hilton Head, South Florida, USA, 2007 - PDF

[32] David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Rosa "Autolanding Controller for a Fixed Wing Unmanned Air Vehicle", Proc. of GNC 2007 - AIAA Guidance and Control Conference, Hilton Head, South Florida, USA, 2007 - PDF

[1] David Cabecinhas "Nonlinear control of autonomous air vehicles", Ph.D. Thesis, Instituto Superior Tecnico, Universidade de Lisboa, November, 2014

No publications found for author "cap-davidalexandre"

[1] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas "LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures: Proofs", Complementary report to the paper published in IEEE Transactions on Control Systems Technology by the same authors, online, 2017

No publications found for author "cap-davidalexandre"