Varela Aldas, José
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Preferred name
Varela Aldas, José
Main Affiliation
Ambato
Email
josevarela@uti.edu.ec
ORCID
Scopus Author ID
57192546163

Research Output

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Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems

2025 , Bryan S. Guevara , Varela Aldas, José , Viviana Moya , Manuel Cardona , Daniel C. Gandolfo , Juan M. Toibero

In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to achieve stable path-following and obstacle avoidance in UAV systems. This framework enables uncrewed aerial vehicles (UAVs) to safely navigate around both static and dynamic obstacles while strictly adhering to desired paths. The quaternion-based formulation ensures precise orientation and attitude control, while a robust optimization solver enforces the constraints imposed by the Control Lyapunov Function (CLF) and Control Barrier Functions (CBF), ensuring reliable real-time performance. The proposed method was experimentally validated using a DJI Matrice 100 quadrotor platform, considering scenarios with prior knowledge of obstacle locations. Results demonstrate the controller’s effectiveness in minimizing orthogonal and tangential tracking errors, ensuring stability and safety in complex environments.

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Bridging Simulation and Reality: A Digital Twin Approach for UAVs

2025 , Bryan S. Guevara , Varela Aldas, José , Viviana Moya , Daniel C. Gandolfo , Juan M. Toibero

This study presents an innovative methodology for the development and testing of a digital twin for an Unmanned Aerial Vehicle (UAV), effectively bridging the simulation-reality gap. The proposed approach integrates Model-in-the-Loop (MiL) and Hardware-in-the-Loop (HiL) testing, enabling a comprehensive evaluation of the UAV’s digital twin in simulated environments. Behavioral testing includes open-loop scenarios, baseline feedback controllers, and Model Predictive Control (MPC). The UAV’s dynamic model is simplified and rigorously validated through experimental verification, ensuring high fidelity and reliability. Furthermore, this approach facilitates the critical transition from simulation to real-world experimentation by providing a robust framework for evaluating UAV performance under realistic conditions. This methodology highlights the importance of experimental validation in replicating real-world scenarios, ensuring the robustness and accuracy of the digital twin.

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SINDy and PD-Based UAV Dynamics Identification for MPC

2025 , Bryan S. Guevara , Varela Aldas, José , Daniel C. Gandolfo , Juan M. Toibero

This study proposes a comprehensive framework for the identification of nonlinear dynamics in Unmanned Aerial Vehicles (UAVs), integrating data-driven methodologies with theoretical modeling approaches. Two principal techniques are employed: Proportional-Derivative (PD)-based control input approximation and Sparse Identification of Nonlinear Dynamics (SINDy). Addressing the inherent platform constraints—where control inputs are restricted to specific attitude angles and z-axis velocities—thrust and torque are approximated via a PD controller, which serves as a practical intermediary for facilitating nonlinear system identification. Both methodologies leverage data-driven strategies to construct compact and interpretable models from experimental data, capturing significant nonlinearities with high fidelity. The resulting models are rigorously evaluated within a Model Predictive Control (MPC) framework, demonstrating their efficacy in precise trajectory tracking. Furthermore, the integration of data-driven insights enhances the accuracy of the identified models and improves control performance. This framework offers a robust and adaptable solution for analyzing UAV dynamics under realistic operational conditions, emphasizing the comparative strengths and applicability of each modeling approach.

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