List of Publications

W. Yang, J. Reis, G. Yu, and C. Silvestre, "Output feedback control of an underactuated flying inverted pendulum", Control Engineering Practice, vol. 164, Elsevier BV, p. 106474, Nov. 2025.

@article{2025_Yang_CEP,
doi = {10.1016/j.conengprac.2025.106474},
url = {https://doi.org/10.1016/j.conengprac.2025.106474},
year = {2025},
month = nov,
publisher = {Elsevier {BV}},
volume = {164},
pages = {106474},
author = {Weiming Yang and Joel Reis and Gan Yu and Carlos Silvestre},
title = {Output Feedback Control of an Underactuated Flying Inverted Pendulum},
journal = {Control Engineering Practice}
}

L. Kong, J. Reis, W. He and C. Silvestre, "Event-triggered prescribed-time tracking control for UAVs using polynomial error trajectories," in IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 16476-16486, May 2025

@article{2025_Kong_TASE,
author={Kong, Linghuan and Reis, Joel and He, Wei and Silvestre, Carlos},
journal={IEEE Transactions on Automation Science and Engineering},
title={Event-triggered prescribed-time tracking control for UAVs using polynomial error trajectories},
year={2025},
volume={22},
pages={16476-16486},
doi={10.1109/TASE.2025.3574809} }

Y. Ju, J. Reis, Y. Sun and C. Silvestre, "On the Asymptotic Stability of 2-D Linear Inhomogeneous Systems," in IEEE Transactions on Automatic Control, vol. 70, no. 8, pp. 5546-5552, Aug. 2025.

@article{2025_Ju_TAC,
url = {https://doi.org/10.1109/TAC.2025.3549346},
author = {Yanhao Ju, Joel Reis, Yuangong Sun, and Carlos Silvestre},
title = {On the asymptotic stability of 2-D linear inhomogeneous systems},
journal = {IEEE Transactions on Automatic Control}
year={2025},
volume={22},
pages={16476-16486},
doi = {10.1109/TAC.2025.3549346}
}

J. Reis, and C. Silvestre, “Kinematics-informed neural network control on SO(3),” Automatica, vol. 174, Elsevier BV, p. 112172, Apr. 2025.

@article{2025_Reis_Automatica,
doi = {10.1016/j.automatica.2025.112172},
url = {https://doi.org/10.1016/j.automatica.2025.112172},
year = {2025},
month = apr,
publisher = {Elsevier {BV}},
volume = {174},
pages = {112172},
author = {Joel Reis and Carlos Silvestre},
title = {Kinematics-informed neural network control on SO(3)},
journal = {Automatica}
}

L. Kong, J. Reis, W. He, X. Yu, and C. Silvestre, “On dynamic performance control for a quadrotor-slung-load system with unknown load mass,” Automatica, vol. 162, Elsevier BV, p. 111516, Apr. 2024.

@article{2024_Kong_Automatica,
title = {On dynamic performance control for a quadrotor-slung-load system with unknown load mass},
journal = {Automatica},
volume = {162},
pages = {111516},
year = {2024},
issn = {0005-1098},
doi = {https://doi.org/10.1016/j.automatica.2024.111516},
url = {https://www.sciencedirect.com/science/article/pii/S0005109824000086},
author = {Linghuan Kong and Joel Reis and Wei He and Xinbo Yu and Carlos Silvestre},
publisher = {Elsevier {BV}},
}

W. Yang, G. Yu, J. Reis, and C. Silvestre, “Robust nonlinear 3D control of an inverted pendulum balanced on a quadrotor,” Automatica, vol. 159, Elsevier BV, p. 111336, Jan. 2024.

@article{2024_Yang_Automatica,
doi = {10.1016/j.automatica.2023.111336},
url = {https://doi.org/10.1016/j.automatica.2023.111336},
year = {2024},
month = jan,
publisher = {Elsevier {BV}},
volume = {159},
pages = {111336},
author = {Weiming Yang and Gan Yu and Joel Reis and Carlos Silvestre},
title = {Robust nonlinear 3D control of an inverted pendulum balanced on a quadrotor},
journal = {Automatica}
}

L. Kong, J. Reis, W. He, and C. Silvestre, ‘Experimental validation of a robust prescribed performance nonlinear controller for an unmanned aerial vehicle with unknown mass’, IEEE ASME Trans. Mechatron., vol. 29, no. 1, pp. 301–312, Feb. 2024.

@ARTICLE{2023_Kong_TMECH,
title = {Experimental validation of a robust prescribed performance nonlinear controller for an unmanned aerial vehicle with unknown mass},
journal = "Transactions on Mechatronics",
publisher = "IEEE",
volume = {29},
pages = {301-312},
year = {2024},
issn = {1941-014X},
doi = {10.1109/TMECH.2023.3282782},
author = {Linghuan Kong and Joel Reis and Wei He and Carlos Silvestre} }

L. Kong, J. Reis, W. He, and C. Silvestre, “Comprehensive Nonlinear Control Strategy for VTOL-UAVs With Windowed Output Constraints,” IEEE Transactions on Control Systems Technology, vol. 31, no. 6. Institute of Electrical and Electronics Engineers (IEEE), pp. 2673–2684, Nov. 2023.

@article{2023_Kong_TCST,
doi = {10.1109/tcst.2023.3286044},
url = {https://doi.org/10.1109/tcst.2023.3286044},
year = {2023},
month = nov,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {31},
number = {6},
pages = {2673--2684},
author = {Linghuan Kong and Joel Reis and Wei He and Carlos Silvestre},
title = {Comprehensive Nonlinear Control Strategy for {VTOL}-{UAVs} With Windowed Output Constraints},
journal = {{IEEE} Transactions on Control Systems Technology}
}

J. Reis, G. Yu, and C. Silvestre, “Kalman-based velocity-free trajectory tracking control of an underactuated aerial vehicle with unknown system dynamics,” Automatica, vol. 155. Elsevier BV, p. 111148, Sep. 2023.

@article{2023_Reis_Automatica,
doi = {10.1016/j.automatica.2023.111148},
url = {https://doi.org/10.1016/j.automatica.2023.111148},
year = {2023},
month = sep,
publisher = {Elsevier {BV}},
volume = {155},
pages = {111148},
author = {Joel Reis and Gan Yu and Carlos Silvestre},
title = {Kalman-based velocity-free trajectory tracking control of an underactuated aerial vehicle with unknown system dynamics},
journal = {Automatica}
}

G. Yu, J. Reis, D. Cabecinhas, R. Cunha, and C. Silvestre, “Reduced-Complexity Active Disturbance Rejection Controller for Quadrotor-Slung-Load Transportation,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 8. Institute of Electrical and Electronics Engineers (IEEE), pp. 5248–5259, Aug. 2023.

@article{2023_Yu_TSMCS,
doi = {10.1109/tsmc.2023.3263881},
url = {https://doi.org/10.1109/tsmc.2023.3263881},
year = {2023},
month = aug,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {53},
number = {8},
pages = {5248--5259},
author = {Gan Yu and Joel Reis and David Cabecinhas and Rita Cunha and Carlos Silvestre},
title = {Reduced-Complexity Active Disturbance Rejection Controller for Quadrotor-Slung-Load Transportation},
journal = {{IEEE} Transactions on Systems, Man, and Cybernetics: Systems}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Discrete-time Kalman filter for heave motion estimation,” Ocean Engineering, vol. 277. Elsevier BV, p. 114240, Jun. 2023.

@article{2023_Reis_OE,
doi = {10.1016/j.oceaneng.2023.114240},
url = {https://doi.org/10.1016/j.oceaneng.2023.114240},
year = {2023},
month = jun,
publisher = {Elsevier {BV}},
volume = {277},
pages = {114240},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Discrete-time Kalman filter for heave motion estimation},
journal = {Ocean Engineering}
}

G. Yu, J. Reis, and C. Silvestre, “Quadrotor Neural Network Adaptive Control: Design and Experimental Validation,” IEEE Robotics and Automation Letters, vol. 8, no. 5. Institute of Electrical and Electronics Engineers (IEEE), pp. 2574–2581, May 2023.

@article{2023_Yu_RAL,
doi = {10.1109/lra.2023.3254450},
url = {https://doi.org/10.1109/lra.2023.3254450},
year = {2023},
month = may,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {8},
number = {5},
pages = {2574--2581},
author = {Gan Yu and Joel Reis and Carlos Silvestre},
title = {Quadrotor Neural Network Adaptive Control: Design and Experimental Validation},
journal = {{IEEE} Robotics and Automation Letters}
}

J. Reis, W. Xie, D. Cabecinhas, and C. Silvestre, “Nonlinear Backstepping Controller for an Underactuated ASV With Model Parametric Uncertainty: Design and Experimental Validation,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 3. Institute of Electrical and Electronics Engineers (IEEE), pp. 2514–2526, Mar. 2023.

@article{2023_Reis_TIV,
doi = {10.1109/tiv.2022.3221739},
url = {https://doi.org/10.1109/tiv.2022.3221739},
year = {2023},
month = mar,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {8},
number = {3},
pages = {2514--2526},
author = {Joel Reis and Wei Xie and David Cabecinhas and Carlos Silvestre},
title = {Nonlinear Backstepping Controller for an Underactuated {ASV} With Model Parametric Uncertainty: Design and Experimental Validation},
journal = {{IEEE} Transactions on Intelligent Vehicles}
}

J. Reis, G. Yu, D. Cabecinhas, and C. Silvestre, “High‐performance quadrotor slung load transportation with damped oscillations,” International Journal of Robust and Nonlinear Control, vol. 33, no. 17. Wiley, pp. 10227–10256, Aug. 04, 2022.

@article{2022_Reis_IJRNC,
doi = {10.1002/rnc.6306},
url = {https://doi.org/10.1002/rnc.6306},
year = {2022},
month = aug,
publisher = {Wiley},
volume = {33},
number = {17},
pages = {10227--10256},
author = {Joel Reis and Gan Yu and David Cabecinhas and Carlos Silvestre},
title = {High-performance quadrotor slung load transportation with damped oscillations},
journal = {International Journal of Robust and Nonlinear Control}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Earth Velocity and Rigid-Body Attitude Estimation on SO(3) Using Biased Measurements,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6. Institute of Electrical and Electronics Engineers (IEEE), pp. 4246–4257, Dec. 2022.

@article{2022_Reis_TMECH,
doi = {10.1109/tmech.2022.3152220},
url = {https://doi.org/10.1109/tmech.2022.3152220},
year = {2022},
month = dec,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {27},
number = {6},
pages = {4246--4257},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Earth Velocity and Rigid-Body Attitude Estimation on {SO}(3) Using Biased Measurements},
journal = {{IEEE}/{ASME} Transactions on Mechatronics}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field,” Automatica, vol. 125. Elsevier BV, p. 109475, Mar. 2021.

@article{2021_Reis_Automatica,
doi = {10.1016/j.automatica.2020.109475},
url = {https://doi.org/10.1016/j.automatica.2020.109475},
year = {2021},
month = mar,
publisher = {Elsevier {BV}},
volume = {125},
pages = {109475},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field},
journal = {Automatica}
}

W. Xie, J. Reis, D. Cabecinhas, and C. Silvestre, “Design and experimental validation of a nonlinear controller for underactuated surface vessels,” Nonlinear Dynamics, vol. 102, no. 4. Springer Science and Business Media LLC, pp. 2563–2581, Nov. 06, 2020.

@article{2020_Xie_NODY,
doi = {10.1007/s11071-020-06058-8},
url = {https://doi.org/10.1007/s11071-020-06058-8},
year = {2020},
month = nov,
publisher = {Springer Science and Business Media {LLC}},
volume = {102},
number = {4},
pages = {2563--2581},
author = {Wei Xie and Joel Reis and David Cabecinhas and Carlos Silvestre},
title = {Design and experimental validation of a nonlinear controller for underactuated surface vessels},
journal = {Nonlinear Dynamics}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Kalman Filter Cascade for Attitude Estimation on Rotating Earth,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 1. Institute of Electrical and Electronics Engineers (IEEE), pp. 327–338, Feb. 2020.

@article{2020_Reis_TMECH,
doi = {10.1109/tmech.2019.2959080},
url = {https://doi.org/10.1109/tmech.2019.2959080},
year = {2020},
month = feb,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {25},
number = {1},
pages = {327--338},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Kalman Filter Cascade for Attitude Estimation on Rotating Earth},
journal = {{IEEE}/{ASME} Transactions on Mechatronics}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Attitude estimation using high-grade gyroscopes,” Control Engineering Practice, vol. 92, Elsevier BV, p. 104134, Nov. 2019.

@article{2019_Reis_CEP,
doi = {10.1016/j.conengprac.2019.104134},
url = {https://doi.org/10.1016/j.conengprac.2019.104134},
year = {2019},
month = nov,
publisher = {Elsevier {BV}},
volume = {92},
pages = {104134},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Attitude estimation using high-grade gyroscopes},
journal = {Control Engineering Practice}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Calibration of High-Grade Inertial Measurement Units Using a Rate Table,” IEEE Sensors Letters, vol. 3, no. 4. Institute of Electrical and Electronics Engineers (IEEE), pp. 1–4, Apr. 2019.

@article{2019_Reis_SL,
doi = {10.1109/lsens.2019.2906569},
url = {https://doi.org/10.1109/lsens.2019.2906569},
year = {2019},
month = apr,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {3},
number = {4},
pages = {1--4},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Calibration of High-Grade Inertial Measurement Units Using a Rate Table},
journal = {{IEEE} Sensors Letters}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Nonlinear Observer on SO(3) for Attitude Estimation on Rotating Earth Using Single Vector Measurements,” IEEE Control Systems Letters, vol. 3, no. 2. Institute of Electrical and Electronics Engineers (IEEE), pp. 392–397, Apr. 2019.

@article{2019_Reis_CSL,
doi = {10.1109/lcsys.2018.2886740},
url = {https://doi.org/10.1109/lcsys.2018.2886740},
year = {2019},
month = apr,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {3},
number = {2},
pages = {392--397},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Nonlinear Observer on {SO}(3) for Attitude Estimation on Rotating Earth Using Single Vector Measurements},
journal = {{IEEE} Control Systems Letters}
}

J. O. Reis, P. T. M. Batista, P. Oliveira, and C. Silvestre, “Source Localization Based on Acoustic Single Direction Measurements,” IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 6. Institute of Electrical and Electronics Engineers (IEEE), pp. 2837–2852, Dec. 2018.

@article{2018_Reis_TAES,
doi = {10.1109/taes.2018.2831118},
url = {https://doi.org/10.1109/taes.2018.2831118},
year = {2018},
month = dec,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {54},
number = {6},
pages = {2837--2852},
author = {Joel Oliveira Reis and Pedro T. M. Batista and Paulo Oliveira and Carlos Silvestre},
title = {Source Localization Based on Acoustic Single Direction Measurements},
journal = {{IEEE} Transactions on Aerospace and Electronic Systems}
}

J. Reis, M. Morgado, P. Batista, P. Oliveira, and C. Silvestre, “Design and Experimental Validation of a USBL Underwater Acoustic Positioning System,” Sensors, vol. 16, no. 9. MDPI AG, p. 1491, Sep. 14, 2016.

@article{2016_Reis_Sensors,
doi = {10.3390/s16091491},
url = {https://doi.org/10.3390/s16091491},
year = {2016},
month = sep,
publisher = {{MDPI} {AG}},
volume = {16},
number = {9},
pages = {1491},
author = {Joel Reis and Marco Morgado and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Design and Experimental Validation of a {USBL} Underwater Acoustic Positioning System},
journal = {Sensors}
}

J. Reis and C. Silvestre, ‘Kalman filter as observer and smoother for rigid-body motion control applications’, IFAC-PapersOnLine, vol. 58, no. 16, pp. 95–100, 2024.

@article{2024_Reis_WACE,
title = {Kalman Filter as Observer and Smoother for Rigid-Body Motion Control Applications},
journal = {IFAC-PapersOnLine},
volume = {58},
number = {16},
pages = {95-100},
year = {2024},
note = {2nd IFAC Workshop on Aerospace Control Education - WACE 2024},
issn = {2405-8963},
doi = {https://doi.org/10.1016/j.ifacol.2024.08.468},
url = {https://www.sciencedirect.com/science/article/pii/S2405896324012370},
author = {Joel Reis and Carlos Silvestre},
keywords = {Rigid body motion control, Kalman filter, Observability, Exogenous disturbances},
}

P. Casau, J. Reis, and C. Silvestre, “Event-triggered trajectory tracking control of an underactuated autonomous surface vessel,” 2022 American Control Conference (ACC). IEEE, Jun. 08, 2022.

@inproceedings{2022_Casau_ACC,
doi = {10.23919/acc53348.2022.9867657},
url = {https://doi.org/10.23919/acc53348.2022.9867657},
year = {2022},
month = jun,
publisher = {{IEEE}},
author = {Pedro Casau and Joel Reis and Carlos Silvestre},
title = {Event-triggered trajectory tracking control of an underactuated autonomous surface vessel},
booktitle = {2022 American Control Conference ({ACC})}
}

J. Reis, C. Silvestre, P. Batista, and P. Oliveira, “Attitude observers aided by implicit measurements of the Earth angular velocity,” 2020 59th IEEE Conference on Decision and Control (CDC). IEEE, Dec. 14, 2020.

@inproceedings{2020_Reis_CDC,
doi = {10.1109/cdc42340.2020.9304161},
url = {https://doi.org/10.1109/cdc42340.2020.9304161},
year = {2020},
month = dec,
publisher = {{IEEE}},
author = {Joel Reis and Carlos Silvestre and Pedro Batista and Paulo Oliveira},
title = {Attitude observers aided by implicit measurements of the Earth angular velocity},
booktitle = {2020 59th {IEEE} Conference on Decision and Control ({CDC})}
}

J. Reis, P. Batista, P. Oliveira, and C. Silvestre, “Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements,” 2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, Aug. 2018.

@inproceedings{2018_Reis_CCTA,
doi = {10.1109/ccta.2018.8511381},
url = {https://doi.org/10.1109/ccta.2018.8511381},
year = {2018},
month = aug,
publisher = {{IEEE}},
author = {Joel Reis and Pedro Batista and Paulo Oliveira and Carlos Silvestre},
title = {Nonlinear Attitude Observer on {SO}(3) Based on Single Body-Vector Measurements},
booktitle = {2018 {IEEE} Conference on Control Technology and Applications ({CCTA})}
}

J. Reis, P. Oliveira, P. Batista, and C. Silvestre, “Filter design for localization aided by direction and Doppler measurements,” 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, May 2014.

@inproceedings{2014_Reis_ICRA,
doi = {10.1109/icra.2014.6907285},
url = {https://doi.org/10.1109/icra.2014.6907285},
year = {2014},
month = may,
publisher = {{IEEE}},
author = {Joel Reis and Paulo Oliveira and Pedro Batista and Carlos Silvestre},
title = {Filter design for localization aided by direction and Doppler measurements},
booktitle = {2014 {IEEE} International Conference on Robotics and Automation ({ICRA})}
}