Contact

Guillermo Falconí
Dipl.-Ing.
E-mail:guillermo.falconi@tum.de

Research Interests

  • Flight Control
  • Nonlinear Adaptive Control
  • Fault Tolerant Control
  • Multicopter

Projects

  • CoSMiC: Cooperative Swarm Navigation, Mission and Control
  • VaMEx: Valles Marineris Explorer
  • QuadOpera

Teaching

Publications

[19] G. P. Falconí, J. Angelov and F. Holzapfel, "ADAPTIVE FAULT-TOLERANT POSITION CONTROL OF A HEXACOPTER SUBJECT TO AN UNKNOWN MOTOR FAILURE", International Journal of applied mathematics and computer science, vol. 28, 2018. [doi]
[18] F. Goßmann, G. P. Falconí and F. Svaricek, "Fault tolerant incremental attitude control using online parameter estimation for a multicopter system", in 25th Mediterranean Conference on Control and Automation (MED), 2017, pp. 467-472. [doi]
[17] V. S. Akkinapalli, G. P. Falconí and F. Holzapfel, "Fault tolerant incremental attitude control using online parameter estimation for a multicopter system", in 25th Mediterranean Conference on Control and Automation (MED), 2017, pp. 454-460. [doi]
[16] M. Rieck, G. P. Falconí, M. Gerdts, F. Holzapfel, "Periodic Full Circuit Race Line Optimization under Consideration of a Dynamic Model with Gear Changes", in IEEE Multi-Conference on Systems and Control (CCA), 2016, pp. 1470-1475. [doi]
[15] G. P. Falconí, S. P. Schatz and F. Holzapfel, "Fault Tolerant Control of a Hexarotor using a Command Governor Augmentation", in 24th Mediterranean Conference on Control and Automation (MED), 2016, pp. 182-187. [doi]
[14] G. P. Falconí, V. Marvakov and F. Holzapfel, "Fault Tolerant Control for a Hexarotor System Using Incremental Backstepping", in IEEE Multi-Conference on Systems and Control (CCA), 2016, pp. 237-242. [doi]
[13] G. P. Falconí, F. Holzapfel, "Adaptive Fault Tolerant Control Allocation for a Hexacopter System", in American Control Conference, 2016, pp. 6760-6766. [doi]
[12] G. P. Falconí, C. D. Heise and F. Holzapfel, "Novel Stability Analysis of Direct MRAC with Redundant Inputs", in 24th Mediterranean Conference on Control and Automation (MED), 2016, pp. 176-181. [doi]
[11] G. P. Falconí, C. D. Heise and F. Holzapfel, "Novel Control Law for Predictor-Based MRAC for Overactuated Systems", in 14th International Conference on Control, Automation, Robotics & Vision (ICARCV), 2016. [doi]
[10] G. P. Falconí, J. Angelov and F. Holzapfel, "Hexacopter Outdoor Flight Test Results Using Adaptive Control Allocation Subject to an Unknown Complete Loss of One Propeller", in 3rd Conference on Control and Fault-Tolerant Systems (SysTol), 2016, pp. 367-374. [doi]
[9] M. Mühlegg, P. Niermeyer, G. P. Falconí, F. Holzapfel, "L1 Fault Tolerant Adaptive Control of a Hexacopter with Control Degradation", in IEEE Conference on Control Applications (CCA), 2015, pp. 750-755. [doi]
[8] G. P. Falconí, C. D. Heise and F. Holzapfel, "Fault-Tolerant Position Tracking of a Hexacopter using an Extended State Observer", in 6th International Conference on Automation, Robotics and Applications (ICARA), 2015. [doi]
[7] C. D. Heise, G. P. Falconí and F. Holzapfel, "Hexacopter outdoor flight test results of an Extended State Observer based controller", in Aerospace Electronics and Remote Sensing Technology (ICARES), 2014 IEEE International, IEEE, pp. 26-33. [doi]
[6] G. P. Falconí, F. Holzapfel, "Position tracking of a hexacopter using a geometric backstepping control law - Experimental results", in Aerospace Electronics and Remote Sensing Technology (ICARES), 2014 IEEE International, IEEE, pp. 20-25. [doi]
[5] V. S. Akkinapalli, G. P. Falconí and F. Holzapfel, "Attitude control of a multicopter using L1 augmented quaternion based backstepping", in Aerospace Electronics and Remote Sensing Technology (ICARES), 2014 IEEE International, IEEE, pp. 170-178. [doi]
[4] S. Sand, S. Zhang, M. Mühlegg, G. P. Falconí, C. Zhu, T. Krüger, S. Nowak, "Swarm Exploration and Navigation on Mars", in International Conference on Localization and GNSS, 2013. [doi]
[3] G. P. Falconí, F. Holzapfel, "Position Tracking of a Multicopter using a Geometric Backstepping Control Law", in CEAS EuroGNC, 2013. [pdf]
[2] G. P. Falconí, O. Fritsch, B. Lohmann, F. Holzapfel, "Admissible Thrust Control Laws for Quadrotor Position Tracking.", in Proceedings of the American Control Conference 2013. [doi]
[1] G. P. Falconí, J. E. Ackerman, "Robust semi-automatic design of PID controllers for systems with time delay", in 2nd IFAC Conference on Advances in PID Control, 2012. [doi]