Publications
1. Journal Articles
[J20] de Castro, R., Feng, S. Synthesis of Recursive Control Barrier Functions, ASME J. Dyn. Sys., Meas., Control, in press DOI
[J19] de Alcântara Dias, B.M.; da Silva, C.T.; Araújo, R.E.; de Castro, R.; Pellini, E.L.; Pinto, C.; Laganá, A.A.M. (2022) An Analytic Hierarchy Process for Selecting Battery Equalization Methods. Energies 2022, 15(7), 2439, DOI
[J18] de Castro, R., Pereira, H., Araujo, R.E., Barreras, J.V., Pangborn, H.C. (2022) qTSL: A Multilayer Control Framework for Managing Capacity, Temperature, Stress, and Losses in Hybrid Balancing Systems, IEEE Transactions on Control Systems Technology, vol. 30, no 3, pp 1228 - 1243, DOI
[J17] de Castro, R., Brembeck, J. (2022) Lyapunov-based fault tolerant control allocation, Vehicle System Dynamics, 60:10, 3605-3630, DOI
[J16] de Castro, R., (2022) Safe and High-performance Control Allocation, IEEE Transactions on Automatic Control, vol. 67, no 6, pp 3120 - 3127, DOI
[J15] Mirwald, J., Ultsch, J., de Castro, R., Brembeck, J. (2021) Learning-Based Cooperative Adaptive Cruise Control, Actuators, 10(11), 286, DOI
[J14] Barreras, J.V., de Castro, R., Wan, Y., Dragicevic, T. (2021) A Consensus Algorithm for Multi-Objective Battery Balancing, Energies, vol. 14, no 14.
[J13] de Castro, R., Pinto, C., Barreras, J.V., Araujo, R.E., Howey, D. A. (2019) Smart and Hybrid Balancing System: Design, Modeling and Experimental Demonstration, IEEE Transactions on Vehicular Technology, vol. 68, no 12, pp. 11449-11461, DOI
[J12] Satzger, C., de Castro, R. (2018) Predictive Braking Control, IEEE Transactions on Vehicular Technology vol. 67, no 2, pp. 977 - 990, DOI
[J11] Pinto, C., Barreras, J. V., de Castro, R., Araujo, R. E., Schaltz, E. (2017) Study on the combined influence of battery models and sizing strategy for hybrid and battery based electric vehicles, Energy vol. 137, pp. 272 - 284, DOI
[J10] Barreras, J. V., Pinto, C., de Castro, R., Schaltz, E., Andreasen, S. J., Rasmussen, P. O., Araujo, R. E. (2016) Evaluation of a novel BEV concept based on fixed and swappable Li-ion battery packs, IEEE Transactions on Industry Applications, vol. 52, no 6, pp. 5073 - 5085, DOI
[J9] de Castro, R., Tanelli, M., Araujo, R., Savaresi, S.M., (2016) Minimum-Time Path Following for Highly Redundant Electric Vehicles, IEEE Transactions on Control Systems Technology, vol. 24, no 2, pp. 487 - 501
[J8] de Castro, R., Todeschini, F., Araujo, R.E., Savaresi, S. M., Corno, M., Freitas, D. (2014) Adaptive-Robust Friction Compensation in a Hybrid Brake-by-Wire Actuator, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 228, no 10, pp. 769 - 786
[J7] de Castro, R., Tanelli, M., Araujo, R.E., and Savaresi, S., (2014) Design of safety oriented control allocation strategies for over-actuated electric vehicles, Vehicle System Dynamics, vol. 52, no 8, pp. 1017 - 1046
[J6] Araujo, R.E., de Castro, R., Pinto, C., Melo, P., Freitas, D., (2014) Combined Sizing and Energy Management in EVs With Batteries and Supercapacitors, IEEE Transactions on Vehicular Technology, vol. 63, no 7, pp. 3062 - 3076
[J5] de Castro, R., Tanelli, M., Araujo, R.E., and Savaresi, S., (2014) Minimum-time Manoeuvring in Electric Vehicles with Four Wheel-Individual-Motors, Vehicle System Dynamics, vol. 52, no 6, pp. 824-846
[J4] de Castro, R., Araujo, R.E., Freitas, D., (2013) Wheel Slip Control of EVs based on Sliding Mode Technique with Conditional Integrators, IEEE Transactions on Industrial Electronics, vol. 60, no. 8, pp. 3256 - 3271
[J3] de Castro, R., Araujo, R.E., Freitas, D., (2012) Real-time Estimation of Tire-Road Friction Peak with Optimal Linear Parameterization, IET Control Theory and Applications, vol. 6, no.20, pp. 2257 - 2268
[J2] de Castro, R., Araujo, R.E., Tanelli, M., Savaresi, S., Freitas, D., (2012) Torque Blending and Wheel Slip Control in EVs with In-Wheel Motors, Vehicle System Dynamics, vol. 50:sup1, pp. 71 - 94.
[J1] de Castro, R., Araujo, R.E., Trovao, J.P., Pereirinha, P.G., Melo, P., Freitas, D., (2012) Robust DC-Link Control in EVs with Multiple Energy Sources, IEEE Transactions on Vehicular Technology, vol.61, no.8, pp.3553 - 3565
2. Conference Proceedings
[C54] Brembeck, J., de Castro, R., Tobular, J., Ebrahimi, I. (2022) IEEE VTS Motor Vehicles Challenge 2023: A Multi-physical Benchmark Problem for Next Generation Energy Management Algorithms, IEEE Vehicle Power and Propulsion Conference (VPPC2022), Merced, California, USA
[C53] Winter, C., de Castro, R., Buente, T. (2022) Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles, IEEE Vehicle Power and Propulsion Conference (VPPC2022), Merced, California, USA
[C52] Pereira, H., de Castro, R., Araujo, R. E. (2021) How to Win the 2021 IEEE VTS Motor Vehicles Challenge With a Pragmatic Energy Management Strategy, IEEE Vehicle Power and Propulsion Conference (VPPC2021), online
[C51] de Castro, R., Pereira, H., Araujo, R.E, Barreras, J.V., Pangborn, H. (2021) Multi-Layer Control for Hybrid Balancing Systems, 5th IEEE Conference on Control Technology and Applications (CCTA2021), online
[C50] de Castro, R., Brembeck, J., Araujo, R.E. (2020) Nonlinear Control of Dual Half Bridge Converters in Hybrid Energy Storage Systems, IEEE Vehicle Power and Propulsion Conference (VPPC2020), online
[C49] Brembeck, J., Bals, J., Baumgartner, D., Bellmann, T., Bieri, C., Buente, T., Mirwald, J., Pfeiffer, A., de Castro, R., Otter, M., Ruggaber, J., Schreppel, C., Tobolar, J., Ultsch, J., Winter C. (2020) Recent Research on Automotive Control at DLR Institute of System Dynamics and Control - an Overview, 28th Mediterranean Conference on Control and Automation (MED), online
[C48] Ultsch, J., Mirwald, J., Brembeck, J., de Castro, R. (2020) Reinforcement Learning based Path Following Control for a Vehicle with Variable Delay in the Drivetrain, 2020 IEEE Intelligent Vehicles Symposium (IV20), online
[C47] de Castro, R., Araujo, R. E., Barreras, J.V. (2020) Smart and Hybrid Battery Balancing for Electric Vehicles, 21st International Federation of Automatic Control World Congress (IFAC WC2020), online
[C46] de Castro, R., Araujo, R.E. (2019) Model Predictive Power Allocation for Hybrid Battery Balancing Systems, IEEE Vehicle Power and Propulsion Conference (VPPC19), Hanoi, Vietnam
[C45] de Castro, R., Brembeck, J. (2019) Cascaded Trajectory Tracking Control for Automated Vehicles, IEEE 90th Vehicular Technology Conference, Hawaii, USA
[C44] de Castro, R., Brembeck, J. (2019) Lyapunov-based Control Allocation for Overactuated Nonlinear Systems, American Control Conference (ACC19), Philadelphia, USA
[C43] Lenzo, B., de Castro, R. (2019) Vehicle sideslip estimation for four-wheel-steering vehicles using a particle filter, 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD19), Gothenburg, Sweden
[C42] de Castro, R., Brembeck, J. (2018) Supervised Trajectory Tracking Control, 21st IEEE International Conference on Intelligent Transportation Systems (ITSC18), Hawaii, USA
[C41] Pinto, C., de Castro, R., Barreras, J.V., Araujo, R.E., Howey, D. A. (2018) Smart Balancing Control of a Hybrid Energy Storage System based on a Cell-to-Cell Shared Energy Transfer Configuration, IEEE Vehicle Power and Propulsion Conference (VPPC18), Chicago, USA
[C40] de Castro, R., Brembeck, J. (2017) A Control Barrier Function Approach for the Robust Lateral Control of Steer-by-Wire Vehicles, IEEE Vehicle Power and Propulsion Conference (VPPC17), Belfort, France
[C39] Ho, L. M., Satzger, C, de Castro, R. (2017) Fault-Tolerant Control of an Electrohydraulic Brake Using Virtual Pressure Sensor, International Conference on Robotics and Automation Sciences (ICRAS 2017), Hong Kong
[C38] de Castro, R., Ho, M. L., Brembeck, J. (2017) An Active Fault-Tolerant Controller for Overactuated Electric Vehicles, 25th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD17), Rockhampton, Australia
[C37] Satzger, C., de Castro, R., Knoblach, A. (2017) Robust Linear Parameter Varying Model Predictive Control and its Application to Wheel Slip Control, 20th World Congress of the International Federation of Automatic Control (IFAC17), Toulouse, France
[C36] de Castro, R., Brembeck, J. (2017) A Command Governor Approach for Platooning Applications, IEEE Intelligent Vehicles Symposium (IV17), Los Angeles, USA
[C35] de Castro, R., Schaub, A., Brembeck, J. (2016) A Vehicle Following Controller for Highly-Actuated Vehicles, 13th International Symposium on Advanced Vehicle Control (AVEC16), Munich, Germany
[C34] Schaub, A., de Castro, R., Burschka, D. (2016) Direct Homography Control for VisionBased Platooning, 2016 IEEE Intelligent Vehicles Symposium (IV16), Gothenburg, Sweden
[C33] Satzger, C., de Castro, R., Knoblach, A., Brembeck, J. (2016) Design and Validation of an MPC-Based Torque Blending and Wheel Slip Control Strategy, 2016 IEEE Intelligent Vehicles Symposium (IV16), Gothenburg, Sweden
[C32] Barreras, J. V., Pinto, C., de Castro, R., Schaltz, E., Swierczynski M., Andreasen, S. J., Araujo, R. E. (2015) An Improved Parameterization Method for Li-ion Linear Static Equivalent Circuit Battery Models Based on Direct Current Resistance Measurement, International Conference on Sustainable Mobility Applications, Renewables and Technology (SMART15), Kuwait
[C31] Tobolar, J., de Castro, R., Bleck, U., Satzger, C., Brembeck, J. (2015), Comparative evaluation of energy efficiency of electrical vehicle powertrain configurations, International Symposium on Dynamics of Vehicles on Road and Tracks (IAVSD15), Graz, Austria
[C30] de Castro, R., Buente, T., Brembeck, J. (2015) Design and Validation of the Second Generation of the Robomobil’s Vehicle Dynamics Controller, International Symposium on Dynamics of Vehicles on Road and Tracks (IAVSD15), Graz, Austria
[C29] Barreras, J. V., Pinto, C., de Castro, R., Schaltz, E. , Andreasen, S. J., Rasmussen, P. O., Araujo, R. E. (2015) A novel BEV concept based on fixed and swappable li-ion battery packs, Tenth International Conference on Ecological Vehicles and Renewable Energies (EVER15), Monte-Carlo, Monaco
[C28] Fabrizio, R., de Castro, R., (2014) Energetically Optimal Path Following for Electric Aircraft Taxi Systems Based on Convex Optimization. 2014 IEEE International Electric Vehicle Conference, Florence, Italy.
[C27] Satzger, C., de Castro, R., (2014) Combined Wheel-Slip Control and Torque Blending using MPC, The 3rd International Conference on Connected Vehicles and Expo (ICCVE 2014), Vienna, Austria
[C26] Barreras, J. V., Pinto, C., de Castro, R., Schaltz, E., Andreasen,S.J., Araujo, R.E. (2014) Multi-Objective Control of Balancing Systems for Li-Ion Battery Packs: A paradigm shift?, IEEE Vehicle Power and Propulsion Conference (VPPC14), Coimbra, Portugal.
[C25] Pinto, C., Barreras, J.V., de Castro, R., Schaltz,E., Andreasen,S. J., Araujo, R.E., (2014) Influence of Li-ion Battery Models in the Sizing of Hybrid Storage Systems with Supercapacitors, IEEE Vehicle Power and Propulsion Conference (VPPC14), Coimbra, Portugal.
[C24] de Castro, R., Tanelli, M., Araujo, R., Savaresi, S.M., (2014) Minimum-time Path Following in Highly Redundant Electric Vehicles, 19th World Congress of the International Federation of Automatic Control (IFAC14), Cape Town, South Africa.
[C23] Satzger, C., de Castro, R., Buente, T., (2014) A Model Predictive Control Allocation Approach to Hybrid Braking of Electric Vehicles, 2014 IEEE Intelligent Vehicles Symposium (IV14) Dearborn, Michigan, USA
[C22] de Castro,R., Tanelli, M., Araujo, R.E., and Savaresi, S., (2013) Torque allocation in electric vehicles with in-wheel motors: a performance-oriented approach, 52nd IEEE Conference on Decision and Control (CDC13), Florence, Italy.
[C21] Pinto, C., de Castro, R., Araujo, R.E., (2013) A Comparative Study between Causal and Non-causal Algorithms for the Energy Management of Hybrid Storage Systems, 15th European Conference on Power Electronics and Applications (EPE13), Lille, France
[C20] de Castro, Tanelli, M., R., Araujo, R.E., Savaresi, S., Freitas, D., (2013) Torque Allocation in EVs with 4 In-Wheel Motors: a High-Performance Approach, 23nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD13), Qingdao, China
[C19] Silveira, A. M., Araújo, R.E., de Castro, R. (2012) FIEEV: A co-Simulation Framework for Fault Injection in Electrical Vehicles, IEEE International Conference on Vehicular Electronics and Safety (ICVES 2012), Istanbul, Turkey
[C18] de Castro, R., Pinto, C., Araujo, R.E., Melo, P., Freitas, D., (2012) Optimal Sizing and Energy Management of Hybrid Storage Systems. IEEE Vehicle Power and Propulsion Conference (VPPC12), Seoul, South Korea,
[C17] de Castro, R., Araujo, R.E., Freitas, D., (2012) Adaptive Compensation of the Stribeck Friction in Brake-by-Wire Actuators. The 13th Mechatronics Forum International Conference, Linz, Austria
[C16] Araujo, R., Igreja, A., de Castro, R., Araujo, R.E. (2012) Driving Coach: a Smartphone Application to Evaluate Driving Efficient Patterns. 2012 IEEE Intelligent Vehicles Symposium (IV12), Alcal´a de Henares, Spain
[C15] de Castro, R., Melo, P., Pacheco, P., Araujo, R.E., Freitas, D. (2011) A Control Allocation Approach to Manage Multiple Energy Sources in EVs. IEEE Vehicle Power and Propulsion Conference (VPPC11), Chicago, USA
[C14] de Castro, R., Trovao, J.P., Pacheco, P., Melo, P., Pereirinha, P.G., Araujo, R.E.(2011) DC Link Control for Multiple Energy Sources in Electric Vehicles. IEEE Vehicle Power and Propulsion Conference (VPPC11), Chicago, USA
[C13] de Castro, R., Araujo, R.E., Freitas, D. (2011) Optimal Linear Parameterization for On-Line Estimation of Tire-Road Friction, 18th World Congress of the International Federation of Automatic Control (IFAC11), Milano, Italy
[C12] de Castro, R., Araujo, R.E., Freitas, D. (2011) Hybrid ABS with Electric Motor and Friction Brakes. 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD11), Manchester, UK
[C11] Melo, P., Araujo, R.E. and de Castro, R. (2011), Overview on Energy Management Strategies for Electric Vehicles - Modelling, Trends and Research Perspectives. 3rd International Youth Conference on Energetics (IYCE11), Leiria, Portugal
[C10] de Castro, R., Araujo, R.E., Cardoso, J.S., Freitas, D. (2010) A New Linear Parametrization for Peak Friction Coefficient Estimation in Real Time. IEEE Vehicle Power and Propulsion Conference (VPPC10), Lille, France
[C9] de Castro, R., Araujo, R.E., Freitas, D. (2010) A Single Motion Chip For Multi-Motor EV Control. 10th International Symposium on Advanced Vehicle Control (AVEC10), Loughborough, UK
[C8] de Castro, R., Sousa, J., Araujo, R.E., Pereira, F.L., Freitas, D. (2010) Hybrid Modeling, Control and Estimation in ABS Applications based on In-Wheel Electric Motors. 19th International Symposium on Mathematical Theory of Networks and Systems (MTNS10), Budapest, Hungary
[C7] de Castro, R., Araujo, R.E., Freitas, D. (2010) Reusable IP Cores Library for EV Propulsion Systems. IEEE International Symposium on Industrial Electronics (ISIE10), Bari, Italy
[C6] de Castro, R., Araujo, R.E. and Oliveira, H. (2009) Design, Development and Characterisation of a FPGA Platform for Multi-Motor Electric Vehicle Control. 5th IEEE Vehicle Power and Propulsion Conference (VPPC09), Dearborn, MI, USA
[C5] de Castro, R., Araujo, R.E. and Oliveira, H. (2009) Control in Multi-Motor Electric Vehicle with a FPGA Platform. 4th IEEE Symposium on Industrial Embedded Systems (SIES09), Lausanne, Switzerland
[C4] Araujo, R.E, Ribeiro,G., Castro, R., and Oliveira, H. (2008) Experimental Evaluation of a Loss - Minimization Control of Induction Motors used in EV, 34th Conference of the IEEE Industrial Electronics Society (IECON08), Florida, USA
[C3] de Castro, R., Oliveira, H., Soares, J., Cerqueira, N. and Araujo, R. (2007) A new FPGA based control system for electric propulsion with electronic differential. 12th European Conference on Power Electronics and Applications (EPE07), Aalborg, Denmark
[C2] Cerqueira, N., Soares, R., de Castro, R., Oliveira, H. and Araujo, R.E. (2007) Experimental evaluation on parametric identification of induction motor using continuoustime approaches. 1st International Conference on Power Engineering, Energy and Electrical Drives, Setubal, Portugal
[C1] Soares, R., Cerqueira, N., de Castro, R., Oliveira, H. and Araujo, R.E. (2006) Design and Development of New Controller Suitable to Neighbourhood Electric Vehicle Propulsion Control. 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON06), Paris, France
3. Book Chapters
[B5] Silveira, de Castro, R., A. M., Araujo, R. Linear and Nonlinear Systems in Continuous Time: Application to Power Converters, Encyclopedia of Power Engineering, Elsevier (in press) DOI
[B4] de Castro, R., Silveira, A. M., Araujo, R. Properties and Control Stability Analysis of Linear and Nonlinear Systems: Applications to Power Converters, Encyclopedia of Power Engineering, Elsevier (in press) DOI
[B3] Mirwald, J., de Castro, R., Brembeck, J., Ultsch, J., Araujo, R. E. (2022). Learning-based Control for Hybrid Battery Management Systems. Intelligent Control and Smart Energy Management, Springer, ISBN: 978-3-030-84473-8 DOI
[B2] Melo, P., de Castro, R., Araujo, R.E. (2012) Evaluation of an Energy Loss-Minimization Algorithm for EVs Based on Induction Motor. Induction Motors - Modelling and Control, Rui Esteves Araujo (Ed.), InTech, ISBN: 978-953-51-0843-6
[B1] de Castro, R., Araujo, R.E., Freitas, D. (2011) FPGA Based Powertrain Control for Electric Vehicles. Electric Vehicles - Modelling and Simulations, Seref Soylu (Ed.), ISBN: 978-953-307-477-1, InTech
4. Patents
[P3] Araujo, R., Araujo, R.E., Igreja, A., de Castro, R., Castignani, G., Baker, D. (2018) "Systems and Methods for Predicting Vehicle Fuel Consumption", US2018/0045525A1
[P2] Satzger, C., de Castro, R., Brembeck, J. (2016) "Bremsregelverfahren für ein Fahrzeug" (Brake Control Method for Vehicles), Patent DE 10 2014 108 083 B4
[P1] Araujo, R.E., Soares, R., Cerqueira, N., Oliveira, H., de Castro, R., "Electronic Differential", PT103817, published in the Portuguese Bulletin of Industrial Property, 43/2009.
5. Other Workshops and Conferences
[O7] Ebrahimi, I. ,de Castro, R., Ehsani, R., Brillante, L., Rico, A. (2022) Non-invasive Sensing of Key Chemical Compositions of Grapes, FIRA, the Ag Robotics Forum, Fresno, California, USA
[O6] Feng, S., de Castro, R. (2022) Recursive-Control-Barrier Functions, 4th NorCal Control Workshop, Santa Cruz, California, USA
[O5] de Castro, R., Pereira, H., Araujo, R.E., Barreras, J.V., Pangborn, H.C. (2022) A Multilayer Control Framework for Managing Capacity, Temperature, Stress, and Losses in Hybrid Balancing Systems, 14 Internationalen Fachtagung Kraftwerk Batterie - Advanced Battery Power, Muenster, Germany
[O4] Ultsch, J., de Castro, R., Brembeck, J. (2019) Learning-based Path Following Control for an Over-actuated Robotic Vehicle VDI/VDE-Fachtagung Automatisiertes Fahren und vernetzte Mobilitaet (AUTOREG 2019), Mannheim, Germany
[O3] Winter, C., de Castro, R. (2017) Optimal Velocity Profile Generation for Semi-Autonomous Vehicles, VDI/VDE-Fachtagung Automatisiertes Fahren und vernetzte Mobilitaet (AUTOREG 2017), Berlin, Germany
[O2] Silveira, A., Araujo, R. E. and de Castro, R. (2011), Survey on Fault-tolerant Diagnosis and Control Systems Applied To Multi-Motor Electric Vehicles. 2nd Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS11), Lisboa, Portugal
[O1] de Castro, R., Oliveira, H. and Araujo, R.E. (2009) FPGA Platform for Advanced Control System in Multi-Motor Electric Vehicles. V Jornadas sobre Sistemas Reconfiguraveis (REC2009), Lisboa, Portugal