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Resumen—En este trabajo se presenta el problema de seguimiento de trayectorias de un robot móvil omnidireccional. A diferencia del enfoque clásico de control basado en el modelo cinemático se propone el análisis y control del problema... more
Resumen—En este trabajo se presenta el problema de seguimiento de trayectorias de un robot móvil omnidireccional. A diferencia del enfoque clásico de control basado en el modelo cinemático se propone el análisis y control del problema planteado mediante la consideración del modelo dinámico y la utilización del esquema de control del tipo par calculado desarrollado originalmente en la literatura de robots manipuladores. El esquema propuesto es evaluado mediante su aplicación a un vehı́culo móvil del tipo (3,0) para el cual se muestra analı́ticamente la convergencia de los errores de seguimiento y la estabilidad en lazo cerrado. La evaluación final del esquema propuesto se realiza mediante simulación, mostrando un adecuado desempeño. Derecho reservado c © UNAM-AMCA.
Abstract In this paper, a control strategy to solve the Leader-Follower (L-F) formation problem, of an unmanned aerial vehicle (UAV) quadrotor following a unicycle-type mobile robot, is presented. Feedback linearization is used to obtain... more
Abstract In this paper, a control strategy to solve the Leader-Follower (L-F) formation problem, of an unmanned aerial vehicle (UAV) quadrotor following a unicycle-type mobile robot, is presented. Feedback linearization is used to obtain a quadrotor reduced model, then a L-F model that includes the quadrotor dynamics as well as the mobile robot kinematics is obtained. For this L-F model a backstepping controller is proposed. It is formally proven that the obtained closed-loop produces a L-F formation error that is asymptotically stable. Numeric simulation results are carried out to evaluate the proposed control law, showing an adequate behavior.
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ABSTRACT
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In this paper the position regulation control problem of electromechanical systems is solved. The model considered to this end is called general in the sense that it includes the effect of both inductances and capacitances in the... more
In this paper the position regulation control problem of electromechanical systems is solved. The model considered to this end is called general in the sense that it includes the effect of both inductances and capacitances in the production of mechanical force, i.e. it is considered that this force is produced by storing both magnetic and electric energies. The proposed controller belongs to the energy shaping plus damping injection class and is an extension of the one presented in [1] in the sense that the main drawback of this controller, the existence of a steady state error, is overcome in this paper by the addition of an integral term on the position error, achieving zero steady state error independently of the knowledge on the initial conditions of the system.
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Abstract In this paper, the disturbance decoupling problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. A dynamic state feedback that solves the problem is... more
Abstract In this paper, the disturbance decoupling problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. A dynamic state feedback that solves the problem is considered.
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In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law,... more
In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots in closed loop with the control law is studied using Lyapunov techniques and the proposed scheme is evaluated through experimentation.
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... H. Sira-Ramırez, C. López-Uribe and M. Velasco-Villa CINVESTAV-IPN, Departamento de Ingenierıa Eléctrica, Sección de Mecatrónica, AP 14-740, 07000, México DF ... IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4... more
... H. Sira-Ramırez, C. López-Uribe and M. Velasco-Villa CINVESTAV-IPN, Departamento de Ingenierıa Eléctrica, Sección de Mecatrónica, AP 14-740, 07000, México DF ... IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4 978-1-4244-7314-4/10/$26.00 ©2010 IEEE ...
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Abstract This work presents a prediction-based scheme to control a class of unstable delayed (bio)-chemical processes. The main characteristic of the control scheme is that it is based on a predicted future state that is estimated using a... more
Abstract This work presents a prediction-based scheme to control a class of unstable delayed (bio)-chemical processes. The main characteristic of the control scheme is that it is based on a predicted future state that is estimated using a prediction-observation protocol that allows compensating large time-delays. The convergence of the prediction error is shown through standard stability arguments. The stability of the closed-loop system is shown by invoking the separation principle between the prediction error and the control based on estimated variables feedback. Four numerical examples are used to illustrate our results, including two time-delayed benchmark case studies taken from the control process literature.
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Abstract In this paper, the disturbance decoupling problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. A dynamic state feedback that solves the problem is... more
Abstract In this paper, the disturbance decoupling problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. A dynamic state feedback that solves the problem is considered.
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... DF, México. Email:{javazquez,velasco}@cinvestav.mx Abstract ... Chiapas, México. September 8-10, 2010. IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4 978-1-4244-7314-4/10/$26.00 ©2010 IEEE 464 Page 2. model ...
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In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law,... more
In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots in closed loop with the control law is studied using Lyapunov techniques and the proposed scheme is evaluated through experimentation.
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... H. Sira-Ramırez, C. López-Uribe and M. Velasco-Villa CINVESTAV-IPN, Departamento de Ingenierıa Eléctrica, Sección de Mecatrónica, AP 14-740, 07000, México DF ... IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4... more
... H. Sira-Ramırez, C. López-Uribe and M. Velasco-Villa CINVESTAV-IPN, Departamento de Ingenierıa Eléctrica, Sección de Mecatrónica, AP 14-740, 07000, México DF ... IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4 978-1-4244-7314-4/10/$26.00 ©2010 IEEE ...
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... DF, México. Email:{javazquez,velasco}@cinvestav.mx Abstract ... Chiapas, México. September 8-10, 2010. IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4 978-1-4244-7314-4/10/$26.00 ©2010 IEEE 464 Page 2. model ...
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Research Interests: Engineering, Applied Mathematics, Computer Science, Motor Control, Controller Design, and 15 moreControl Systems, Control system, Tracking, Feedback, Passivity, Design Methodology, Position Control, Energy Dissipation, Tracking Control, Electrical Machine, Passivity Based Control, Feedback loop, SWITCHED RELUCTANCE MOTOR, Magnetic Circuits, and Electrical And Electronic Engineering
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Resumen: En este trabajo, se analiza el problema de predicción y control de un robot móvil omnidireccional el cual es afectado por un retardo de tiempo constante τ en las entradas. La solución propuesta está basada en un predictor no... more
Resumen: En este trabajo, se analiza el problema de predicción y control de un robot móvil omnidireccional el cual es afectado por un retardo de tiempo constante τ en las entradas. La solución propuesta está basada en un predictor no lineal secuencial que divide en fracciones más pequeñas el retardo de tiempo y predice gradualmente y de manera escalonada los estados del sistema, de manera que sea posible manejar retardos mayores únicamente aumentando el número de etapas en el predictor. Se demuestran formalmente las condiciones de convergencia de las señales de error de predicción. Se comprueba la eficacia del predictor utilizando un control por retroalimentación basado en estados predichos y efectuando simulaciones numéricas para diferentes valores de τ y diferente número de etapas de predicción.
When dealing with biped robots it is common to consider a set of specific assumptions in order to analyze the complete walking cycle. Among other assumptions, the non-slipping condition is a very common working hypothesis. This fact... more
When dealing with biped robots it is common to consider a set of specific assumptions in order to analyze the complete walking cycle. Among other assumptions, the non-slipping condition is a very common working hypothesis. This fact implies that the contact point between the supporting leg and the walking surface does not have a relative displacement along the walking axis. Although, in some practical situations, this movement could be neglected, this fact mainly depends on the friction characteristics between the contact points. This work is focused on the slip dynamic analysis of the supporting contact point of the stance leg of a biped robot and its walking surface. It is considered a finite-time controller in order to solve the path-tracking problem based on a Cartesian reference trajectory. It is shown how the primary effect of a sliding situation in a low friction surface is reflected directly on an actualization of the desired reference considered on the path-tracking problem.
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This work has two primary objectives. First, it presents a state prediction strategy for a class of nonlinear Lipschitz systems subject to constant time delay in the input signal. As a result of a suitable change of variable, the state... more
This work has two primary objectives. First, it presents a state prediction strategy for a class of nonlinear Lipschitz systems subject to constant time delay in the input signal. As a result of a suitable change of variable, the state predictor asymptotically provides the value of the state τ units of time ahead. Second, it proposes a solution to the stabilization and trajectory tracking problems for the considered class of systems using predicted states. The predictor-controller convergence is proved by considering a complete Lyapunov functional. The proposed predictor-based controller strategy is evaluated using numerical simulations.
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In this paper, the trajectory-tracking control problem without velocity measurement of an omnidirectional mobile robot (also known as a type (3,0)) is addressed and solved. It is shown that the conjunction of a passivity based controller... more
In this paper, the trajectory-tracking control problem without velocity measurement of an omnidirectional mobile robot (also known as a type (3,0)) is addressed and solved. It is shown that the conjunction of a passivity based controller and an Immersion and Invariance velocity observer produces an asymptotically stable closed–loop dynamics. Different from the classical approach that consider only the kinematic model, the proposed partial state feedback controller is designed taking into account the dynamic model. Numerical simulations are carried out to show the overall performance of the proposed scheme.
The obstacle avoidance problem associated to a multisteered general 1-trailer is studied in this work by considering the method of artificial potential fields. It is proposed a control strategy based on artificial potential fields that... more
The obstacle avoidance problem associated to a multisteered general 1-trailer is studied in this work by considering the method of artificial potential fields. It is proposed a control strategy based on artificial potential fields that generate a trajectory to be followed by the tractor that represents, at the same time, a reference for the trailer. The control laws proposed in this paper are experimentally implemented on a prototype built at the laboratory.
Abstrac— This paper deals with the kinematic control design of a dynamic compensator to solve the maneuvering problem for a wheeled mobile robot (WMR) of the type (2,0). The maneuvering problem involves two tasks; the first one called the... more
Abstrac— This paper deals with the kinematic control design of a dynamic compensator to solve the maneuvering problem for a wheeled mobile robot (WMR) of the type (2,0). The maneuvering problem involves two tasks; the first one called the geometric task which forces the system output to converge to a desired θ−parametrized path; the second one, called the dynamic task, intended to design an algorithm to assign a desired speed profile along the path. Nonlinear control techniques for control design are based on backstepping and Lyapunov functions. The controller performance is evaluated by real time experiments.
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In this paper, a control scheme for a class of electromechanical systems that solves the position/speed tracking control problem is presented. The main characteristics of the proposed control law are that its structure is based on the... more
In this paper, a control scheme for a class of electromechanical systems that solves the position/speed tracking control problem is presented. The main characteristics of the proposed control law are that its structure is based on the development of a globally convergent nonlinear observer and that it considers for its design the available information about the system structure, in particular its passivity properties. Regarding the class of electromechanical systems approached, it is considered a generalized model that captures both traslational and rotational systems with an electrical subsystem that considers the existence of magnetic-field and electric-field storing energy elements.
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This work deals with the consensus problem of networks of agents with linear time-invariant dynamics and input time-delay. A predictor-observer scheme that estimates the future value of the system state is considered. The partitioned... more
This work deals with the consensus problem of networks of agents with linear time-invariant dynamics and input time-delay. A predictor-observer scheme that estimates the future value of the system state is considered. The partitioned nature of the predictor allows dealing with larger time-delays than those reported in the literature. The estimated future state of the system is later used in the consensus protocol with the aim of compensating the system input delay. The effectiveness of the solution is shown by means of numerical evaluations.
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En este trabajo se presenta la obtención del modelo exacto en tiempo discreto de un robot móvil tipo (2,0), bajo la consideración de la existencia de retardos de transporte en la señal de control, producidos por la propagación de las... more
En este trabajo se presenta la obtención del modelo exacto en tiempo discreto de un robot móvil tipo (2,0), bajo la consideración de la existencia de retardos de transporte en la señal de control, producidos por la propagación de las señales entre los sensores y actuadores del robot y el control remoto. El modelo obtenido es evaluado mediante simulación, comparando su desempeño con un modelo discreto aproximado que incluye también retardos de transporte y con el modelo en tiempo continuo del mismo sistema.