Persona:
Aranda Escolástico, Ernesto

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0000-0003-0801-9286
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Aranda Escolástico
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Ernesto
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2014 - 2019162020 - 202413
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Resultados de la búsqueda

Mostrando 1 - 10 de 29
  • Miniatura
    Publicación
    An anytime optimal control strategy for multi-rate systems
    (IEEE , 2017-02-20) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Ángel Cuenca; Julián Salt; Dormido Canto, Sebastián; https://orcid.org/0000-0003-4466-2666; https://orcid.org/0000-0002-9640-2658
    In this work, we study a dual-rate system with fast-sampling at the input and propose a design to optimize the consecutive control signals. The objective of the optimization is to maximize the decay rate depending on the available resources to stabilize faster the control system. Stability conditions are enunciated in terms of Linear Matrix Inequalities (LMIs). The control solution is extended to time delays. A numerical example illustrates the benefits of the control proposal.
  • Miniatura
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    A novel approach for periodic event-triggering based on general quadratic functions
    (IEEE, 2015) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián
    This paper is concerned with periodic event-triggered control, which avoids the continuous monitoring of the state of the system while reducing the number of control updates. A new form of quadratic event-triggering condition is proposed to enlarge the inter-event times. The asymptotic stability criteria is analyzed by means of Lyapunov-Krasovskii functionals and the stability condition is expressed in terms of linear matrix inequalities. Simulation and experimental results are given to show the effectiveness of the proposed method.
  • Miniatura
    Publicación
    Revisiting the simplified IMC tuning rules for low-order controllers: Novel 2DoF feedback controller
    (The Institution of Engineering and Technology, 2020) Rodríguez, Carlos; Aranda Escolástico, Ernesto; Guzmán, José Luis; Berenguel, Manuel; Hägglund, Tore
    This paper revisites the direct synthesis tuning method of continuous-time low-order controllers, and specially PID controllers, for control of time-delayed single-input single-output processes. A setpoint prefilter is included to improve the servo response and integrating load disturbances are accounted for. Robustness is addressed by the feedback controller to obtain the desired maximum sensitivity value. Similar results in step disturbance compensation are obtained with simpler analytical tuning rules when compared to recently reported methods. However, the proposed procedure enables to compensate integrating load disturbances, which are not handled in the other methods.
  • Miniatura
    Publicación
    Event-based Control: A Bibliometric Analysis of Twenty Years of Research
    (IEEE, 2020-03-04) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Heradio Gil, Rubén; Chacón, Jesús; Vargas Oyarzún, Héctor; Sánchez, José; Sánchez Moreno, José; Dormido Canto, Sebastián
    The potential benefits of networked control systems are tremendous, as they can be easily upgraded by just including new components (i.e., sensors, actuators, or controllers), avoiding any further modifications to their structure. A critical approach to unleash such potential benefits is event-based control, where the system output turns to be sampled on demand, instead of being sampled constantly at rigid periods of time. This paper analyzes from a bibliometric point of view the literature published for the last twenty years on event-based control, identifying the most relevant articles, authors, institutions, and journals. Moreover, the principal topics, motivations, and problems faced by the researchers are discussed, identifying distinct challenges and opportunities for future research.
  • Miniatura
    Publicación
    Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots
    (IEEE, 2019-08-22) Farias, Gonzalo; Garcia, Gonzalo; Dormido Bencomo, Sebastián; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, Sebastián
    This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.
  • Miniatura
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    Stability of output event-based control systems through quadratic trigger functions
    (IEEE, 2015-10) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián
    The design of event-based controllers for systems with unknown states is investigated in this paper. The case of general quadratic triggering conditions that depend on the estimated state given by a Luenberger observer is studied. Novel frameworks are proposed for continuous and periodic event-based control providing criteria for asymptotic stability with the form of Linear Matrix Inequalities (LMIs). The frameworks are tested in simulation through a challenging system, such as the double rotary inverted pendulum.
  • Miniatura
    Publicación
    Mobile Robot Navigation Based on Embedded Computer Vision
    (MDPI, 2023) Marroquín, Alberto; García, Gonzalo; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Farias, Gonzalo; https://orcid.org/0000-0001-6354-0520; https://orcid.org/0000-0001-9968-960X; https://orcid.org/0000-0003-2186-4126
    The current computational advance allows the development of technological solutions using tools, such as mobile robots and programmable electronic systems. We present a design that integrates the Khepera IV mobile robot with an NVIDIA Jetson Xavier NX board. This system executes an algorithm for navigation control based on computer vision and the use of a model for object detection. Among the functionalities that this integration adds to the Khepera IV in generating guided driving are trajectory tracking for safe navigation and the detection of traffic signs for decision-making. We built a robotic platform to test the system in real time. We also compared it with a digital model of the Khepera IV in the CoppeliaSim simulator. The navigation control results show significant improvements over previous works. This is evident in both the maximum navigation speed and the hit rate of the traffic sign detection system. We also analyzed the navigation control, which achieved an average success rate of 93%. The architecture allows testing new control techniques or algorithms based on Python, facilitating future improvements.
  • Miniatura
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    Distributed event-triggered flocking control of Lagrangian systems
    (IEEE, 2021-12-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, María
    In this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbours. In particular, the proposed controller is distributed, since it only depends on the available information of each agent on their own reference frame. In addition, we derive sufficient conditions to avoid Zeno behaviour. Numerical simulations are provided to show the effectiveness of the proposed control law.
  • Miniatura
    Publicación
    Distributed targeted distance-based formation control for mechanical systems
    (IEEE Xplore, 2020-07-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, María
    This paper studies the problem of distributed targeted distance-based formation control for mechanical systems. The problem consists on finding a distributed control law such that if each agent observes a convex set as a targeted set, and also the relative position of their nearest neighbors, then the agents must achieve the desired formation in these sets while its velocities are driven to zero. We study the problem for agents with a time-delay communication in the measurements of the relative positions and where the motion of each agent is determined by a Lagrangian function. Simulation are given to validate the theoretical result.
  • Miniatura
    Publicación
    Optimal Control for Aperiodic Dual-Rate Systems With Time-Varying Delays
    (MDPI, 2018) Aranda Escolástico, Ernesto; Salt, Julián; Guinaldo Losada, María; Chacón Sombría, Jesús; Dormido Canto, Sebastián
    In this work, we consider a dual-rate scenario with slow input and fast output. Our objective is the maximization of the decay rate of the system through the suitable choice of the n-input signals between two measures (periodic sampling) and their times of application. The optimization algorithm is extended for time-varying delays in order to make possible its implementation in networked control systems. We provide experimental results in an air levitation system to verify the validity of the algorithm in a real plant.