Persona: Aranda Escolástico, Ernesto
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Aranda Escolástico
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Publicación Novel aperiodic sampling and control strategies: application to underactuated systems(Universidad Nacional de Educación a Distancia (España). Escuela Internacional de Doctorado. Programa de Doctorado en Ingeniería de Sistemas y Control, 2018-09-21) Aranda Escolástico, Ernesto; Dormido Bencomo, Sebastián; Guinaldo Losada, MaríaThe work in this thesis explores the possibilities of aperiodic sampling and control. Using the advances of the last decades in the field of networked systems, the main objective is to obtain methods to use the sampling period of the different measurements of the system to improve the performance or to reduce the transmission of information. With this idea, different eventtriggered control and multi-rate control schemes are proposed. In addition, this thesis aims to provide a practical usage of the strategies and, hence, different simulation and experimental results are developed. In the event-triggered control scenario, different periodic event-triggered strategies are proposed to deal asynchronous sampling, time-varying delays, disturbance rejection, etc. in linear systems. Besides, the practical application of the strategies commonly implies to deal with nonlinear systems. For this reason, some parts are dedicated to the extensions of the proposed strategies to some classes of nonlinear systems. Concretely, polynomial systems and inverted pendulum-type systems are studied. In the multi-rate scenario, the objective is tomaximize the performance of the plant considering that the information received from the sensor is collected at a lower frequency than the actuator’s rate and, hence, several inputs can be applied to the plant in each output sampling period. With this idea, some optimization methods are proposed and different strategies for their practical application are discussed. The methods are applied to an air levitation system with the main goal of obtaining an experimental validation. With theMatlab library for process control simulations, we close the loop providing tools to carry out the simulations necessary to validate the aforementioned theoretical frameworks. Finally, the objective of the last paper is to study alternative aperiodic control strategies in the framework of underactuated systems.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, SebastiánThis 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.Publicación Optimisation of spectrum use by Mode S surveillance systems through coordinated DAP extraction(IEEE Xplore, 2024-10-17) Ceballos Gutierrez, Javier; Aranda Escolástico, Ernesto; Moreno Salinas, David; https://orcid.org/0000-0001-6440-6120The cooperative surveillance systems used for air traffic management rely completely on air–ground transactions carried out in the 1030/1090 MHz frequency bands to fulfill their surveillance mission. However, these spectrum bands are currently subject to an excessive number of transactions that make difficult the access to the channels and often exceed the reply capabilities of aircraft transponders, which may impact air traffic capacity or even create safety risks. Several mitigation strategies have been studied in recent years to decrease the occupancy of the 1030/1090 MHz bands. Nevertheless, none of the proposed strategies have yet addressed the possibility of decreasing transactions related to downlinked aircraft parameters (DAP) extracted from transponder registers of aircraft. This work proposes and tests a methodology to coordinate the DAP extractions performed by several Mode S systems in order to avoid a high number of unnecessary transactions in the spectrum channels, while keeping the same level of information available at the endpoint of the surveillance chain.Publicación Customized Online Laboratory Experiments: A General Tool and Its Application to the Furuta Inverted Pendulum [Focus on Education](Institute of Electrical and Electronics Engineers (IEEE), 2019-09-17) Galán Vicente, Daniel; Chaos García, Dictino; Torre Cubillo, Luis de la; Aranda Escolástico, Ernesto; Heradio Gil, RubénBecause of online laboratories (labs), students can perform experimental activities from their mobile devices and/or computers. This article proposes an experimentation environment (EE) that extends the capabilities of interactive online labs with scripting language support. Thus, control engineering students can specify complex experiments, avoid routine tasks, and empirically test controllers they made themselves.Publicación Event–Based Feedforward Control of Linear Systems with input Time–Delay(Sciendo, 2019-09-28) Rodríguez, Carlos; Aranda Escolástico, Ernesto; Guinaldo Losada, María; Guzmán, José Luis; Dormido Canto, SebastiánThis paper proposes a new method for the analysis of continuous and periodic event-based state-feedback plus static feedforward controllers that regulate linear time invariant systems with time delays. Measurable disturbances are used in both control law and triggering condition to provide better disturbance attenuation. Asymptotic stability and L2-gain disturbance rejection problems are addressed by means of Lyapunov-Krasovskii functionals leading to performance conditions that are expressed in terms of linear matrix inequalities. The proposed controller obtains better disturbance rejection and a reduction in the number of transmissions with respect to other robust event-triggered controllers in the literature.Publicación Control of a chain pendulum: A fuzzy logic approach(Taylor and Francis Group, 2016-02-12) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Santos, Matilde; Dormido Canto, SebastiánIn this paper, we present a real application of computational intelligence. Fuzzy control of a non-linear rotary chain pendulum is proposed and implemented on real prototypes. The final aim is to obtain a larger region of attraction for the stabilization of this complex system, that is, a more robust controller. As it is well-known, fuzzy logic exploits the tolerance for imprecision, uncertainty and partial truth to achieve tractability, robustness and low solution cost when dealing with complex systems. In this case, the control strategy is based on a Takagi-Sugeno fuzzy model of the strongly non-linear multivariable system. Simulation and experimental results on the real plant have been obtained and tested in a rotary inverted pendulum and in a double rotary inverted pendulum. They have been compared to other feedback control strategies such as Full State Feedback or Linear Quadratic Regulator with encouraging results. Fuzzy control allows to enlarge the stability region of control. Indeed, the region of attraction and therefore the stabilization has been enlarged up to over 17% for the real system.Publicación Asynchronous periodic event-triggered control with dynamical controllers(Elsevier, 2018-04-20) Aranda Escolástico, Ernesto; Rodríguez, Carlos; Guinaldo Losada, María; Guzmán, José Luis; Dormido Canto, SebastiánIn this work, we study a networked control system under a periodic eventtriggered control strategy. In addition, the input and the output of the system are sampled with different rates, which enables to obtain a compromise between performance and waste of communication resources. Stability analysis and L2-gain analysis are carried out through Lyapunov-Krasovskii techniques. Simulation results of a quadruple-tank process show the benefits of the approach.Publicación Design of periodic event-triggered control for polynomial systems: A delay system approach(Elsevier, 2017-10-17) Aranda Escolástico, Ernesto; Abdelrahim, M.; Guinaldo Losada, María; Dormido Canto, Sebastián; Heemels, W.P.M.H.Event-triggered control is a control strategy which allows the savings of communication resources in networked control systems. In this paper, we are interested in periodic eventtriggering mechanisms in the sense that the triggering condition is only verified at predefined periodic sampling instants, which automatically ensures that Zeno behavior does not occur. We consider the case where both the output measurement and the control input are transmitted asynchronously using two independent triggering conditions. The developed result is dedicated to a class of nonlinear systems, where both the plant model and the feedback law can be described by polynomial functions. The overall problem is modeled and analyzed in the framework of time-delay systems, which allows to derive sum-of-squares (SOS) conditions to guarantee the global asymptotic stability in terms of the sampling period and the parameters of the triggering conditions. The approach is illustrated on a nonlinear numerical example.Publicación Distributed targeted distance-based formation control for mechanical systems(IEEE Xplore, 2020-07-20) Aranda Escolástico, Ernesto; Colombo, Leonardo J.; Guinaldo Losada, MaríaThis 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.Publicación Decoupled feedforward-feedback periodic event-triggered control for disturbance rejection(Elsevier, 2021-04-14) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Guzmán, José Luis; Dormido Canto, SebastiánIn this paper, feedforward and feedback controllers are studied considering decoupled periodic event-triggering mechanisms for output and disturbance sensors. Stability and robustness conditions for linear systems are obtained considering transportation delays and actuator saturation following the Lyapunov-Krasovskii procedure. A numerical example shows that the proposed control strategy reduces the communication between sensors and controller significantly, while the system performance is not deteriorated.