Persona:
Aranda Escolástico, Ernesto

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ORCID
0000-0003-0801-9286
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Aranda Escolástico
Nombre de pila
Ernesto
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2020 - 20215
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Autor: Guinaldo Losada, María × Fecha de inicio: 2020 ×

Resultados de la búsqueda

Mostrando 1 - 5 de 5
  • Miniatura
    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, Sebastián
    In 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.
  • Miniatura
    Publicación
    Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays
    (ELSEVIER, 2021) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, María; https://orcid.org/0000-0001-6493-6113
    We study the problem of periodic event-triggered targeted formation control for multi-agent Lagrangian systems. We assume that the equations of motion of each agent are derived from a Lagrangian function. Besides, each agent has information about a predefined convex set as a targeted set. The goal of the agents is to achieve the desired formation in the targeted sets, while the information is asynchronously shared by a periodic event-triggering specification, and there is also a time-delay in their communication. A novel distributed control law is proposed for the agents to reach the goal while their velocities are driven to zero. Applications and simulations are provided to validate the theoretical results.
  • 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, 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
    Distributed targeted distance-based formation control for mechanical systems
    (IEEE Xplore, 2020-07-20) Aranda Escolástico, Ernesto; Colombo, Leonardo J.; 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
    Distributed event-triggered flocking control of Lagrangian systems
    (IEEE, 2021-12-20) Aranda Escolástico, Ernesto; Colombo, Leonardo J.; 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.