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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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/0000-0002-9640-2658In 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.Publicación A novel approach for periodic event-triggering based on general quadratic functions(IEEE, 2015) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, SebastiánThis 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.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, SebastiánThe 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.Publicación Stability of output event-based control systems through quadratic trigger functions(IEEE, 2015-10) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, SebastiánThe 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.Publicación Distributed event-triggered flocking control of Lagrangian systems(IEEE, 2021-12-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, MaríaIn 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.Publicación Distributed targeted distance-based formation control for mechanical systems(IEEE Xplore, 2020-07-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; 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 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, SebastiánIn 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.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/0000-0001-6493-6113We 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.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.