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 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 A novel approach to periodic event-triggered control: Design and application to the inverted pendulum(ELSEVIER, 2016) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Gordillo, Francisco; Dormido Canto, Sebastián; https://orcid.org/0000-0003-4252-944XIn this paper, periodic event-triggered controllers are proposed for the rotary inverted pendulum. The control strategy is divided in two steps: swing-up and stabilization. In both cases, the system is sampled periodically but the control actions are only computed at certain instances of time (based on events), which are a subset of the sampling times. For the stabilization control, the asymptotic stability is guaranteed applying the Lyapunov–Razumikhin theorem for systems with delays. This result is applicable to general linear systems and not only to the inverted pendulum. For the swing-up control, a trigger function is provided from the derivative of the Lyapunov function for the swing-up control law. Experimental results show a significant improvement with respect to periodic control in the number of control actions.Publicación Periodic Event-Triggered Swing-Up Control of the Inverted Pendulum(Springer, 2016) Aranda Escolástico, Ernesto; Gordillo, F.; Guinaldo Losada, María; Dormido Canto, Sebastián; Garrido, Paulo; Soares, Filomena; Moreira, António PauloIn this paper, a novel strategy for swinging up an inverted pendulum is proposed. The strategy combines an energy-based control law with an event triggering condition to minimize transmissions, protect actuators and save energy. In addition, the strategy is periodic event-triggered, which provides two main advantages: An analytical way to determine a priori the sampling period to guarantee the appropriate behavior and an easy implementation in real prototypes.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 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 Fuzzy logic vs analytic controllers on a non-linear system(World Scientific, 2014) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián; Santos, M.In this paper, an intelligent control of the rotary inverted pendulum by fuzzy logic is presented. Specifically, the design consists of a Takagi-Sugeno fuzzy model to approximate the non-linear system to a succession of points where a linear system is described. A feedback gain is obtained that allows the stabilization of the inverted pendulum in a higher attractor than in the case of analytic Full State Feedback controller or Linear Quadratic Regulator.Publicación Underwater coverage with a mobile robot of limited control authority(IEEE, 2018) Aranda Escolástico, Ernesto; Cortes, Jorge; Guinaldo Losada, María; Dormido Canto, Sebastián; https://orcid.org/0000-0001-9582-5184This work considers the coverage of underwater areas with a mobile robot with constrained control and communication capabilities. While underwater, the robot can control its depth but it is subject to flow in the other directions. While on the surface, it can move (essentially) freely. The aim of the work is the coverage of the areas with the minimum waste of resources. For that, we propose a two-part algorithm, where one part is a genetic algorithm and the other part is an algorithm based on Netwton's method. Numerical simulations are provided to illustrate the efficiency of the algorithm.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; 0000-0003-0898-3462In 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 An Object-Oriented Library for Process Control Simulations in MATLAB(ELSEVIER, 2017) Rodríguez, Carlos; Guinaldo Losada, María; Aranda Escolástico, Ernesto; Guzmán, José L.This paper presents a library of MATLAB classes developed to provide a framework to allow performing easy and scalable process control simulations. The proposed object-oriented tool features the basic components of a control loop including: processes, controllers, sensors, actuators and connection links. The simulator can be configured to carry out simulations with continuous and/or discrete elements, and/or include event-triggered capabilities in a straightforward manner. The benefits of the proposed library are shown with the rapid development and simulation of a quadruple-tank system that is controlled by means of a PI controller.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.