Persona:
Aranda Escolástico, Ernesto

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ORCID
0000-0003-0801-9286
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Aranda Escolástico
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Ernesto
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2014 - 2019132020 - 202516
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search.filters.applied.f.itemDepartamento: Ingeniería de Software y Sistemas Informáticos × search.filters.applied.f.itemFacultad: E.T.S. de Ingeniería Informática ×

Resultados de la búsqueda

Mostrando 1 - 10 de 29
  • Miniatura
    Publicación
    Fuzzy logic vs analytic controllers on a non-linear system
    (World Scientific, 2014) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián; Santos, Matilde
    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.
  • 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
    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
    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
    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.
  • Miniatura
    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 Paulo
    In 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.
  • Miniatura
    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.
  • Miniatura
    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/0000-0003-4252-944X
    In 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.
  • Miniatura
    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, Rubén
    Because 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.
  • 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.