Persona: Guinaldo Losada, María
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Guinaldo Losada
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Publicación Distributed multi-UAV shield formation based on virtual surface constraints(Elsevier, 2024-03-30) Zaragoza, Salvador ; Guinaldo Losada, María; Sánchez Moreno, José; Mañas Álvarez, Francisco JoséThis paper proposes a method for the deployment of a multi-agent system of unmanned aerial vehicles (UAVs) as a shield with potential applications in the protection of infrastructures. The shield shape is modeled as a quadric surface in the 3D space. To design the desired formation (target distances between agents and interconnections), an algorithm is proposed where the input parameters are just the parametrization of the quadric and the number of agents of the system. This algorithm guarantees that the agents are almost uniformly distributed over the virtual surface and that the topology is a Delaunay triangulation. Moreover, a new method is proposed to check if the resulting triangulation meets that condition and is executed locally. Because this topology ensures that the formation is rigid, a distributed control law based on the gradient of a potential function is proposed to acquire the desired shield shape and proofs of stability are provided. Finally, simulation and experimental results illustrate the effectiveness of the proposed approach.Publicación Contributions to networked and event-triggered control of linear systems(Universidad Nacional de Educación a Distancia (España). Escuela Técnica Superior de Ingeniería Informática. Departamento de Informática y Automática, 2013-07-23) Guinaldo Losada, María; Dormido Bencomo, Sebastián; Sánchez Moreno, JoséPublicación Distributed reconfiguration of distance-based formations with virtual surface constraints(IEEE, 2024) Guinaldo Losada, María; Sánchez Moreno, José; S. Zaragoza; Mañas Álvarez, Francisco JoséThis paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.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 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 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.
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