Persona:
Guinaldo Losada, María

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0000-0002-7043-6673
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Guinaldo Losada
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2013 - 2019142020 - 20247
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Autor: Guinaldo Losada, María ×

Resultados de la búsqueda

Mostrando 1 - 10 de 21
  • Miniatura
    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 José
    This 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.
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    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, José
  • Miniatura
    Publicación
    Control of a chain pendulum: A fuzzy logic approach
    (Taylor and Francis Group, 2016-02-12) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Santos, Matilde; Dormido Canto, Sebastián
    In this paper, we present a real application of computational intelligence. Fuzzy control of a non-linear rotary chain pendulum is proposed and implemented on real prototypes. The final aim is to obtain a larger region of attraction for the stabilization of this complex system, that is, a more robust controller. As it is well-known, fuzzy logic exploits the tolerance for imprecision, uncertainty and partial truth to achieve tractability, robustness and low solution cost when dealing with complex systems. In this case, the control strategy is based on a Takagi-Sugeno fuzzy model of the strongly non-linear multivariable system. Simulation and experimental results on the real plant have been obtained and tested in a rotary inverted pendulum and in a double rotary inverted pendulum. They have been compared to other feedback control strategies such as Full State Feedback or Linear Quadratic Regulator with encouraging results. Fuzzy control allows to enlarge the stability region of control. Indeed, the region of attraction and therefore the stabilization has been enlarged up to over 17% for the real system.
  • Miniatura
    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, Sebastián
    In 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.
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    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
    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
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    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
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    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.
  • Miniatura
    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/0000-0002-9640-2658
    In 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.
  • 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.