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 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, SebastiánIn 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.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 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 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, 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 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 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 Event–Based Feedforward Control of Linear Systems with input Time–Delay(Sciendo, 2019-09-28) Rodríguez, Carlos; Aranda Escolástico, Ernesto; Guinaldo Losada, María; Guzmán, José Luis; Dormido Canto, SebastiánThis paper proposes a new method for the analysis of continuous and periodic event-based state-feedback plus static feedforward controllers that regulate linear time invariant systems with time delays. Measurable disturbances are used in both control law and triggering condition to provide better disturbance attenuation. Asymptotic stability and L2-gain disturbance rejection problems are addressed by means of Lyapunov-Krasovskii functionals leading to performance conditions that are expressed in terms of linear matrix inequalities. The proposed controller obtains better disturbance rejection and a reduction in the number of transmissions with respect to other robust event-triggered controllers in the literature.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 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.