Persona: Dormido Canto, Sebastián
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Dormido Canto
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Sebastián
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Publicación Fuzzy logic vs analytic controllers on a non-linear system(World Scientific, 2014) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián; Santos, MatildeIn 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 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, SebastiánIn 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.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 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 The Ball and Beam System: A Case Study of Virtual and Remote Lab Enhancement With Moodle(IEEE (Institute of Electrical and Electronics Engineers), 2015-06-10) Torre Cubillo, Luis de la; Guinaldo Losada, María; Heradio Gil, Rubén; Dormido Canto, SebastiánWeb-based labs are key tools for distance education that help to illustrate scientific phenomena, which require costly or difficult-to-assemble equipment. Easy Java Simulations (EJS) is an authoring tool that speeds up the creation of these kind of labs. An excellent proof of the EJS potential is the open source physics (OSP) repository, which hosts hundreds of free EJS labs. Learning management systems, such as Moodle, provide social contexts where students interact with each other. The work described in this paper looks for the synergy of both tools, EJS and Moodle, by supporting the deployment of EJS labs into Moodle and thus enriching them with social features (e.g., chat, forums, and videoconference). To test this approach, the authors have created the ball and beam lab, which helps students of automatic control engineering to train different advanced techniques (robust, fuzzy, and reset control), and compare their performance in relation to a conventional proportional-integral-derivative control.Publicación Open and Low-Cost Virtual and Remote Labs on Control Engineering(Institute of Electrical and Electronics Engineers, 2015-06-15) Sáenz Valiente, Jacobo; Chacón; Jesús; Torre Cubillo, Luis de la; Antonio Visioli; Dormido Canto, SebastiánThis paper presents an open course in the University Network of Interactive Laboratories, which offers several virtual and remote laboratories on automatic control, accessible to anyone. All the details on one of these labs (a two electric coupled drives system that allows performing control practices in a 2 × 2 MIMO system with industrial applications) and the activities that can be performed with it are given. We use a low-cost solution for developing the virtual and remote labs shared in this open course, based on the use of a free authoring tool Easy Java/Javascript Simulations (EJsS) for building the laboratories' user interfaces and a cheap development platform board (BeagleBone Black). The virtual and remote labs are deployed into a free Learning Management System (Moodle) Web environment that facilitates their management and maintenance.Publicación The photoelectric effect and study of the diffraction of light: Two new experiments in UNILabs virtual and remote laboratories network(Società Italiana di Fisica, 2016-02-12) Sánchez Fernández, Juan Pedro; Sáenz Valiente, Jacobo; Torre Cubillo, Luis de la; Carreras, Carmen; Yuste, Manuel; Heradio Gil, Rubén; Dormido Canto, SebastiánThis work describes two experiments: “study of the diffraction of light: Fraunhofer approximation” and “the photoelectric effect”. Both of them count with a virtual, simulated, version of the experiment as well as with a real one which can be operated remotely. The two previous virtual and remote labs (built using Easy Java(script) Simulations) are integrated in UNILabs, a network of online interactive laboratories based on the free Learning Management System Moodle. In this web environment, students can find not only the virtual and remote labs but also manuals with related theory, the user interface description for each application, and so on.Publicación Virtual and Remote Labs in Control Education: a Survey(Elsevier, 2016-11-14) Heradio Gil, Rubén; Torre Cubillo, Luis de la; Dormido Canto, SebastiánVirtual and remote labs have been around for almost twenty years and while they have been constantly gaining popularity since their appearance, there are still many people in the control education community who either do not know many details about them or do not know them at all. What are their benefits? Which examples of virtual and remote labs for control education can be found in the Internet and how spread and popular are they? What are the current trends and issues in the implementation and deployment of these tools? And the future ones? These and others are some of the questions we answer in this paper, trying to bring the attention of the control education community to these tools which, we believe, are meant to have an increasing importance and relevance for the 21st century students.