Persona: Dormido Canto, Sebastián
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0000-0001-7652-5338
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Dormido Canto
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Sebastián
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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 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.