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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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2016 - 201992020 - 20214
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Tipo: artículo × Autor: Aranda Escolástico, Ernesto ×

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Mostrando 1 - 10 de 13
  • 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 Oyarzún, 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.
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    Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots
    (IEEE, 2019-08-22) Farias, Gonzalo; Garcia, Gonzalo; Dormido Bencomo, Sebastián; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, Sebastián
    This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.
  • Miniatura
    Publicación
    Optimal Control for Aperiodic Dual-Rate Systems With Time-Varying Delays
    (MDPI, 2018) Aranda Escolástico, Ernesto; Salt, Julián; Guinaldo Losada, María; Chacón Sombría, Jesús; Dormido Canto, Sebastián
    In this work, we consider a dual-rate scenario with slow input and fast output. Our objective is the maximization of the decay rate of the system through the suitable choice of the n-input signals between two measures (periodic sampling) and their times of application. The optimization algorithm is extended for time-varying delays in order to make possible its implementation in networked control systems. We provide experimental results in an air levitation system to verify the validity of the algorithm in a real plant.
  • 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.
  • Miniatura
    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
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    Robust switched control of an air levitation system with minimum sensing
    (ELSEVIER, 2020) Chaos García, Dictino; Chacón, Jesús; Aranda Escolástico, Ernesto; Dormido Canto, Sebastián; https://orcid.org/0000-0003-0898-3462
    This work studies the control problem of an air levitation system with limited sensing capabilities. We propose a simple but considerably robust switched controller. We prove that the output of the system is globally uniformly ultimately bounded with a bound as small as we desire and we show through simulations and real experiments the robustness of the controller in the presence of disturbances, model uncertainties and parameter tuning.
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    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/0000-0003-4252-944X
    In 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.
  • Miniatura
    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, Sebastián
    This 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.
  • 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.