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High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems
(Institute of Electrical and Electronics Engineers Inc., 2020)
A redundant fast prototyping autopilot solution for unmanned aerial systems has been developed and successfully tested outdoors. While its low-level backbone is executed in a Raspberry Pi R 3 + NAVIO2 R with a backup ...
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A Robust Constrained Reference Governor Approach using Linear Matrix Inequalities
(Elsevier, 2009)
The purpose of this paper is to examine and provide a solution to the output reference tracking problem for uncertain systems subject to input saturation. As well-known, input saturation and modelling errors are very common ...
Artículo
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Cyber-security in networked and distributed model predictive control
(Elsevier, 2022)
Distributed model predictive control (DMPC) schemes have become a popular choice for networked control problems. Under this approach, local controllers use a model to predict its subsystem behavior during a certain horizon ...
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Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
(Institute of Electrical and Electronics Engineers Inc., 2018-05)
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a ...
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Modeling and Full Decoupling Control of a Grid-Connected Five-Level Diode-Clamped Converter
(Taylor and Francis, 2017)
This paper presents a novel approach to deal with the regulation of the dc-link capacitor voltages and ac-side currents in a grid-connected five-level diode-clamped converter. Due to the controllability problems of this ...
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Control Óptimo-L2 Basado en Red Mediante Funcionales de Lyapunov-Krasovskii
(Elsevier, 2012)
En el presente trabajo se estudia el control óptimo con rechazo de perturbaciones L2 para sistemas lineales controlados a través de red. En estos sistemas el lazo de control se cierra utilizando una red de comunicaciones. ...
Artículo
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Dual-Active Bridge Series Resonant Electric Vehicle Charger: A Self-Tuning Method
(MDPI, 2020-02)
This paper presents a new self-tuning loop for a bidirectional dual-active bridge (DAB) series resonant converter (SRC). For di erent loading conditions, the two active bridges can be controlled with a minimum time ...
Artículo
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A new controller for the inverted pendulum on a cart
(2008)
This paper presents a complete solution to the problem of swinging-up and stabilization of the inverted pendulum on a cart, with a single control law. The resulting law has two parts: first, an energy-shaping law is able ...
Artículo
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Planificación de trayectorias con el Algoritmo RRT. Aplicación a Robots no Holónomos
(Elsevier, 2006)
Dentro de los métodos de planifi cación de trayectorias ,las técnicas basadas en el algoritmo RRT (Rapidly Exploring Random Trees) están deparando especial interés.En este artículo se describen los fundamentos de este ...