Buscar
Mostrando ítems 1-10 de 18
Artículo
Design of a lightweight dual arm system for aerial manipulation
(Elsevier, 2018-04)
This paper presents the development and experimental validation of a low weight and inertia, human-size and highly dexterous dual arm system designed for aerial manipulation with multirotor platform. The arms, weighting ...
Artículo
Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors
(MDPI, 2016)
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables ...
Ponencia
A new modulation method for multilevel converters
(2016)
This paper presents a simple method for modulation in multilevel converters, which is hardly affected with the number of levels. The method is based on a simple graph, whose x-axis is directly related to the extra degree ...
Artículo
Design of PI Controllers for Irrigation Canals based on Linear Matrix Inequalities
(MDPI, 2020-03)
A new Proportional-Integral (PI) tuning method based on Linear Matrix Inequalities (LMIs) is presented. In particular, an LMI-based optimal control problem is solved to obtain a sparse feedback that provides the PI tuning. ...
Artículo
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 ...
Artículo
Nonlinear MPC for tracking piece-wise constant reference signals
(Institute of Electrical and Electronics Engineers (IEEE), 2018-11)
This paper presents a novel tracking predictive controller for constrained nonlinear systems capable to deal with sudden and large variations of a piece-wise constant setpoint signal. The uncertain nature of the setpoint ...
Artículo
Generalizing Fuzzy SARSA Learning for Real-Time Operation of Irrigation Canals
(MDPI, 2020-08)
Recently, a continuous reinforcement learning model called fuzzy SARSA (state, action, reward, state, action) learning (FSL) was proposed for irrigation canals. The main problem related to FSL is its convergence and ...
Artículo
Online learning-based model predictive control with Gaussian process models and stability guarantees
(Willey, 2021)
Model predictive control allows to provide high performance and safety guarantees in the form of constraint satisfaction. These properties, however, can be satisfied only if the underlying model, used for prediction, of ...
Artículo
Combining Unmanned Aerial Systems and Sensor Networks for Earth Observation
(MDPI, 2017-04-01)
The combination of remote sensing and sensor network technologies can provide unprecedented earth observation capabilities, and has attracted high R&D interest in recent years. However, the procedures and tools used for ...
Artículo
Oracle-based economic predictive control
(Elsevier Ltd, 2021-10)
This paper presents an economic model predictive controller, under the assumption that the only mea- surable signal of the plant is the economic cost to be minimized. In order to forecast the evolution of this economic ...