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Browsing by Author "Albertos Pérez, Pedro"

Now showing items 1-20 of 82

A generalized smith predictor for unstable time-delay SISO systems

Sanz Díaz, Ricardo; García Gil, Pedro José; Albertos Pérez, Pedro (Elsevier, 2017)

[EN] In this work, a generalization of the Smith Predictor (SP) is proposed to control linear time-invariant (LTI) time-delay single-input single-output (SISO) systems. Similarly to the SP, the combination of any stabilizing ...
A non-uniform predictor-observer for a networked control system

Cuenca Lacruz, Ángel Miguel; García Gil, Pedro José; Albertos Pérez, Pedro; Salt Llobregat, Julián José (Springer Verlag (Germany), 2011-12)

This paper presents a Non-Uniform Predictor-Observer (NUPO) based control approach in order to deal with two of the main problems related to Networked Control Systems (NCS) or Sensor Networks (SN): time-varying delays and ...
A transfer-function approach to dual-rate controller design for unstable and non-minimum phase plants

Salt Llobregat, Julián José; Sala, Antonio; Albertos Pérez, Pedro (Institute of Electrical and Electronics Engineers (IEEE), 2011-09)

An algebraic design via Diophantine equations of dual-rate regulators for linear unstable and non-minimum-phase plants, generalizing the well-known constraints for the reference model in single-rate systems, is presented ...
Analytical design of a generalised predictor-based control scheme for low-order integrating and unstable systems with long time delay

Chen, Yueling; Liu, Tao; García Gil, Pedro José; Albertos Pérez, Pedro (Institution of Engineering and Technology (IET), 2016-05-16)

In this study, the problem of controlling integrating and unstable systems with long time delay is analysed in the discrete-time domain for digital implementation. Based on a generalised predictor-based control structure, ...
Control de sistemas multivariables con retardos múltiples

Vives Fuster, Javier (Universitat Politècnica de València, 2016-12-20)

[EN] Most industrial systems present time delays. In the case of MIMO processes the delays are different for each pair output/input. There are some algorithms in the literature to deal with the control design for these ...
Control de trayectorias basado en álgebra lineal

Scaglia, G. J. E.; Serrano, M. E.; Albertos Pérez, Pedro (Universitat Politècnica de València, 2020-09-30)

[ES] En este tutorial se resumen las principales características de una nueva metodología de diseño de sistemas de control para el seguimiento de trayectorias en procesos no lineales. Esta metodología, denominada LAB (Linear ...
Control kernel based adaptive control implementation

Simarro Fernández, Raúl; Albertos Pérez, Pedro; Simó Ten, José Enrique (Association for Computing Machinery (ACM), 2013-02)

[EN] A control system with distributed computing resources always should guarantee the safe control of the plant. In this contribution, the concept of control kernel is used for that purpose. Two types of nodes with different ...
Desarrollo de una plataforma de tiempo real para la implementación de algoritmos de control multivariables: Ampliación al control de orienta

Berna Ferri, Andreu (Universitat Politècnica de València, 2011-07-22)

En esta tesina, se presenta una nueva plataforma de tiempo real para el desarrollo y validación de algoritmos de control de vehículos aéreos no tripulados. Se dispone de dos plataformas un quad-rotor fijo sobre un eje y ...
El Control Borroso: Una Metodología Integradora

Albertos Pérez, Pedro; Sala Piqueras, Antonio (Universitat Politècnica de València, 2010-10-01)

[ES] En este trabajo se presentan las posibilidades que tiene la metodología de control basada en la lógica borrosa para integrar en el mismo marco un gran número de problemas de control. Junto a la posibilidad intrínseca ...
Enhanced disturbance rejection for a predictor-based control of LTI systems with input delay

Sanz Díaz, Ricardo; García Gil, Pedro José; Albertos Pérez, Pedro (Elsevier, 2016-10)

In this paper, a new predictor-based control strategy for LTI systems with input delay and unknown disturbances is proposed. The disturbing signal and its derivatives up to the r-th order are estimated by means of an ...
Enhanced extended state observer-based control for systems with mismatched uncertainties and disturbances

Castillo-Frasquet, Alberto; García Gil, Pedro José; Sanz Díaz, Ricardo; Albertos Pérez, Pedro (Elsevier, 2017)

[EN] This paper presents an enhanced Extended State Observer (ESO)-based control strategy to deal with the disturbance attenuation problem for a class of non integral-chain systems subject to non-linear mismatched uncertainties ...
Estimation in multisensor networked systems with scarce measurements and time varying delays

Albertos Pérez, Pedro (Elsevier, 2012-04)

In this paper, the problem of estimating signals from a dynamic system at regular periods from scarce, delayed and possibly time disordered measurements acquired through a network is addressed. A model based predictor that ...
Estudio y comparación entre metodologías de control para el seguimiento de trayectorias en sistemas no lineales.

Del Río Rodríguez, Pablo (Universitat Politècnica de València, 2022-09-14)

[ES] El presente documento recoge el proceso de diseño de un controlador para un dron basado en técnicas de álgebra lineal (LAB). Se comienza el trabajo con un breve estado del arte donde se exponen las características ...
Event based localization in Ackermann steering limited resource mobile robots

Marín, Leonardo; Vallés Miquel, Marina; Soriano Vigueras, Ángel; Valera Fernández, Ángel; Albertos Pérez, Pedro (Institute of Electrical and Electronics Engineers (IEEE), 2014-08)

This paper presents a local sensor fusion technique with an event-based global position correction to improve the localization of a mobile robot with limited computational resources. The proposed algorithms use a modified ...
Linear control of the flywheel inverted pendulum

Olivares, Manuel; Albertos Pérez, Pedro (Elsevier, 2014-09)

[EN] The flywheel inverted pendulum is an underactuated mechanical system with a nonlinear model but admitting a linear approximation around the unstable equilibrium point in the upper position. Although underactuated ...
Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots

Scaglia, Gustavo; Serrano, Emanuel; Rosales, Andres; Albertos Pérez, Pedro (Elsevier, 2015-12)

[EN] The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem ...
Modelado y Estabilización de un Helicóptero con Cuatro Rotores

Castillo, P.; García Gil, Pedro José; Lozano, R.; Albertos Pérez, Pedro (Universitat Politècnica de València, 2009-12-02)

[ES] En este trabajo se presenta una estrategia de control no lineal para la estabilización de un helicóptero de cuatro rotores. El algoritmo de control se basa en el análisis de Lyapunov y en la técnica de las saturaciones ...
Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots

Marín, Leonardo; Vallés Miquel, Marina; Soriano Vigueras, Ángel; Valera Fernández, Ángel; Albertos Pérez, Pedro (MDPI, 2013-10)

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor ...
Neural networks in virtual reference tuning

Esparza Peidro, Alicia; Sala, Antonio; Albertos Pérez, Pedro (Elsevier, 2011-09)

This paper discusses the application of the virtual reference tuning (VRT) techniques to tune neural controllers from batch inputoutput data, by particularising nonlinear VRT and suitably computing gradients backpropagating ...
Neuro-Fuzzy System for Compensating Slow Disturbances in Adaptive Mold Level Control

González-Yero, Guillermo; Ramírez Leyva, Reynier; Ramírez Mendoza, Mercedes; Albertos, Pedro; Crespo, Alfons; Reyes Alonso, Juan Manuel (MDPI AG, 2021-01)

[EN] Good slow disturbances attenuation in a mold level control with stopper rod is very important for avoiding several product defects and keeping down casting interruptions. The aim of this work is to improve the accuracy ...