Revista Iberoamericana de Automática e Informática Industrial- Vol 19, No 1 (2022)

Permanent URI for this collection

https://riunet.upv.es/handle/10251/178669

Tabla de contenidos

Presentación

Nota de Redacción

Tutoriales

Control predictivo de sistemas ciberfísicos

Artículos

Integración de la estrategia FMBPC en una estructura de control predictivo en lazo cerrado. Aplicación al control de fangos activados
Control mixto para el seguimiento de trayectoria en buques marinos
Método de error de Bellman con ponderación de volumen para mallado adaptativo en programación dinámica aproximada
Control mediante rechazo activo de perturbaciones de la temperatura de un módulo termoeléctrico
Sistema de control de posición mediante rechazo activo de perturbaciones para sistemas ópticos láser
Análisis del desempeño de un control PID de orden fraccional en un robot móvil diferencial
Modelado de un AGV híbrido triciclo-diferencial
Resultados experimentales del control de un sistema de teleoperación bilateral de robots con retardos variantes en el tiempo
Discriminador binario de imaginación visual a partir de señales EEG basado en redes neuronales convolucionales

Browse

Now showing 1 - 5 of 12

Discriminador binario de imaginación visual a partir de señales EEG basado en redes neuronales convolucionales
(Universitat Politècnica de València, 2021-12-17) Llorella, Fabio Ricardo; Iáñez, Eduardo; Azorín, José Maria; Patow, Gustavo; Agencia Estatal de Investigación
[EN] A Brain-Computer Intarface (BCI) is a technology that allows direct communication between the brain and the outside world without the need to use the peripheral nervous system. Most BCI systems focus on the use of motor imagination, evoked potentials, or slow cortical rhythms. In this work, the possibility of using visual imagination to construct a binary discriminator has been studied. EEG signals from seven people have been recorded while imagining seven geometric figures. Using convolutional neural networks it has been possible to distinguish between the imagination of a geometric figure and relaxation with an average success rate of 91 % with a Cohen kappa value of 0.77 and a percentage of false positives of 9 %.
Resultados experimentales del control de un sistema de teleoperación bilateral de robots con retardos variantes en el tiempo
(Universitat Politècnica de València, 2021-12-17) López, Mauro Gilberto; Artega, Marco Antonio; Gutiérrez, A. I.; Nuño, Emmanuel; Universidad Nacional Autónoma de México; Consejo Nacional de Ciencia y Tecnología, México
[EN] Bilateral systems of teleoperation are useful in a wide range of tasks that can be dangerous or inaccessible for a human operator. However, when time varying delays appear in the communication channel, perfect transparency can no longer been sured. Instead, other control objectives may be pursued, such as the kinematic correspondence between the local and the remote robots. Furthermore, since most of the commercially available robots are not equipped with velocity sensors, to guarantee a certain level of transparency or kinematic correspondence the controller can not rely on velocity measurements. This article is focused on presenting the experimental results of a robust scheme to time delays for non-linear manipulators connected through a communication channel. The main advantages of the control scheme are: i) it is not necessary to know the dynamic parameters of the manipulators; ii) it is not necessary to impose restrictions in the behavior of the human operator and the remote surface; iii) an estimation of velocities is obtained through a second order linear filter; iv) a term that guarantee force tracking is added to the scheme as well. In order to show good performance, we report a set of experiments that have been carried out between different cities in Mexico using the Internet as a communication channel.
Modelado de un AGV híbrido triciclo-diferencial
(Universitat Politècnica de València, 2021-12-17) Sánchez, Roberto; Sierra-García, Jesús Enrique; Santos, Matilde
[EN] In the industrial field, Automatic Guided Vehicles (AGV) are frequently used for the transport of goods, usually replacing manual means of transport or conveyor belts, to reduce operating costs and human errors in this way. In order to increase the performance of these industrial systems and enable more advanced applications, it is key to develop control-oriented models to test new strategies and control techniques, with the aim of making them safer and more efficient. Thus, in this work a kinematic and dynamic control-oriented model of an AGV is developed. The main objective of this work is to obtain a mathematical representation of the complex dynamics of the AGV Easybot, a hybrid tricycle-differential vehicle, which will allow us to study the effects of towed load and wheel-ground interaction. To do so, the kinematic models of the differential and the tricycle robot have been developed and combined together with the developed vehicle dynamics model. The AGV has been split into its different components and the Newton-Euler equations have been applied to obtain the equations of its dynamics. The model has been validated in simulation for different trajectories, varying the speed and the load.
Análisis del desempeño de un control PID de orden fraccional en un robot móvil diferencial
(Universitat Politècnica de València, 2021-12-17) Vázquez, Ulises; González-Sierra, Jaime; Fernández-Anaya, Guillermo; Hernández-Martínez, Eduardo Gamaliel
[EN] This work deals with the tracking trajectory problem for a diﬀerential-drive mobile robot taking into account a dynamic extension from the kinematic model and, controlling a front point located at a certain distance perpendicular to the mid-axis of the wheels. Two controls are proposed, a PID fractional order controller (PIδDµ) and a PD fractional order controller (PDµ), both based on the tracking errors. The proposed controllers are obtained by means of the input-output linearization technique. On the other hand, the controller fractional terms are based on the Caputo’s operator. Numerical simulations with diﬀerent fractional orders are presented and compared with the integer order PID controller, showing the variations that occurred when changing only the controller order.
Sistema de control de posición mediante rechazo activo de perturbaciones para sistemas ópticos láser
(Universitat Politècnica de València, 2021-12-17) Guerrero-Castellanos, José Fermi; González-Romeo, L. L.
[EN] In this work, an Active Disturbance Rejection Control scheme for a Laser Beam Stabilization system is presented in a pragmatic way. First, a Linear Extended State Observer is designed, which allows estimating external disturbances, non-model dynamics, and the transverse displacement speed of the beam. Subsequently, a control law is proposed for regulation and tracking tasks. The stability analysis in the Input-to-State-Stability framework shows that the closed-loop system, plant-observer-controller is stable when the total disturbance is viewed as the input, and the state is the beam position error. This analysis presents new perspectives to a now-classic result. The experimental results show the performance of the control scheme. Using the L2 norm and the Integral of the Squared Error, the closed-loop performance is evaluated and compared with three controls generally used in this type of systems: PID, observer-based state feedback, and linear quadratic gaussian regulator.

Browse

Recent Submissions