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Listar por autor "Salt Llobregat, Julián José"

Mostrando ítems 1-20 de 48

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A delay-dependent dual-rate PID controller over an ethernet network

Cuenca Lacruz, Ángel Miguel; Salt Llobregat, Julián José; Sala Piqueras, Antonio; Pizá Fernández, Ricardo (Institute of Electrical and Electronics Engineers (IEEE), 2011-02)

n this paper, a methodology to design controllers able to cope with different load conditions on an Ethernet network is introduced. Load conditions induce time-varying delays between measurements and control. To face these ...
A Multirate Control Strategy to the Slow Sensors Problem: An Interactive Simulation Tool for Controller Assisted Design

Salt Llobregat, Julián José; Cuenca Lacruz, Ángel Miguel; Palau, Francisco; Dormido, Sebastian (MDPI, 2014-03)

[EN] In many control applications, the sensor technology used for the measurement of the variable to be controlled is not able to maintain a restricted sampling period. In this context, the assumption of regular and uniform ...
A new algorithm for dual-rate systems frequency response computation in discrete control systems

Salt Llobregat, Julián José; Sala Piqueras, Antonio (Elsevier, 2014-12-01)

This paper addresses an easy computation of the multiple components of the response to a sinusoidal input of a dual-rate linear time-invariant discrete system from the Bode diagram of LTI systems arising from a lifted ...
A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System

Cuenca Lacruz, Ángel Miguel; Ojha, Unnati; Salt Llobregat, Julián José; Chow, Mo-Yuen (Elsevier, 2015-05-10)

[EN] In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims ...
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 packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System

Cuenca, Ángel; Alcaina-Acosta, José Joaquín; Salt Llobregat, Julián José; Casanova Calvo, Vicente; Pizá, Ricardo (Elsevier, 2018-05)

[EN] This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve ...
A QFT approach to robust dual-rate control systems

Baños, Alfonso; Salt Llobregat, Julián José; Casanova Calvo, Vicente (John Wiley & Sons, 2022-01-25)

[EN] A dual-rate control system is a hybrid system composed of continuous-time and discrete-time elements with two sampling frequencies. In this work, a new frequency domain analysis and design approach, based on the ...
A Remote Control Strategy for an Autonomous Vehicle with Slow Sensor Using Kalman Filtering and Dual-Rate Control

Cuenca, Ángel; Zhan, Wei; Salt Llobregat, Julián José; Alcaina-Acosta, José Joaquín; Tang, Chen; Tomizuka, Masayoshi (MDPI AG, 2019-07-01)

[EN] This work presents a novel remote control solution for an Autonomous Vehicle (AV), where the system structure is split into two sides. Both sides are assumed to be synchronized and linked through a communication ...
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 ...
Autonomous Ground Vehicle Lane-Keeping LPV Model-Based Control: Dual-Rate State Estimation and Comparison of Different Real-Time Control Strategies

Salt Ducajú, Julián M.; Salt Llobregat, Julián José; Cuenca, Ángel; Tomizuka, Masayoshi (MDPI AG, 2021-02-23)

[EN] In this contribution, we suggest two proposals to achieve fast, real-time lane-keeping control for Autonomous Ground Vehicles (AGVs). The goal of lane-keeping is to orient and keep the vehicle within a given reference ...
Control basado en red inalámbrica de un robot móvil con técnicas multifrecuenciales

Lledó Molina, Enrique Vicente (Universitat Politècnica de València, 2018-09-21)

[ES] En el presente proyecto se desarrollar´a el control basado en red de un robot m´ovil de bajo coste mediante t´ecnicas multifrecuencia. El robot m´ovil, se ha elaborado para ser una plataforma de laboratorio para el ...
Control en red P-I-D de un quadrirotor

Lorente Peris, Juan Manuel (Universitat Politècnica de València, 2017-01-02)

[EN] In this project a control algorithm for a quadrirotor flight stabilization. The differents angles will be controlled by means of a PID controller attending diferent reference conditions. The control orders will be ...
Control Multifrecuencia en Tiempo Real Utilizando Herramientas CACSD

Vélez, C. M.; Salt Llobregat, Julián José (Universitat Politècnica de València, 2010-10-01)

[ES] Ante la ausencia de una plataforma de simulación específica para sistemas con muestreo no-convencional, los autores desarrollaron durante varios años una aplicación validada en forma de una caja de herramientas en el ...
Control of the rotary inverted pendulum through threshold-based communication

Casanova Calvo, Vicente; Alcaina-Acosta, José Joaquín; Salt Llobregat, Julián José; Pizá, R.; Cuenca Lacruz, Ángel Miguel (Elsevier, 2016)

[EN] This paper deals with the real implementation of an event-based control structure for the classical rotary inverted pendulum. The communication between controller and plant is performed through Ethernet (TCP/IP) which ...
Control QFT discreto del mantenimiento de carril de un vehículo autónomo

Vila Collantes, Carlos (Universitat Politècnica de València, 2022-11-24)

[ES] En este trabajo se modela un automóvil y se diseña el control de su dirección para el correcto seguimiento de un circuito de pruebas considerando diferentes velocidades. Se considera la metodología QFT (Quantitative ...
Control remoto bifrecuencia de un cuadricóptero

Carbonell Lázaro, Rafael (Universitat Politècnica de València, 2019-11-06)

[ES] Este trabajo final de máster tiene como objetivo controlar un dron mediante técnicas de bifrecuencia en orientación. El bucle de control se compone básicamente de tres tareas: medición, cálculo de control y actuación. ...
Control synthesis of nonholonomic mobile robots under time-varying delays and input saturation: experimental validation.

González Sorribes, Antonio; Carbonell-Lázaro, Rafael; Cuenca, Ángel; Salt Llobregat, Julián José (Institute of Electrical and Electronics Engineers, 2024)

[EN] This paper presents a new control synthesis methodology for nonholonomic mobile robots subjected to time-varying delays and input saturation constraints. The proposed control method is based on smooth static nonlinear ...
Controlling the Double Rotary Inverted Pendulum with Multiple Feedback Delays

Casanova Calvo, Vicente; Salt Llobregat, Julián José; Pizá Fernández, Ricardo; Cuenca Lacruz, Ángel Miguel (Agora University Editing House, 2012-03)

[EN] The aim of this work is the development and implementation of a control structure for the double rotary inverted pendulum, suitable to be used in a Networked Control System environment. Delays are quite common in ...
Delay-independent dual-rate PID controller for a packet-based networked control system

Alcaina-Acosta, José Joaquín; Cuenca, Ángel; Salt Llobregat, Julián José; Casanova Calvo, Vicente; Pizá, Ricardo (Elsevier, 2019-05)

[EN] In this paper, a novel delay-independent control structure for a networked control system (NCS) is proposed, where packet-based control strategies with predictor-based and dual-rate control techniques are integrated. ...
Desarrollo de una aplicación para el control remoto de un prototipo de Segway educacional

Escrivá Salvador, Alberto (Universitat Politècnica de València, 2017-09-26)

[ES] En este trabajo se ha realizado el control a distancia de un sistema altamente inestable utilizando un prototipo Segway construido con la plataforma robótica LEGO® MINDSTORMS®. En primer lugar, se ha llevado a cabo ...