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Listar por palabra clave "Sliding mode"

RiuNet: Repositorio Institucional de la Universidad Politécnica de Valencia

Listar por palabra clave "Sliding mode"

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    A path conditioning method with trap avoidance 
    Gracia Calandin, Luis Ignacio; Sala, Antonio; Garelli, Fabricio (Elsevier, 2012-06)
    This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based ...
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    A supervisory loop approach to fulfill workspace constraints in redundant robots 
    Gracia Calandin, Luis Ignacio; Sala, Antonio; Garelli, Fabricio (Elsevier, 2012-01)
    An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision ...
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    Calibración de observadores de modo deslizante 
    Ribelles Ferrándiz, Ignacio (Universitat Politècnica de València, 2015-12-04)
    [EN] Reaction rates can be estimated correctly in bioreactors using seciond-order sliding mode observers, their adjustment requires a set of tuned parameters. In this work, methods for calibration of these parameters based ...
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    Estabilidad para un control borroso en modo deslizante aplicado a un robot paralelo neumático 
    Prieto, Pablo J.; Cazarez Castro, Nohe R.; García, Dianelis; Cárdenas Maciel, Selene L. (Universitat Politècnica de València, 2015-10-15)
    [ES] Se presenta un controlador borroso tipo Mamdani basado en técnicas en modo deslizante para el posicionamiento de un robot paralelo neumático de dos grados de libertad (2 GDL). Es probado que el sistema es asintóticamente ...
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    Estudio de Algoritmos 2-Deslizantes Aplicados al Control de Pilas de Combustible 
    Kunusch, Cristian; Puleston, Paul F.; Mayosky, Miguel A. (Universitat Politècnica de València, 2008-07-09)
    [EN] In this work, a comparative study of three different second order sliding mode algorithms is performed. These controllers are used to solve the breathing problem of a PEM fuel cell stack. The designed algorithms are ...
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    Integrated sliding-mode algorithms in robot tracking applications 
    Gracia Calandin, Luis Ignacio; Garelli, Fabricio; Sala Piqueras, Antonio (Elsevier, 2013-02)
    An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in ...
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    Robust fulfillment of constraints in robot visual servoing 
    Muñoz-Benavent, Pau; Gracia Calandin, Luis Ignacio; Solanes Galbis, Juan Ernesto; Esparza Peidro, Alicia; Tornero Montserrat, Josep (Elsevier, 2018-02)
    [EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints ...
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    Sliding mode speed auto-regulation technique for robotic tracking 
    Garelli, Fabricio; Gracia Calandin, Luis Ignacio; Sala, Antonio; Albertos Pérez, Pedro (Elsevier, 2011-07)
    In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of ...
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    Specific growth rate estimation in (fed-)batch bioreactors using second-order sliding observers 
    De Battista, Hernán; Picó, Jesús; Garelli, Fabricio; Vignoni, Alejandro (ELSEVIER SCI LTD, 2011-08)
    [EN] This paper addresses the estimation of specific growth rate of microorganisms in bioreactors using sliding observers. In particular, a second-order sliding observer based on biomass concentration measurement is proposed. ...
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    Stability preserving maps for finite-time convergence: super-twisting sliding-mode algorithm 
    Picó Marco, Jesús Andrés; Picó Marco, Enrique; Vignoni, Alejandro; De Battista, Hernán (International Federation of Automatic Control, 2013)
    The super-twisting algorithm (STA) has become the prototype of second-order sliding mode algorithm. It achieves finite time convergence by means of a continuous action, without using information about derivatives of the ...