Exploració per tema "LMI"

Ara es mostren els items 1-9 de 9

    • A new device laboratory: Experimental validation 

      Pujol Vázquez, Gisela; Acho Zuppa, Leonardo; Nápoles Alberro, Amelia; Estrada, J.; Santos, D.; Pérez Gracia, María de la Vega (2013)
      Comunicació de congrés
      Accés obert

    • Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Escobet Canal, Teresa; Comasòlivas Font, Ramon (2018-04-01)
      Article
      Accés obert
      This paper presents the control of an autonomous vehicle using a Lyapunov-based technique with a LQR-LMI tuning. Using the kinematic model of the vehicle, a non-linear control strategy based on Lyapunov theory is proposed ...

    • Fault-tolerant control of a service robot 

      San Miguel Tello, Alberto; Puig Cayuela, Vicenç; Alenyà Ribas, Guillem (IET Digital Library, 2020)
      Capítol de llibre
      Accés restringit per política de l'editorial
      In this chapter, the problem of fault-tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on an Robust Unknown-Input Observer (RUIO) that allows to ...

    • Guaranteed cost estimation and control for nonlinear system using LMI optimization 

      Buciakowski, Mariusz; Puig Cayuela, Vicenç (2016)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      In the paper, a methodology for the guaranteed cost estimation and control for nonlinear system discretetime systems is proposed. To solve such a challenging problem, the article starts with a general description of the ...

    • Kinematic/dynamic SLAM for autonomous vehicles using the linear parameter varying approach 

      Puig Cayuela, Vicenç; Vial, Pau (Multidisciplinary Digital Publishing Institute (MDPI), 2022-10-26)
      Article
      Accés obert
      Most existing algorithms in mobile robotics consider a kinematic robot model for the the Simultaneous Localization and Mapping (SLAM) problem. However, in the case of autonomous vehicles, because of the increase in the ...

    • LPV MPC control of an autonomous aerial vehicle 

      Misin, Mark; Puig Cayuela, Vicenç (2020)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This work proposes the use of the LPV MPC approach for the position-heading control problem of a small quadrotor. The use of a LPV representation of the attitude subsystem allows to consider it as independent from the ...

    • On the optimization of actuator saturation limits for LTI systems: an LMI-based invariant ellipsoid approach 

      Rotondo, Damiano; Rizzello, Gianluca (2020)
      Text en actes de congrés
      Accés obert
      This paper considers the problem of optimal actuator dimensioning for LTI systems, in the sense of choosing appropriate saturation limits for a given set of admissible initial conditions and for a predefined integral ...

    • Robust fault detection using set-based approaches for LPV systems: Application to autonomous vehicles 

      Zhang, Shuang; Puig Cayuela, Vicenç; Ifqir, Sara (2022)
      Text en actes de congrés
      Accés obert
      This paper addresses the problem of robust fault detection for Linear Parameter Varying (LPV) systems using set-based approaches. Two approaches are proposed, based respectively on set-based state and parameter estimation ...

    • TS-MPC for autonomous vehicles Including a TS-MHE-UIO estimator 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (Institute of Electrical and Electronics Engineers (IEEE), 2019-07-01)
      Article
      Accés obert
      In this paper, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This approach is based on the use of a cascade control where the external loop solves the position control using ...