Ara es mostren els items 1-17 de 17

  • An adaptive controller for nonlinear teleoperators with variable time-delays 

    Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis (2014-10-01)
    Article
    Accés restringit per política de l'editorial
    In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the ...
  • Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays 

    Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
    Text en actes de congrés
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    Abstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a ...
  • Bounded synchronization in resistive multi-terminal VSC-HVDC transmission systems 

    Dòria Cerezo, Arnau; Olm Miras, Josep Maria; di Bernardo, Mario; Quaglia, Massimiliano; Nuño, Emmanuel (Institute of Electrical and Electronics Engineers (IEEE), 2014)
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    Multi-terminal VSC-HVDC transmission is a promising solution to transport energy from the generating plants to the distribution stations, and the number and size of the corresponding power grids is expected to increase in ...
  • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

    Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
    Article
    Accés restringit per política de l'editorial
    This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can ...
  • Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Text en actes de congrés
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    The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
  • Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
  • Control of bilateral teleoperators in operational space without velocity measurements 

    Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis (2013)
    Text en actes de congrés
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    This paper proposes a proportional plus damping injection (P + d) controller for bilateral teleoperators in the operational space. Unit quaternions are used to describe the endeffectors’ orientation since they exhibit the ...
  • Control of teleoperators with joint flexibility, uncertain parameters and time-delays 

    Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (2014)
    Article
    Accés restringit per política de l'editorial
    The problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. ...
  • Coordination of multi-agent Euler-Lagrange systems via energy-shaping: Networking improves robustness 

    Nuño, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2013-10-01)
    Article
    Accés restringit per política de l'editorial
    In this paper, the robust coordination of multi-agent systems via energy-shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters which are regulated (with and without exchange of ...
  • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

    Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
    Text en actes de congrés
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  • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

    Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2014-09-01)
    Article
    Accés restringit per política de l'editorial
    This work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the ...
  • Modelling and control for bounded synchronization in multi-terminal VSC-HVDC transmission networks 

    Dòria Cerezo, Arnau; Olm Miras, Josep Maria; di Bernardo, Mario; Nuño, Emmanuel (2016-06-01)
    Article
    Accés obert
    The extension and size of the power grid is expected to increase in the near future. Managing such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, ...
  • Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements 

    Nuño, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2013-12)
    Article
    Accés restringit per política de l'editorial
    This paper studies the robustness in the coordination - via energy-shaping - of multiple nonidentical flexible-joint robots with only joint position measurements. The control objective is to drive all manipulators link ...
  • Operational space consensus of multiple heterogeneous robots without velocity measurements 

    Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis; Romero, Eduardo (2014-03-01)
    Article
    Accés restringit per política de l'editorial
    This paper proposes a control algorithm for networks of multiple heterogeneous robot manipulators, which solves the leader follower and the leaderless consensus problems in the operational space. In the leader-follower ...
  • Output-feedback control of nonlinear bilateral teleoperators 

    Sarras, Ioannis; Nuño, Emmanuel; Kinnaert, Michel; Basañez Villaluenga, Luis (Institute of Electrical and Electronics Engineers (IEEE), 2012)
    Text en actes de congrés
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    The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured ...
  • Position tracking in delayed bilateral teleoperators without velocity measurements 

    Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis; Kinnaert, Michel (2016-05-10)
    Article
    Accés obert
    This work considers the control of nonlinear bilateral teleoperators with variable time delays without the need of velocity measurements. The recently proposed Immersion and Invariance observer is used to obtain an ...
  • Stability of nonlinear teleoperators using PD controllers without velocity measurements 

    Nuño, Emmanuel; Basañez Villaluenga, Luis; Lopez Franco, Carlos; Arana Daniel, Nancy (2014-01)
    Article
    Accés restringit per política de l'editorial
    This paper presents two Proportional-Derivative (PD) like controllers for nonlinear bilateral teleoperation systems. Compared to previous controllers of this kind, these schemes do not make use of velocity measurements. ...