Browsing by Subject "Control theory"
Now showing items 1-20 of 190
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A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms
(Institute of Electrical and Electronics Engineers (IEEE), 2013)
Conference report
Open AccessThis paper deals with the motion planning problem for parallel orienting platforms with one non-holonomic joint and two prismatic actuators which can maneuver to reach any three-degree-of-freedom pose of the moving platform. ... -
A bounded-error approach to simultaneous state and actuator fault estimation for a class of nonlinear systems
(2017-04-01)
Article
Open AccessThis paper proposes an approach for the joint state and fault estimation for a class of uncertain nonlinear systems with simultaneous unknown input and actuator faults. This is achieved by designing an unknown input observer ... -
A chaotic secure communication system design based on iterative learning control theory
(Multidisciplinary Digital Publishing Institute, 2016-10-01)
Article
Open AccessThis paper presents an application of Iterative Learning Control (ILC) theory to secure communication system design by using chaotic signals, where the logistic-map is employed as a source of chaos. Meanwhile, the ILC ... -
A control-oriented hybrid modelling approach for sewer networks: Barcelona case study
(2013)
Conference report
Open AccessA simplified sewer nework modelling approach based on the hybrid linear systems framework is discussed. It involives both continuous and discrete variables to include a novel approximation of the overflow and flow over ... -
A decentralized collision avoidance strategy for industrial robots
(Universitat Politècnica de Catalunya, 2021-07-06)
Bachelor thesis
Open Access
Covenantee: Università degli Studi di Napoli Federico IIWith the arrival of Industry 4.0, traditional manufactures will undergo a digitalization and automatization process to become smart factories. In such warehouses, fleets of fully autonomous robots will cooperate to transport ... -
A Fixed-Frequency Quasi-Sliding Control Algorithm: Application to Power Inverters Design by Means of FPGA Implementation
(Institute of Electrical and Electronics Engineers (IEEE), 2003-01-31)
Article
Open AccessIn this paper a fixed-frequency quasi-sliding control algorithm based on switching surface zero averaged dynamics (ZAD) is reported. This algorithm is applied to the design of a Buck-based inverter, and implemented in a ... -
A game-theoretic approach to multi-agent interaction for increased coordination and safety in robotics
(Universitat Politècnica de Catalunya, 2024-05-24)
Bachelor thesis
Open Access
Covenantee: Princeton UniversityA mesura que augmenten les capacitats dels sistemes robòtics, també ho fa el seu potencial per ser desplegats en entorns dinàmics i altament interactius. Aquest informe es centra en el repte de raonar sobre la coordinació ... -
A modified Chua chaotic oscillator and its application to secure communications
(2014)
Article
Open AccessIn this paper, a new modified Chua oscillator is introduced. The original Chua oscillator is well known for its simple implementation and mathemati- cal modeling. A modification of the oscillator is proposed in order to ... -
A multiobjective-based switching topology for hierarchical model predictive control applied to a hydro-power valley
(2013)
Conference report
Open AccessIn a Hierarchical Model Predictive Control (H-MPC) framework, this paper explores suitable time-variant structures for the hierarchies of different local MPC controllers. The idea is to adapt to different operational ... -
A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays
(IEEE, 2012)
Conference lecture
Restricted access - publisher's policyThe 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 bilateral teleoperation scenario is ... -
A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems
(2019)
Article
Open AccessThis paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an ... -
A robust H1 observer design for unknown input nonlinear systems: Application to fault diagnosis of a wind turbine
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference report
Restricted access - publisher's policyThe paper is devoted to the problem of designing robust unknown input observer (UIO) for fault estimation purpose. The proposed approach is based on the Takagi-Sugeno models which can be effectively applied for modelling ... -
A robust H8 observer design for unknown input nonlinear systems: Application to fault diagnosis of a wind turbine
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference report
Restricted access - publisher's policyThe paper is devoted to the problem of designing robust unknown input observer (UIO) for fault estimation purpose. The proposed approach is based on the Takagi-Sugeno models which can be effectively applied for modelling ... -
A Stein matrix equation related to transfer matrix of linear dynamic systems over commutative rings
(Editorial de la Universitat Politècnica de València (UPV), 2010)
Conference report
Open AccessEste trabajo está inmerso en el campo de la Teoría de Control sobre un anillo conmutativo R con elemento unidad. Dado un sistema dinámico lineal invariante en el tiempo representado por x+(t) = Ax(t) + Bu(t) sobre R, ... -
A supervisory control scheme for uncertain constrained time-delay discrete-time linear systems
(2023-09-01)
Article
Restricted access - publisher's policyIn this paper, a two-layer supervisory control scheme is proposed for discrete-time linear systems with state/input constraints, including multiple state time-delays, parametric uncertainties, and exogenous disturbance. ... -
A SWMM model for the Astlingen benchmark network
(International Water Association (IWA), 2021)
Conference report
Open AccessReal-time control of urban drainage systems is getting increasing attention due to its potential to reduce urban flooding and pollution to the receiving waters. Considering confidentiality requirements from the water ... -
A zonotopic set-invariance analysis of replay attacks affecting the supervisory layer
(Elsevier, 2021-11-01)
Article
Open AccessThis paper presents a zonotopic set-invariance analysis of replay attacks affecting the communication network that serves the supervisory layer of complex control systems using an observer-based detection scheme. Depending ... -
Active fault detection based on set-membership approach for uncertain discrete-time systems
(2020-09-25)
Article
Open AccessActive fault detection facilitates determination of the fault characteristics by injecting proper auxiliary input signals into the system. This article proposes an observer-based on-line active fault detection method for ... -
Actuator fault-tolerant control based on set separation
(2008)
Research report
Open AccessIn this report an actuator fault-tolerant control (FTC) strategy based on set separation is presented. The proposed scheme employs a bank of observers which match the different fault situations that can occur in the plant. ... -
Adaptive estimation of time-varying parameters with application to roto-magnet plant
(Institute of Electrical and Electronics Engineers (IEEE), 2021-02-10)
Article
Open AccessThis paper presents an alternative adaptive parameter estimation framework for nonlinear systems with time-varying parameters. Unlike existing techniques that rely on the polynomial approximation of time-varying parameters, ...
