Now showing items 1-20 of 129

    • A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms 

      Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2013)
      Conference report
      Open Access
      This 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 

      Buciakowski, Mariusz; Witczak, Marcin; Puig Cayuela, Vicenç; Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Korbicz, Jozef (2017-04-01)
      Article
      Open Access
      This 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 

      Acho Zuppa, Leonardo (Multidisciplinary Digital Publishing Institute, 2016-10-01)
      Article
      Open Access
      This 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 

      Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela (2013)
      Conference report
      Open Access
      A 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 Fixed-Frequency Quasi-Sliding Control Algorithm: Application to Power Inverters Design by Means of FPGA Implementation 

      Ramos Lara, Rafael Ramón; Biel Solé, Domingo; Fossas Colet, Enric; Guinjoan Gispert, Francisco (Institute of Electrical and Electronics Engineers (IEEE), 2003-01-31)
      Article
      Open Access
      In 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 modified Chua chaotic oscillator and its application to secure communications 

      Zapateiro, Mauricio; Acho Zuppa, Leonardo; Vidal Seguí, Yolanda (2014)
      Article
      Open Access
      In 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 

      Nuñez Vicencio, Alfredo; Ocampo-Martínez, Carlos; De Schutter, Bart; Valencia, Felipe; López, José D.; Espinosa, Jairo (2013)
      Conference report
      Open Access
      In 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 

      Nuño Ortega, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (IEEE, 2012)
      Conference lecture
      Restricted access - publisher's policy
      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 bilateral teleoperation scenario is ...
    • A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems 

      López Estrada, Francisco Ronay; Rotondo, Damiano; Valencia Palomo, Guillermo (2019)
      Article
      Open Access
      This 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 

      Witczak, Marcin; Puig Cayuela, Vicenç; Rotondo, Damiano; Faygel, Michal de Rozprza; Mrugalski, Marcin (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Restricted access - publisher's policy
      The 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 

      Witczak, Marcin; Puig Cayuela, Vicenç; Rotondo, Damiano; Faygel, Michal de Rozprza; Mrugalski, Marcin (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Restricted access - publisher's policy
      The 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 

      García Planas, María Isabel; Lopez Cabeceira, Montserrat (Editorial de la Universitat Politècnica de València (UPV), 2010)
      Conference report
      Open Access
      Este 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, ...
    • Actuator fault-tolerant control based on set separation 

      Ocampo-Martínez, Carlos; Doná, José A. de; Serón, María (2008)
      External research report
      Open Access
      In 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 

      Na, Jing; Xing, Yashan; Costa Castelló, Ramon (Institute of Electrical and Electronics Engineers (IEEE), 2018-12-10)
      Article
      Open Access
      This 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, ...
    • Admissible Model Matching Fault Tolerant Control based on LPV Fault Representation 

      Montes de Oca, Saúl; Puig Cayuela, Vicenç; Theilliol, Didier; Tornil Sin, Sebastián (2009-11-19)
      Conference report
      Open Access
    • Advanced control systems research at UPC Terrassa Campus 

      Quevedo Casín, Joseba Jokin; Puig Cayuela, Vicenç (Campus de Terrassa de la UPC, 2013-06-13)
      Conference report
      Open Access
      Advanced Control Systems (SAC) is a multidiscip linary research group involving UPC professors and Spanish National Research Council (CSIC) researchers, focused on the wide subject of control and supervision of dynamic ...
    • An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; de Alba Padilla, Carlos; López Franco, Carlos (2012)
      Conference lecture
      Restricted access - publisher's policy
      A bilateral teleoperator is composed of a local and a remote manipulators interconnected through a communication channel. A human operator interacts with the local manipulator to remotely execute a given task via the ...
    • An application of the Shapley value to perform system partitioning 

      Muros Ponce, Francisco; Maestre Torreblanca, José María; Algaba Durán, Encarnación; Ocampo-Martínez, Carlos; Fernández Camacho, Eduardo (2015)
      Conference report
      Open Access
      We introduce a new method to perform the partitioning of non-centralized dynamical linear systems based on the relevance of the possible interconnections among the smallest components of the system. In particular, we analyze ...
    • An extension of the unity vector control method 

      Roqueiro, Nestor; Do Carmo, L. M. M.; Silveira, H. B.; Fossas Colet, Enric (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Conference report
      Restricted access - publisher's policy
      In this work, Unity Vector Control is revisited based on the results by V. Utkin and co-workers. The approach here presented extends the one reported by V. Utkin and co-workers so that independent feedback gains may be ...
    • An LMI–based heuristic algorithm for vertex reduction in LPV systems 

      Sanjuan Gómez, Adrián; Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Sarrate Estruch, Ramon (2019)
      Article
      Open Access
      The linear parameter varying (LPV) approach has proved to be suitable for controlling many non-linear systems. However, for those which are highly non-linear and complex, the number of scheduling variables increases rapidly. ...