Now showing items 1-20 of 122

    • 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 contribution to the theory of convolutional codes from systems theory piont of view 

      Um, Laurence Emilie (Universitat Politècnica de Catalunya, 2015-05-25)
      Doctoral thesis
      Open Access
      Covenantee:   Jāmiʻat Muḥammad al-Khāmis
      Information is such a valuable good of our time. Given that the transmission of information has always been subject to precision problems, knowing the obstacles existing between the transmitter and the receiver, eventual ...
    • A decentralized collision avoidance strategy for industrial robots 

      Bravo Forn, Andrea (Universitat Politècnica de Catalunya, 2021-07-06)
      Bachelor thesis
      Open Access
      Covenantee:   Università degli Studi di Napoli Federico II
      With 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 

      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 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 robust asynchronous sampled-data control design for nonlinear systems with actuator failures 

      Acho Zuppa, Leonardo; Buenestado Caballero, Pablo (Multidisciplinary Digital Publishing Institute, 2017-08-26)
      Article
      Open Access
      This paper presents a recent self-sampled-data control algorithm applied to nonlinear systems with actuator failures. Our approach uses the linear model of a given nonlinear system, and based on a granted actuator fault ...
    • 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, ...
    • A SWMM model for the Astlingen benchmark network 

      Sun, Congcong; Lorenz Svensen, Jan; Schütze, Manfred; Cembrano Gennari, Gabriela; Borup, Morten; Puig Cayuela, Vicenç; Vezzaro, Luca (International Water Association (IWA), 2021)
      Conference report
      Open Access
      Real-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 

      Trapiello Fernández, Carlos; Puig Cayuela, Vicenç; Rotondo, Damiano (Elsevier, 2021-11-01)
      Article
      Restricted access - publisher's policy
      This 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 ...
    • Actuator fault-tolerant control based on set separation 

      Ocampo-Martínez, Carlos; Doná, José A. de; Serón, María (2008)
      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), 2021-02-10)
      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 ...
    • Ageing of an oscillator due to frequency switching in physical systems 

      Hriscu, Lavinia Beatrice (Universitat Politècnica de Catalunya, 2021-07-06)
      Bachelor thesis
      Open Access
      The control action governing an oscillator may have discontinuities that produce a switching between two frequencies as demonstrated in BONET, Carles, et al. Ageing of an oscillator due to frequency switching, where a ...
    • 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 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 input-output linearization-based approach to lateral vehicle dynamics control 

      Morales Pastor, Jesús (Universitat Politècnica de Catalunya, 2020-09-07)
      Bachelor thesis
      Restricted access - confidentiality agreement