Alberto Luviano-Juárez

Instituto Politécnico Nacional | IPN · Departamento de Ingeniería Mecatrónica

The important practical problem of robust synchronization in distance and orientation for a class of differential-drive mobile robots is tackled in this work as an active disturbance rejection control (ADRC) problem. To solve it, a kinematic model of the governed system is first developed based on the distance and formation angle between the agents...

This article presents the design and implementation of a linear actuator based on NiTi Shape Memory Alloys with temperature and position measurements based on a magnetic sensor array and a set of thermistors. The position instrumentation is contact free to avoid friction perturbations; the position signal conditioning is carried out through the cal...

Solar Tracking Systems (STS) increase the performance of Photovoltaic and Concentrated Photovoltaic Technology. These systems are usually designed in open kinematic chain. However, this configuration may present a low load capacity and high alignment errors, due to the high torsional stresses concentered in the joints and the high deformations in t...

This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificial control in order to propose new auxiliary control inputs. This is achieved by a linear extended st...

In this article, an Active Disturbance Rejection Control (ADRC) scheme is tested on a double pendulum gantry crane system, with controllable tangent linearization, to solve the problem of trajectory tracking on the cart. A combination of feedback state controller with disturbance rejection is presented achieving the rest to rest path for the cart w...

This work is concerned with the modelling and control of the state of presence of a user in a virtual reality system (VRS). The manner how the state of a user interacting with the VRS is measured by some of its physiological signals is discussed. Based on the user-VRS interaction, a novel feedback control schema to manipulate the user state is prop...

New biomedical technological developments such as prosthetics and orthotics require a synergistic use of actuators, sensors, and microcontrollers. In order to obtain lighter machines, alternative actuators such as deformable micromotors and actuators are found. Shape Memory Alloys (SMA) are materials for which the Shape Memory Effect can be used to...

Solar Tracking Systems are useful to increase the generation efficiency of photovoltaic technology, mainly for concentration technology, where dual-axis is required on account of the high accurate alignment to the Sun. Even when there exists a strong relation between tracking error and energy efficiency, multiple technological and research developm...

In this article, the trajectory tracking control of a solar tracking system is tackled by means of an adaptive active disturbance rejection control scheme. The state and disturbance estimation system is based on the combination of a time varying identification system and an adaptive observer. The stability and robustness of the controller is mathem...

We explore the incremental flatness based control of single input under-actuated nonlinear Hamiltonian systems exhibiting a controllable tangent linearization model around a given equilibrium point. General properties of controllable linearized Hamiltonian systems are presented, which significantly ease the stabilizing, or output reference trajecto...

In this article, an Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) scheme is applied to the Pendubot system for a trajectory tracking tasks. The tangent linearization of the system allows to implement the control scheme taking advantage of the differential flatness property, while including a cascade configuration....

CPV technology requires more accurate Solar Tracking Systems (STS), with a combined maximum error of ± 0.5° [1]. STS can be classified into systems with open kinematic chain and with closed kinematic chain. The open kinematic chain systems have a low load capacity, higher alignment errors, and a higher torsional stress concentration [2]. There are...

The design of an output-based robust disturbance rejection controller, aimed to solve the state tracking for the articulations of an experimental biped robot, was the main outcome of this study. The robust disturbance rejection controller included an auxiliary hybrid observer entailed to recover the angular velocity for each articulation. The estim...

Los materiales elaborados a partir de aleaciones con memoria de forma (SMA) son clasificados como "materiales inteligentes", pues presentan características como : alta relación fuerza / peso, bajo peso y accionamiento silencioso. El Nitinol es una aleación metálica con una relación de 50% Ni - 50% Ti (NiTi) que se entrena en memoria y forma,la cual...

This paper presents a brief review on the current applications and perspectives on the stability of complex dynamical systems, with an emphasis on three main classes of systems such as delay-free systems, time-delay systems, and systems with uncertainties in its parameters, which lead to some criteria with necessary and/or sufficient conditions to...

In this paper, a delayed control strategy for a class of nonlinear underactuated fourth-order systems is developed. The proposal is based on the implementation of the tangent linearization technique, differential flatness, and a study of the σ-stabilization of the characteristic equation of the closed-loop system. The tangent linearization techniqu...

In this article, the problem of designing Active Disturbance Rejection Control (ADRC) for a class of second-order mechanical systems, expressed with Euler-Lagrange equations, is studied. A specific and practically motivated case is considered here, namely trajectory tracking task without the use of signal time-derivatives in the tracking controller...

This is a Special Issue about advances of Robust Stability of Complex Systems

This paper describes the design and implementation of a robust adaptive bilateral observer based control to solve the trajectory tracking problem for a class of master–slave robotic systems. The output-based bilateral control uses an adaptive observer to estimate the force and the unmeasurable velocity state considering only the master–slave system...

In this article, a highly oscillatory 3 degrees of freedom (DOF) torsional plant is used to demonstrate the effectiveness of the combined differential flatness property and active disturbance rejection control (ADRC) methodology in the output tracking of fast reference trajectory and vibration suppression problems. The controller design is synthesi...

Wireless sensor networks (WSNs) and unmanned aerial vehicles (UAVs) have been used for monitoring animals but when their habitats have difficult access and are areas of a large expanse, remote monitoring by classic techniques becomes a difficult task. The use of traditional WSNs requires a restrictive number of hops in a multi-hoping routing scheme...

In this work, it is proposed a Switched Differential Neural Networks structure (SDNN) to model the human physiological response in a virtual stimuli scenario. Two physiological variables are assessed: electrocardiography and electrodermal activity, which provide a reflex response after stimuli. The proposed approach is focused on the representation...

In this article, the analysis and implementation of an alternative Flat Filtering Control for a class of partially known fourth order flat systems is given. The Flat filtering control uses the cascade property of the system, which leads to a simplified control design in which high order time derivatives are algebraically simplified in terms of low...

Data gathering through wireless sensor networks (WSNs) has been used for the monitoring of endangered species. However, when it comes to animals that live in difficult access environments with large areas, where human access is extremely difficult, such as in polar regions, remote monitoring by traditional methods becomes complicated and even ineff...

In the present work, the design of a high-precision luminosity sensor (HPLS) is shown. On sunny and clear days, the design allows the sun position to be determined with 99.7% accuracy; in the presence of clouds (partly sunny or cloudy conditions), the most clear area, which represents the area with the greatest amount of direct solar radiation at t...

The aim of this study is to design and implement a virtual reality bicycle system based on a functionalbased mechatronic design approach. The development of virtual reality technologies with haptic systems demands a proper integration of the involved disciplines to provide immerse experiences for users. The proposed design approach provides a forma...

This paper presents a control algorithm for the taking off and landing manoeuvres of a quadrotor aircraft in open navigation environments. For this purpose, a combination of controllers based on nested saturations and a generalised proportional integral (GPI) controller is used. The first controller limits both the angular positions and angular vel...

The aim of this study is to propose the output controller to solve the execution of the gait sequence for Gecko Bio-inspired Robotic Devices (GBRDs). The Twisting Controller (TC) serves as basis of the tracking trajectory designed algorithm. The TC uses both the tracking error and its estimated derivative, which is calculated by a set of distribute...

The problem of robust control applied to adjust the configuration of an ankle prosthesis based on disturbance estimation has been addressed in this study. Active disturbance rejection control was the paradigm used for controlling the robotic prosthesis by means of a direct active estimation. Based on this active estimation, the robust controller im...

This paper proposes a methodology for optimizing a class of robotic solar tracking systems with two degrees of freedom using a heuristic approach. The proposal allows a balance to be found between the energy consumption and tracking accuracy in the tracking system. The main purpose is the behavior modification of the system through the combination...

This article summarizes the comprehensive design of an adaptive control that solves the trajectory tracking of a four-rotor unmanned aerial vehicle supplied by an own-designed grasping device. The controller design uses the regular proportional–derivative (PD)structure which is common to solve regulation, as well as tracking problems for robotic sy...

In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control sche...

A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearizatio...

The aim of this study was to design an output-based automatic controller that solves the trajectory tracking of a tomographic image acquisition robotic system. The technique used to design the controller was the active disturbance rejection control. The design process included the adaptation of controller gains depending on the tracking error. The...

In this paper, an adaptive disturbance estimation-based control of a class of uncertain feedback linearizable systems with the presence of, both, external perturbations as well as non-modeled dynamics is considered. The aim of the control design was to solve the tracking trajectory problem for a class of output-based linearizable uncertain systems....

The book contains theoretical and practical aspects of ADRC in the context of differentially flat systems. Relations are established with Generalized Proportional Integral control based on Integral Reconstructors of phase variables and with Sliding Mode Control. Numerous laboratroy application examples are included throughout the book, complemented...

The new energy generation technologies that transform the solar energy, require a high accuracy for the tracking of the solar vector path, which increases the system energy consumption and reduces the entire system performance. From an optimization approach, a novel design strategy for low-power trackers is proposed, which consists of two main stag...

This article deals with the control of a class of robotic systems with constant input time delay through the Active Disturbance Rejection paradigm, by means of Generalized Proportional Integral observers. The system is represented as a linear perturbed system, whose lumped disturbance input is estimated and then compensated by an Extended State Obs...

In this article, an active solar distiller is designed and implemented. The distiller consists of a Fresnel lens concentrator with an auxiliary photovoltaic energy collector, which supplies an electrical water preheating process. The light concentrator and the photovoltaic system are oriented through a three-degree-of-freedom robotic system, achiev...

In this article, it is presented the design and construction of an autonomous Simultaneous Localization and Mapping embedded system by means of a visual sensor and a mobile robotic system, which are controlled via a modular environment. The complete system is driven by an embedded system. The information and communication of each module is handled...

Due to the nature of the equilibrium point, located at the origin of the state space, the incremental variables coincide with the actual variables.

An Extended State Observer-based linear output feedback controller is developed for trajectory tracking problems defined on a class of disturbed differentially flat systems. A linear active disturbance rejection control based on a high-gain linear disturbance observer is proposed and implemented on a variety of challenging cases of study. We show t...

For interpretation of the references to color in this and the following figures, the reader is referred to the web version of this chapter.

For interpretation of the references to color in this and the following figures, the reader is referred to the web version of this chapter.

The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner has established the correc...

In the study presented in this paper , the problem of the design and implementation of a two-axis sun tracking system was addressed by applying a set of two robotic systems, one for the automatic orientation of the photovoltaic modules and the second for providing the reference trajectory (robotic sensor). The design methodology was based on mechat...

En este trabajo se presenta el diseño, modelado e implementación de un sistema de levitación magnética de un grado de libertad, que consiste en una viga actuada por un cojinete magnético activo en configuración pendular. Se obtiene su representación en espacio de estado y, tras una linealización tangente, su función de transferencia correspondiente...

This paper presents the development of a hybrid model that describes the temperature, elongation and inner force relationships in a spring Shape Memory Alloy (SMA) actuator. The temperature-inner force relationship obeys a hybrid structure in which a sigmoid function correlates the variation of temperature for the SMA and the force executed by the...

This paper presents a linear robust output reference trajectory tracking controller, addressed here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we illustrate the controller's performance, via digital computer simulations and, also, via laboratory experiments, carried out on a single link-direct current (DC...

The present work shows the design and implementation of a position control by artificial vision for the focus system of a desalination robot by solar distillation, in order to provide conditions of operation, safety and monitoring to carry out the process Of distillation. In such a way that the limits of displacement and the position of the contain...

Dynamic modelling and control of a solar tracker with two axes, the tracking strategy employs a Cooper's algorithm, and the control strategy is a computed control torque. The proposed simulation considers the integration between a virtual 3D model and a control simulation evironment.

The article deals with the design and implementation of a flat filter tracking digital controller for a boost dc-dc power converter. A highly perturbed switched boost converter circuit is shown to be efficiently controlled, in a trajectory tracking task for its non-minimum phase output, by means of a suitable linear filter, here addressed as a flat...

In this article, a systematic procedure for controller design is proposed for a class of nonlinear under-actuated systems which are non feedback linearizable but exhibit a con-trollable (flat) tangent linearization around an equilibrium point. Linear Extended State Observer (LESO) based Active Disturbance Rejection Control (ADRC) is shown to allow...

This study addressed the problem of robust control of a biped robot based on disturbance estimation. Active disturbance rejection control was the paradigm used for controlling the biped robot by direct active estimation. A robust controller was developed to implement disturbance cancelation based on a linear extended state observer of high gain cla...

This paper is concerned with the design and experimental assessment of, both, feedback linearization and sliding mode control techniques to the tracking trajectory problem of a flexible-joint robotic arm for a smooth rest to rest maneuver. The robust improvement of these controllers is analyzed by means of additional integral compensation, in which...

Sequential processes appear naturally in all types of industries. Biotechnology is a good example of such schemes. Wastewater treatment using microbiological activity is a particular case having all the characteristics of sequential methods. Sulfate reduction as pre-treatment followed by the decomposition of sulfated compounds using adapted microor...

This paper describes the adaptive control design to solve the trajectory tracking problem of a Delta robot with uncertain dynamical model. This robot is a fully actuated, parallel closed-chain device. The output-based adaptive control was designed within the active disturbance rejection framework. An adaptive nonparametric representation for the un...

Global ultra-models are introduced as a paradigm for vastly simplifying the design of observer-based linear output feedback control laws in output trajectory tracking problems for a large class of uncertain nonlinear flat systems. An ultra-model simply lumps, as an unknown time-varying disturbance, the combined effects of all uncertain state-depend...

In this article, a multivariable control design scheme is proposed for the reference trajectory tracking task in a kinematic model of a mobile robot. The control scheme leads to time-varying linear controllers accomplishing the reference trajectory tracking task. The proposed controller design is crucially based on the flatness property of the syst...

In this article, the problem of robust trajectory tracking, for a parallel robot is tackled via an observer-based active disturbance rejection controller. The proposed design method is based on purely linear disturbance observation and linear feedback control techniques modulo nonlinear input gain injections and cancellations. The estimations are c...

An electromioghraphic driven ankle prosthesis was built in this study. The artificial ankle movement was enforced using an output based automatic robust control algorithm which used the information given by a set of electromyographic and electro-goniometric sensors. The prosthesis controller was complemented with a finite state machine which was us...