Guillermo Valencia-Palomo

Instituto Tecnológico de Hermosillo (ITH) · Graduate Studies and Research Division

Wind turbines have become one of the essential sources of energy generation due to their contribution to energy security, economic development, job creation, and technological innovation. This work proposes a methodology for designing robust fault diagnosis systems based on a bank of zonotopic state estimators built upon Takagi–Sugeno (TS) models....

This work proposes a method for fault diagnosis based on Takagi Sugeno (TS) observers and convex models identified with a multioutput adaptive neuro-fuzzy inference system (MANFIS) derived from structural analysis. A bank of zonotopic TS observers is implemented to detect sensors and actuators faults. Unlike other works that require data from fault...

This paper presents a fault detection and estimation method based on a proportional-integral observer applied to a three-degree-of-freedom mechanical crane. Faults are common in this system and can provoke oscillations that generate a loss of performance and stability. A convex linear parameter varying approach is proposed to stabilize the crane an...

A robust observer-based leader-following consensus control for linear multi-agent systems subject to external disturbance and measurement noise is developed. The \(H_\infty \) criterion is implemented to guarantee stability and robustness of the synchronization error and estimation error through the Lyapunov approach. A set of linear matrix inequal...

Control systems have become a critical component in the advancement of many engineering and science fields [...]

This article develops a hybrid approach to fault detection and isolation (FDI) based on a machine learning technique and quasi-Linear Parameter Varying (qLPV) zonotopic observers. First, the dynamical model of a wind turbine is identified using an adaptive network-based fuzzy inference system (ANFIS), which results in a set of qLPV polytopic models...

High confidence in disparity map estimation is critical in several application fields. A novel framework that employs customized local binary patterns and Jaccard distance for stereo matching along stereo consistency checks is presented. The proposal contributes with a method that allows greater confidence in its estimates, without dependence on su...

Locating leaks in water distribution networks is vital in drinking water management. This chapter presents a method for leak localization using pressure measurements modified by a nonlinear transformation related to direction cosines in the pressure space. Direction cosines are used as input variables in classifiers that locate leaks by associating...

In this paper, the autonomous trajectory-tracking problem for an Unmanned Aerial Vehicle (UAV) based on Sliding Mode Control (SMC) algorithms is treated. The control system is implemented in real-time to stabilize a commercial AR.Drone 2.0 quadrotor using monocular vision. The under-actuated mathematical model is based on the Newton-Euler formulati...

This work presents the instrumentation, modeling, and parameterization of an electric vehicle used for public transport. The aim is to characterize the mathematical model for its application in control systems design. A system identification technique based on a gray box approach is used to estimate specific parameters of the longitudinal model tha...

Wind turbine power generation is becoming one of the most critical renewable energy sources. As wind power grows, there is a need for better monitoring and diagnostic strategies to maximize energy production and increase its security. In this paper, a fault diagnosis approach based on a data-driven technique, which represents the system behavior em...

This paper presents a control strategy for plasma glucose regulation in the presence of input with unknown time delay (constant or variable) and meal disturbances in the system. The control scheme proposed is an observer-based state feedback controller. The observer achieves to estimate the state vector even if the control input in the system prese...

This paper presents a control strategy for plasma glucose regulation in the presence of input with unknown time delay (constant or variable) and meal disturbances in the system. The control scheme proposed is an observer-based state feedback controller. The observer achieves to estimate the state vector even if the control input in the system prese...

This paper develops a robust observer for a class of linear systems subject to unknown signals, uncertainties, and disturbance output measurements for building structure systems. The highlight of the proposed observer is that it mitigates the adverse effects present in physical systems as it happens with the structural systems of buildings. The pro...

This work proposes a model predictive control (MPC) strategy for pressure management and leakage reduction in a water distribution system (WDS). Unlike most of the reported models that mainly consider EPANET-based models, the proposed method considers its dynamic representation given by ordinary differential equations. The proposed MPC uses a press...

This paper presents an Active Tuned Mass Damper (ATMD) control approach for vibration reduction applied to a one-bay three-story scaled shear frame. The ATMD is composed of a Tuned Mass Damper (TMD) driven by the combined action of a modified Positive Position Feedback (mPPF) control law and a Model Predictive Controller (MPC). The mPPF and the MPC...

This paper presents a fault-tolerant observer-based leader-following control for multi-agent systems subject to actuator faults. The stability of the observer and the controller under actuator faults is proved using the Lyapunov theory. The observer and controller gain matrices solution is expressed by means of linear matrix inequalities. The effec...

The prime aim of this paper is to synthesize a novel disturbance observer based on a cascade structure for a class of Lipschitz nonlinear systems with model uncertainties and output measurements corrupted by external disturbances and multiple time-varying delays. The proposed observation scheme is comprised of a cascade of state observers, where ev...

This paper presents a method for optimal pressure sensor placement in water distribution networks using information theory. The criterion for selecting the network nodes where to place the pressure sensors was that they provide the most useful information for locating leaks in the network. Considering that the node pressures measured by the sensors...

Nowadays, reducing energy consumption is the fastest way to reduce the use of fossil fuels and, therefore, greenhouse gas emissions. Heating, Ventilation, and Air Conditioning (HVAC) systems are used to maintain an indoor environment in comfortable conditions for its occupants. The combination of these two factors, energy efficiency and comfort, is...

Abstract: Nowadays, reducing energy consumption is the fastest way to reduce the use of fossil fuels and, therefore, greenhouse gas emissions. Heating, Ventilation, and Air Conditioning (HVAC) systems are used to maintain an indoor environment in comfortable conditions for its occupants. The combination of these two factors, energy efficiency and c...

This paper proposes a model predictive control strategy to optimize the management and reduce water losses due to leaks in water distribution systems (WDS). First, the mathematical model of the pipeline is presented. The model includes a possible leak and a pressure-reducing valve (PRV), which is considered the actuator of the system. Second, to de...

Resumen. Two cooperative control schemes are developed in this work, one for position and the other for trajectory tracking to move a rigid object using two differential robots. First, the kinematic model of the differential robots and the cooperative model are obtained. Second, a cascade control algorithm is developed to ensure that the robots rea...

This paper proposes a pressure management method for water distribution systems considering the mathematical model under the water hammer equations. Two water systems are analyzed: a simple pipeline and a hydraulic network with two branches. A Pressure Reducing Valve (PRV) is modeled together with the dynamical model for controlling the pressure. T...

In this paper, the development of passivity‐based control (PBC) algorithms to stabilize an unmanned powered parachute aerial vehicle is presented. The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian function of the system and guarantee the parachute...

This paper presents a methodology to solve the problem of robustification of Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) scheme for the case of under-actuated systems with inertia matrix dependent of the unactuated coordinates. Specifically, we analyze the robustness of the IDA-PBC strategy with respect to constant exte...

In this paper, a new filtered observer-based IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) strategy is developed for trajectory tracking of a quadrotor in the presence of disturbances and model uncertainties. The proposed algorithm allows the control of the quadrotor in all its states. It can deal with the noisy output me...

This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and...

This work proposes a proportional-integral fault estimation observer for nonlinear systems by means of convex structures. Unlike the traditional approaches that consider quadratic Lyapunov functions, this work employs nonquadratic ones. As a result, less conservative conditions in the form of linear matrix inequalities are obtained. Furthermore, an...

Este trabajo propone un esquema de detección y localización de fallas en los actuadores de un vehículo aéreo no tripulado (VANT) del tipo cuadrirrotor. Para ello, se considera un enfoque basado en datos haciendo uso de técnicas de aprendizaje de máquina. En este enfoque se construye un modelo implícito del sistema a través de la información proporc...

Este trabajo presenta un control P D basado en un observador de entrada desconocida para controlar el desplazamiento de una estructura tipo edificio. El sistema en lazo cerrado se basa en un control proporcional-derivativo, con el objetivo de reducir los efectos producidos por señales inciertas y mantener el mínimo de desplazamiento. La señal de en...

The present work addresses the estimation of two interrelated parameters of the fluid flow in pipes. First, a numerical and experimental evaluation of some proposed methods to compute the friction factor in turbulent regime is presented. Special attention is given to an explicit solution obtained through the Lambert W-function. Subsequently, a meth...

Resumen: En este artículo se desarrolla principalmente el modelo dinámico y el planteamiento de un control convexo de un sistema mecánico tipo grúa aérea de tres grados de libertad constituido por un carro sobre una plataforma horizontal y un péndulo. El enfoque y derivación matemática del modelo no lineal está basado en la formulación de Euler-Lag...

This article proposes an approach for the estimation of states, actuator, and sensor faults in nonlinear systems represented by a polytopic linear parameter varying (LPV) system with inexact scheduling parameters. In the traditional LPV approaches, the scheduling variables are considered to be perfectly known. However, in practical applications, th...

This paper provides a novel chain observer for a class of Lipschitz nonlinear systems where the nonlinear measured outputs are corrupted by multiple time‐varying long delays. The main contribution is to synthesize a chain observer for a wider class of Lipschitz nonlinear systems with multiple outputs (described by Lipschitz nonlinear functions) wit...

Control-systems engineering is a multidisciplinary subject that applies automatic-control theory to design systems with desired behaviors in control environments [...]

Two novel nonlinear control schemes for Unmanned Aerial Vehicles (UAV) carrying a load and their comparative results are presented in this paper. The goal is to carry the load to a desired position, with oscillation attenuation along the trajectory. The proposed control structures are hierarchical schemes consisting of nonlinear controllers to stab...

Leakages in pipelines affect the reliability of fluid transport systems causing environmental damages, economic losses, and pressure reduction at the delivery points. Therefore, this paper presents a methodology to detect and locate water leaks in pipelines by using artificial neural networks (ANN) techniques and online measurements of pressure and...

This paper presents a new approach of the continuous‐discrete observer design for a class of uncertain state‐affine non‐linear systems. A high‐gain observer redesign is developed and analysed under insightful conditions. The proposed observer estimates the state vector by using system output measurements with long sampling times. This result is ach...

In this work, a full-state observer is presented for non-uniform observable nonlinear systems in presence of uncertainties and delayed output. The observer has a cascade structure, which is based on a high-gain observer that estimates the delayed state. Subsequently, the cascade structure has m subsystems, each one estimating a part of the total de...

This paper presents a proposal to estimate simultaneously, through nonlinear optimization, the roughness and head loss coefficients in a non-straight pipeline. With the proposed technique, the calculation of friction is optimized by minimizing the fitting error in the Colebrook–White equation for an operating interval of the pipeline from the flow...

This paper proposes a methodology for observer-based fault estimation of leader-following linear multi-agent systems subject to actuator faults. First, a proportional-integral distributed fault estimation observer is developed to estimate both actuator faults and states of each follower agent by considering directed and undirected graph topologies....

The main aim of this paper is to propose a robust fault-tolerant control for a three degree of freedom (DOF) mechanical crane by using a convex quasi-Linear Parameter Varying (qLPV) approach for modeling the crane and a passive fault-tolerant scheme. The control objective is to minimize the load oscillations while the desired path is tracked. The c...

This paper presents a decentralized model predictive controller for nonlinear systems that considers interaction between controlinputs. The controller is based on a centralized robust tube-based nonlinear model predictive controller. The main contribution isa procedure to split the process model intossubsystems in order to constructsrobust tube-bas...

Mathematical optimization is the selection of the best element in a set with respect to a given criterion.[...]

Unmanned aerial vehicles (UAVs) are small aircraft that fly without a pilot, either operated remotely by a human being or autonomously. Autonomous UAVs are controlled by an on-board computer (electronic card) that is programmed to perform one or more specific tasks.

Este trabajo propone el diseño de un sistema de aterrizaje de emergencia de un vehículo aéreo no tripulado de tipo cuadrirrotor ante fallas en los rotores o las hélices. El control del vehículo se realiza mediante un regulador lineal cuadrático (LQR) el cual está acoplado a un sistema de detección y localización de fallas basado en observadores de...

This paper presents the control of a quadrotor with a cable-suspended payload. The proposed control structure is a hierarchical scheme consisting of an energy-based control (EBC) to stabilize the vehicle translational dynamics and to attenuate the payload oscillation, together with a nonlinear state feedback controller based on an linear matrix ine...

This paper presents a method for actuator and sensor fault estimation based on a proportional-integral observer (PIO) for a class of nonlinear system described by a polytopic quasi-linear parameter varying (qLPV) mathematical model. Contrarily to the traditional approach, which considers measurable or unmeasurable scheduling parameters, this work p...

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 equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have...

Resumen: En este artículo se propone una metodología para la detección de fallas en los actuadores de un Vehículo Aéreo No Tripulado (VANT) del tipo cuatrirrotor. El enfoque propuesto se basa en la técnica de Análisis en Componentes Principales (PCA). Con este método se extraen datos de velocidades angulares en los tres ejes de rotación considerand...

This paper investigates the use of the 3-phase induction motor as actuator for driving the task space synchronization of robot manipulators. The dynamic models of the induction motor and robot manipulator are combined to set up a single system called IM-Robot. A Lyapunov-based control law is designed to synchronize the end-effector pose of the mast...

This paper presents the design of a fault detection and diagnosis system for a quadrotor unmanned aerial vehicle under partial or total actuator fault. In order to control the quadrotor, the dynamic system is divided in two subsystems driven by the translational and the rotational dynamics, where the rotational subsystem is based on a linear parame...

This paper proposes a methodology to design a robust observer for Takagi-Sugeno descriptor (TS-D) systems with unmeasurable premise variables and its application to sensor fault detection and isolation. A robust H∞ approach is considered to minimize the effect of uncertainties given by the unmeasurable premise variables, disturbances and sensor noi...

Global warming and climate change effects have been of such impact that several countries around the world are enforcing public policies to mitigate them. Mexico has shown a strong commitment to the environment and rational use of energy, as signed on the General Law for Climate Change (GLCC) and stating, in its second article, the goal of a 30% re...

This paper presents the design of a model predictive controller (MPC) based on Laguerre functions for vibration control. The controller is tested in a building‐like structure consisting on a three‐story building with a passive vibration absorber. The structure is connected to an electromagnetic shaker, which excites the support of the superstructur...

In the design of linear (model) predictive controllers (MPC), tuning plays a very important role. However, there is a problem not yet fully resolved: how to determine the best strategy for the selection of the optimal tuning parameters in order to obtain good performance with a large feasibility region, but maintaining a low computational load of t...

This paper presents the design of a H∞ sliding mode and an unknown input observer for Takagi-Sugeno (TS) systems. Contrary to the common approaches reported in the literature, which considers exact premise variables, this work deals with the problem of inexact measurements of the premise variables. The proposed method is based on a H∞ criteria to b...

This paper presents the development of a distributed optimal model predictive control (DOMPC) applied to a quadruple tank system. The DOMPC is based on an optimal model predictive control (OMPC) approach. In order to distribute the control laws, the DOMPC divide the controller in s local controllers. The local controllers are communicated by a loca...

This Special Issue provides a forum for high-quality peer-reviewed papers that broaden the awareness and understanding of advanced optimization techniques and their applications in control engineering. This topic encompasses many algorithms and process flows and tools, including: optimal control of nonlinear systems; optimal control of complex syst...

This work presents the modeling and simulation of a hydraulic network with four nodes and two branches that form a two-level water distribution system. It also proposes a distribution of hydraulic valves that allows emulating a leak using a valve and different network configurations, e.g., simple ducts, closed networks and branched networks. The ne...

Este trabajo presenta el modelado y la simulación de una red hidráulica con cuatro nodos y dos ramificaciones que forman un sistema de distribución de agua de dos niveles. Se propone una distribución de válvulas hidráulicas que permite reconfigurar la red para el desarrollo de algoritmos en ductos simples, en redes cerradas y en redes ramificadas....

In this paper, a data-driven system based on PCA is described to detect and quantify fluid leaks in an experimental pipeline. A dynamic PCA implementation (DPCA) was used to capture the process dynamics because the system variables are time-correlated. To detect leaks online, the Hotelling's T2 statistic and the squared prediction error (SPE) were...