Samuel Gomez-Peñate

Tecnológico Nacional de México/Instituto Tecnológico Tuxtla Gutiérrez

In this paper, a simultaneous estimation of states and multiplicative faults on actuators is considered based on Takagi – Sugeno observer with unmeasurable premise variables. Observer design is derived of matrix linear inequalities deduced by method Lyapunov and a $H_infty$ performance criterion to minimize the effect of perturbation and uncertaint...

This paper is dedicated to the modeling and control for a hexarotor-type unmanned aerial vehicle based in a convex rewrite that it is represents exactly the nonlinear model of the hexarotor. Then, the controller design is considered a parallel-distributed compensation control law to stabilitze of the vehicle and a H∞ performance criterion to agurat...

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...

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 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 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 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...

A sensor fault diagnosis of an electric vehicle (EV) modeled as a Takagi-Sugeno (TS) system is proposed. The proposed TS model considers the nonlinearity of the longitudinal velocity of the vehicle and parametric variation induced by the slope of the road; these considerations allow to obtain a mathematical model that represents the vehicle for a w...

Resumen: En este trabajo se desarrolla el diseño de un observador de estado para un vehículo eléctrico (VE) representado por un modelo Takagi-Sugeno (TS). El modelo TS propuesto considera la no linealidad de la velocidad del vehículo y variación paramétrica inducida por la pendiente del terreno; esta consideración permite obtener un modelo matemáti...