Sebastian Godoy

National University of San Juan | UNSJ

This paper addresses trajectory tracking problem in mobile robots considering additive uncertainties. The controller design method is based on linear algebra theory. Numerical estimation techniques are used to estimate the uncertainty value in each sample time. The controller is calibrated by stochastic way using the Monte Carlo Experiment. In addi...

p>En este trabajo se propone una estrategia de control en lazo cerrado para el seguimiento de perfiles óptimos previamente definidos para un bioproceso fed-batch. La mayor ventaja de este enfoque es que las acciones de control se calculan resolviendo un sistema de ecuaciones lineales, sin tener que linealizar el modelo matemático, lo que permite tr...

This paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expan...

Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined to optimize the protein production in a fed-batch fermenter. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal co...

Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined to optimize the protein production in a fed-batch fermenter. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal co...

This paper presents the design of a controller for trajectory tracking in a boiler-turbine system. It is a MIMO system with state variables strongly coupled. The proposed controller is simple and based on concepts easy to understand. Its design consists in representing the model while using numerical methods, and then the control actions are comput...

In this paper the problem of trajectory tracking considering that the values of the control actions do not exceed the maximum allowable is focused and the zero convergence of tracking errors is demonstrated. A new control law based on the numerical approximation of the mobile robot model is developed. Experimental results are presented and discusse...

This is the implementation of a flow meter for very low flow rates, using a webcam and inverse dynamics controller applied to a system for obtaining activated carbon. Using MatLab ® program and implemented with a PIC microcontroller.

This brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the ${x-y}$ plane. A trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such a model is represented by numerical methods and, from this approach, the control actions fo...

Resumen— En este trabajo se aplica un controlador diseñado originalmente para sistemas robóticos a un sistema de la industria química y biológica, un bio-reactor discontinuo alimentado (fed-batch). La metodología propuesta propone que conociendo de antemano el estado deseado que se quiere alcanzar, se calcula el valor para la acción de control nece...

Resumen: El objetivo del presente estudio es resolver el problema de seguimiento de trayectoria en los buques marinos y permitir que el buque controlado alcance y siga una trayectoria de referencia rápidamente. Este trabajo presenta una nueva metodología para el diseño de control de seguimiento de la trayectoria de los buques marinos. Un controlado...