División de Control y Sistemas Dinámicos: Recent submissions
Now showing items 141-160 of 376
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A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
(2015)"In this paper, a globally stabilising PID-type control scheme with a generalised saturating structure for robot manipulators under input constraints is proposed. It gives rise to various families of bounded PID-type ... -
Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments
(2018)"Global Saturating-Proportional Saturating-Derivative (SP-SD) type continuous control for the finite-time or (local) exponential stabilisation of mechanical systems with bounded inputs is achieved avoiding velocity variables ... -
Multistability in piecewise linear systems versus eigenspectra variation and round function
(2017)"A multistable system generated by Piecewise Linear (PWL) subsystems based on the jerk equation is presented. The system’s behavior is characterized by means of the Nearest Integer or the round(x) function to control the ... -
Analog electronic implementation of a class of hybrid dissipative dynamical system
(2016)"An analog electronic implementation by means of operational amplifiers of a class of hybrid dissipative systems in R3R3 is presented. The switching systems have two unstable hyperbolic focus-saddle equilibria with the ... -
A multivibrator circuit based on chaos generation
(2012)"We present a parameterized method to design multivibrator circuits via piecewise-linear (PWL) chaotic systems, which can exhibit double-scroll oscillations. The circuit is conformed exploiting a parametric modulation that ... -
Adaptive tracking control of Euler-Lagrange systems with bounded controls
(2016)"We solve the simultaneous closed?loop identification and tracking?control problems for fully actuated Euler-Lagrange systems under input constraints. We use a nonlinear adaptive controller reminiscent of computed?torque?type ... -
Hyperchaotic encryption based on multi-scroll piecewise linear systems
(2015)"A hyperchaotic multi-scroll piecewise linear system in R4 is binarized to generate a pseudo-random sequence which encrypt a grayscale image via symmetric-key algorithm. The sequence is analyzed throughout statistical tests ... -
A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
(2015)"In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a ... -
On the controllability of networks with nonidentical linear nodes
(Oxford University Press, 2016)"The controllability of dynamical networks depends on both network structure and node dynamics. For networks of linearly coupled linear dynamical systems the controllability of the network can be determined using the ... -
Opamp-based synthesis of a fractional order switched system
(2016)"The analysis, design and circuit synthesis of a fractional order switched system is presented in this paper. That system is capable of showing chaotic oscillations with a fractional order less than three, i.e., 2.4. The ... -
Output-feedback proportional-integral- derivative-type control with simple tuning for the global regulation of robot manipulators with input constraints
(The Institution of Engineering and Technology, 2015)"An output-feedback proportional-integral-derivative-type control scheme for the global position stabilisation of robot manipulators with bounded inputs is proposed. It guarantees the global regulation objective avoiding ... -
Global trajectory tracking through static feedback for robot manipulators with bounded inputs
(2009)"In this work, two globally stabilizing bounded control schemes for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded ... -
A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs
(2007)"This paper proposes a natural saturating extension of the proportional-derivative (PD) with desired gravity compensation (PDdgc) control law for the global regulation of robot manipulators with bounded inputs. Compared ... -
Adaptive observers with persistency of excitation for synchronization of chaotic aystems
(2009)"We address the problem of master-slave synchronization of chaotic systems under parameter uncertainty and with partial measurements. Our approach is based on observer-design theory hence, we view the master dynamics as a ... -
Global finite-time stability characterized through a local notion of homogeneity
(2014)"In this work, a notion of local homogeneity is formally defined. Important results involving homogeneous functions or vector fields are reformulated in the consequent local context. In particular, global finite-time ... -
Adaptive tracking control of chaotic systems with applications to synchronization
(2007)"We address the problem of controlled synchronization of a class of uncertain chaotic systems. Our approach follows techniques of adaptive tracking control and identification of dynamic systems from recent developments of ... -
A family of hyperchaotic multi-scroll attractors in Rn
(2014)"In this work, we present a mechanism how to yield a family of hyperchaotic multi-scroll systems in based on unstable dissipative systems. This class of systems is constructed by a switching control law changing the ... -
Instrumentation of a bicycle without driver for experimental testing of automatic control
(2016)"In this paper, the instrumentation of a riderless bicycle prototype for control purposes is addressed. The proposed instrumentation is based on the mathematical model of a bicycle, in which the dynamical variables correspond ... -
Output-feedback global continuous finite-time and exponential stabilization of bounded-input mechanical systems
(2017)"This work proposes an output-feedback global continuous controller for the finite-time or (local) exponential stabilization of bounded-input mechanical systems. The control design is carried out within the analytical ... -
Chua´s circuit and its characterization as a filter
(2014)"This article deals with Chuaʼs circuit characterization from the point of view of a filter based on the concept of piecewise linear functions. Furthermore, experiments are developed for teaching electronic systems that ...