Listar Publicaciones Científicas Control y Sistemas Dinámicos por autor "Zavala Río, Arturo"
Mostrando ítems 1-20 de 50
-
A bounded positive nonlinear PI controller for double-pipe heat exchangers
Zavala Río, Arturo; Astorga Zaragoza, Carlos Manuel; Adam Medina, Manuel; Brizuela Mendoza, Jorge Aurelio; Hernández González, Omar (2012)"In this work, temperature regulation of double-pipe heat exchangers is considered. The positive (unidirectional) and bounded features of the flow rate input variable are taken into account in the analysis. As a result, a ... -
A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
Mendoza Gutiérrez, Marco Octavio; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (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 ... -
A generalized design methodology for the output feedback regulation of a special type of systems with bounded inputs
Zavala Río, Arturo; Aguilera González, Adriana; Martínez Sibaja, Albino; Astorga Zaragoza, Carlos Manuel; Adam Medina, Manuel (2013)"In this work, a generalized design scheme for the output feedback regulation of a special type of systems with bounded inputs is proposed. It gives rise to a simple dynamic controller that guarantees the regulation objective ... -
A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
López Araujo, Daniela Juanita; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (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 ... -
A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs
López Araujo, Daniela Juanita; Zavala Río, Arturo; Santibáñez, Víctor; Reyes Cortés, José Fernando (2013)"In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity ... -
A global continuous control scheme with desired conservative-force compensation for the finite-time and exponential regulation of bounded-input mechanical systems
Zamora Gómez, Griselda Ivone; Zavala Río, Arturo; López Araujo, Daniela Juanita; Santibáñez, Víctor; 000 (IEEE, 2018)"Global continuous control for the finite-time or (local) exponential stabilization of mechanical systems with bounded inputs is achieved involving desired conservative-force compensation. With respect to the on-line ... -
A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs
Santibáñez, Víctor; Zavala Río, Arturo (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 control of robot manipulators with bounded inputs.
López Araujo, Daniela Juanita (2013)"La tesis se enfoca en el diseño de leyes de control adaptables para robots manipuladores que consideran la naturaleza acotada de los actuadores. Se proponen esquemas generalizados para regulaci on y seguimiento globales ... -
Adaptive observers with persistency of excitation for synchronization of chaotic aystems
Loría, Antonio; Panteley, Elena; Zavala Río, Arturo; 000 (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 ... -
Adaptive tracking control of chaotic systems with applications to synchronization
Loría, Antonio; Zavala Río, Arturo (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 ... -
Adaptive tracking control of Euler-Lagrange systems with bounded controls
López Araujo, Daniela Juanita; Loría, Antonio; Zavala Río, Arturo (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 ... -
An analytical study of the logarithmic mean temperature difference
Zavala Río, Arturo; Femat Flores, Alejandro Ricardo; Santiesteban Cos, Raúl (2005)"La media logarítmica de diferencia de temperaturas (LMTD, por sus siglas en inglés) ha causado inconveniencias en diversas aplicaciones tales como ciertos programas de simulación de procesos. Su forma indeterminada es una ... -
An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems
Zamora Gómez, Griselda Ivone; Zavala Río, Arturo; López Araujo, Daniela Juanita; Nuño, Emmanuel; Cruz Zavala, Emmanuel (International Federation of Automatic Control, 2018)"A Saturating-Proportional Saturating-Derivative type global continuous control scheme with desired gravity compensation for the finite-time or (local) exponential stabilization of robotic systems with constrained inputs, ... -
An Output-Feedback PID-type Global Regulator for Robot Manipulators with Bounded Inputs
Zavala Río, Arturo; Mendoza Gutiérrez, Marco Octavio; Santibáñez, Víctor; Reyes Cortés, José Fernando (International Federation of Automatic Control, 2015)"An output-feedback PID-type controller for the global stabilization of manipulators with bounded inputs is proposed. It guarantees the global regulation goal preventing input saturation while avoiding the exact knowledge ... -
Bounded positive adaptive control for counterflow heat exchangers
Zavala Río, Arturo; Astorga Zaragoza, Carlos Manuel; Hernández González, Omar (International Federation of Automatic ControlInternational Federation of Automatic Control, 2007)"In this work, we propose an outlet temperature control scheme for counterflow heat exchangers, that takes into account and actually exploits the analytical-stability features inherent to the open-loop dynamics. As a result, ... -
Bounded positive control for double-pipe heat exchangers
Zavala Río, Arturo; Astorga Zaragoza, Carlos Manuel; Hernández González, Omar (2009)"In this work, an outlet temperature control scheme for double-pipe heat exchangers is proposed. Compared to previously proposed approaches, the algorithm developed here takes into account and actually exploits the analytical ... -
Continuous Control for Fully Damped Mechanical Systems With Input Constraints: Finite-Time and Exponential Tracking
Zamora Gómez, Griselda Ivone; Zavala Río, Arturo; López Araujo, Daniela Juanita; Cruz Zavala, Emmanuel; Nuño, Emmanuel (IEEE, 2020)"A motion continuous control scheme for fully damped mechanical systems with constrained inputs is proposed. It gives the freedom to choose among finite-time and (local) exponential convergence through a simple design ... -
Control de movimiento de Robots Manipuladores con entradas acotadas.
Aguiñaga Ruiz, Emeterio (2006)"El presente trabajo abarca tres enfoques alternativos para el seguimiento (semi) global de trayectorio para robots manipuladores considerando acotamiento en la entrada, a través de extensiones simples de la ley de control ... -
Control tolerante a fallas activo: estimación y acomodación de fallas en sensores aplicado al modelo LPV de una bicicleta sin conductor
Brizuela Mendoza, Jorge Aurelio; Astorga Zaragoza, Carlos Manuel; Zavala Río, Arturo; Canales Abarca, Francisco (2016-06)"Se presenta el diseño de un control tolerante a fallas (CTF) activo aplicado al modelo de una bicicleta sin conductor con representación Lineal de Parámetros Variables en el tiempo (LPV) polinomial, afectado por fallas ... -
Distributed integral control of multiple UAVs: precise flocking and navigation
Saif, Osamah; Fantoni, Isabelle; Zavala Río, Arturo (The Institution of Engineering and Technology, 2019)"The authors interest in this work is to perform a precise real-time flocking of multiple unmanned aerial vehicles (UAVs). A consensus-based flocking algorithm that ensures a precise security distance between UAVs is ...