Fernando Serrano | Florida International University (original) (raw)

Papers by Fernando Serrano

Research paper thumbnail of Adaptive Sliding Mode Control of the Furuta Pendulum

Studies in Computational Intelligence, 2014

ABSTRACT In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed.... more ABSTRACT In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The Furuta pendulum is a class of underactuated mechanical systems commonly used in many control systems laboratories due to its complex stabilization which allows the analysis and design of different nonlinear and multivariable controllers that are useful in some fields such as aerospace and robotics. Sliding mode control has been extensively used in the control of mechanical systems as an alternative to other nonlinear control strategies such as backstepping, passivity based control etc. The design and implementation of an adaptive sliding mode controller for this kind of system is explained in this chapter, along with other sliding mode controller variations such as second order sliding mode (SOSMC) and PD plus sliding mode control (PD TeX SMC) in order to compare their performance under different system conditions. These control techniques are developed using the Lyapunov stability theorem and the variable structure design procedure to obtain asymptotically stable system trajectories. In this chapter the adaptive sliding mode consist of a sliding mode control law with an adaptive gain that makes the controller more flexible and reliable than other sliding mode control (SMC) algorithms and nonlinear control strategies. The adaptive sliding mode control (ASMC) of the Furuta pendulum, and the other SMC strategies shown in this chapter, are derived according to the Furuta’s pendulum dynamic equations making the sliding variables, position errors and velocity errors reach the zero value in a specified reaching time. The main reason of deriving two well known sliding mode control strategy apart from the proposed control strategy of this chapter (adaptive sliding mode control) is for comparison purposes and to evince the advantages and disadvantages of adaptive sliding mode control over other sliding mode control strategies for the stabilization of the Furuta pendulum. A chattering analysis of the three SMC variations is done, to examine the response of the system, and to test the performance of the ASMC in comparison with the other control strategies explained in this chapter.

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Research paper thumbnail of Deadbeat Control for Multivariable Discrete Time Systems with Time Varying Delays

Studies in Computational Intelligence, 2014

ABSTRACT In this chapter a novel approach for the deadbeat control of multivariable discrete time... more ABSTRACT In this chapter a novel approach for the deadbeat control of multivariable discrete time systems is proposed. Deadbeat control is a well known technique that has been implemented during the last decades in SISO and MIMO discrete time systems due to the ripple free characteristics and the designer selection of the output response. Deadbeat control consist in establishing the minimum number of steps in which the desired output response must be reached, this objective is achieved by placing the appropriate number of closed loop poles at the origin and cancelling the transmission zeros of the system. On the other side, constant time delays in the state or the input of the system is a phenomena found in many continuous and discrete time systems, produced by delays in the communication channels or other kind of sources, yielding unwanted effects on the systems like performance deterioration, or instability on the system. Even when the analysis and design of appropriate controllers with constant time delays in the state or the input has been studied by several researchers applying several control techniques such as state and output feedback, in this chapter the development of a deadbeat control for discrete time systems with constant delays is explained as a preamble of the main topic of this chapter related to the deadbeat control of discrete time systems with time varying delays. This first approach is derived by implementing a state feedback controller, and in opposition of the implementation of traditional techniques such as optimal control where a stable gain is obtained by solving the required Riccati equations, the deadbeat controller is obtained by selecting the appropriate gain matrix solving the necessary LMI’s placing the required number of poles at the origin and eliminating the finite transmission zeros of the system in order to obtain the required deadbeat characteristics in which the desired system response is reached in minimun time steps. After this overview, deadbeat controllers are designed considering the time varying delays, following a similar approach such as the constant time delay counterpart. In order to obtain an appropriate deadbeat controller, a state feedback controller gain is obtained by solving the required LMI’s, placing the required poles in order to obtain the desired response cancelling the finite transmission zeros. The theoretical background is tested by several illustrative examples and finally the discussion and conclusions of this work are shown in the end of this chapter.

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Research paper thumbnail of Stabilization and Control of Mechanical Systems with Backlash

Handbook of Research on Advanced Intelligent Control Engineering and Automation

Backlash is one of several discontinuities found in different kinds of systems; it can be found i... more Backlash is one of several discontinuities found in different kinds of systems; it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. In this chapter, three different control approaches are derived to stabilize mechanical systems in which this phenomenon is present in the actuators of the system. First, an independent joint control approach when backlash is found in the actuators is derived; then a PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Finally, an optimal controller for mechanical systems with backlash is derived, obtaining the optimal control law and oscillations frequency when this nonlinearity is found implementing a describing function to model the backlash effects.

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Research paper thumbnail of Design and Modeling of Anti Wind Up PID Controllers

Studies in Fuzziness and Soft Computing, 2014

ABSTRACT In this chapter several anti windup control strategies for SISO and MIMO systems are pro... more ABSTRACT In this chapter several anti windup control strategies for SISO and MIMO systems are proposed to diminish or eliminate the unwanted effects produced by this phenomena, when it occurs in PI or PID controllers. Windup is a phenomena found in PI and PID controllers due to the increase in the integral action when the input of the system is saturated according to the actuator limits. As it is known, the actuators have physical limits, for this reason, the input of the controller must be saturated in order to avoid damages. When a PI or PID controller saturates, the integral part of the controller increases its magnitude producing performance deterioration or even instability. In this chapter several anti windup controllers are proposed to eliminate the effects yielded by this phenomena. The first part of the chapter is devoted to explain classical anti windup architectures implemented in SISO and MIMO systems. Then in the second part of the chapter, the development of an anti windup controller for SISO systems is shown based on the approximation of the saturation model. The derivation of PID SISO (single input single output) anti windup controllers for continuous and discrete time systems is implemented adding an anti windup compensator in the feedback loop, so the unwanted effects are eliminated and the system performance is improved. Some illustrative examples are shown to test and compare the performance of the proposed techniques. In the third part of this chapter, the derivation of a suitable anti windup PID control architecture is shown for MIMO (multiple input multiple output) continuous and discrete time systems. These strategies consist in finding the controller parameters by static output feedback (SOF) solving the necessary linear matrix inequalities (LMI’s) by an appropriate anti windup control scheme. In order to obtain the control gains and parameters, the saturation is modeled with describing functions for the continuous time case and a suitable model to deal with this nonlinearity in the discrete time case. Finally a discussion and conclusions sections are shown in this chapter to analyze the advantages and other characteristics of the proposed control algorithms explained in this work.

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Research paper thumbnail of Robust IMC–PID tuning for cascade control systems with gain and phase margin specifications

Neural Computing and Applications, 2014

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Research paper thumbnail of Stabilization of Port Hamiltonian Chaotic Systems with Hidden Attractors by Adaptive Terminal Sliding Mode Control

Entropy, 2020

In this study, the design of an adaptive terminal sliding mode controller for the stabilization o... more In this study, the design of an adaptive terminal sliding mode controller for the stabilization of port Hamiltonian chaotic systems with hidden attractors is proposed. This study begins with the design methodology of a chaotic oscillator with a hidden attractor implementing the topological framework for its respective design. With this technique it is possible to design a 2-D chaotic oscillator, which is then converted into port-Hamiltonia to track and analyze these models for the stabilization of the hidden chaotic attractors created by this analysis. Adaptive terminal sliding mode controllers (ATSMC) are built when a Hamiltonian system has a chaotic behavior and a hidden attractor is detected. A Lyapunov approach is used to formulate the adaptive device controller by creating a control law and the adaptive law, which are used online to make the system states stable while at the same time suppressing its chaotic behavior. The empirical tests obtaining the discussion and conclusions...

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Research paper thumbnail of COMPLETE KINEMATIC ANALYSIS OF THE STEWART-GOUGH PLATFORM BY UNIT QUATERNIONS

Mechanics and Control

In this paper, a complete analysis of Stewart-Gough platform kinematics by unit quaternions is pr... more In this paper, a complete analysis of Stewart-Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart-Gough platform is shown. The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditions.

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Research paper thumbnail of HYBRID PASSIVITY BASED AND FUZZY TYPE-2 CONTROLLER FOR CHAOTIC AND HYPER-CHAOTIC SYSTEMS

Acta Mechanica et Automatica, 2016

In this paper a hybrid passivity based and fuzzy type-2 controller for chaotic and hyper-chaotic ... more In this paper a hybrid passivity based and fuzzy type-2 controller for chaotic and hyper-chaotic systems is presented. The proposed control strategy is an appropriate choice to be implemented for the stabilization of chaotic and hyper-chaotic systems due to the energy considerations of the passivity based controller and the flexibility and capability of the fuzzy type-2 controller to deal with uncertainties. As it is known, chaotic systems are those kinds of systems in which one of their Lyapunov exponents is real positive, and hyperchaotic systems are those kinds of systems in which more than one Lyapunov exponents are real positive. In this article one chaotic Lorentz attractor and one four dimensions hyper-chaotic system are considered to be stabilized with the proposed control strategy. It is proved that both systems are stabilized by the passivity based and fuzzy type-2 controller, in which a control law is designed according to the energy considerations selecting an appropriate storage function to meet the passivity conditions. The fuzzy type-2 controller part is designed in order to behave as a state feedback controller, exploiting the flexibility and the capability to deal with uncertainties. This work begins with the stability analysis of the chaotic Lorentz attractor and a four dimensions hyper-chaotic system. The rest of the paper deals with the design of the proposed control strategy for both systems in order to design an appropriate controller that meets the design requirements. Finally, numerical simulations are done to corroborate the obtained theoretical results.

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Research paper thumbnail of Design and Modeling of Anti Wind Up PID Controllers

In this chapter several anti windup control strategies for SISO and MIMO systems are proposed to ... more In this chapter several anti windup control strategies for SISO and MIMO systems are proposed to diminish or eliminate the unwanted effects produced by this phenomena, when it occurs in PI or PID controllers. Windup is a phenomena found in PI and PID controllers due to the increase in the integral action when the input of the system is saturated according to the actuator limits. As it is known, the actuators have physical limits, for this reason, the input of the controller must be saturated in order to avoid damages. When a PI or PID controller saturates, the integral part of the controller increases its magnitude producing performance deterioration or even instability. In this chapter several anti windup controllers are proposed to eliminate the effects yielded by this phenomena. The first part of the chapter is devoted to explain classical anti windup architectures implemented in SISO and MIMO systems. Then in the second part of the chapter, the development of an anti windup controller for SISO systems is shown based on the approximation of the saturation model. The derivation of PID SISO (single input single output) anti windup controllers for continuous and discrete time systems is implemented adding an anti windup compensator in the feedback loop, so the unwanted effects are eliminated and the system performance is improved. Some illustrative examples are shown to test and compare the performance of the proposed techniques. In the third part of this chapter, the derivation of a suitable anti windup PID control architecture is shown for MIMO (multiple input multiple output) continuous and discrete time systems. These strategies consist in finding the controller parameters by static output feedback (SOF) solving the necessary linear matrix inequalities (LMI’s) by an appropriate anti windup control scheme. In order to obtain the control gains and parameters, the saturation is modeled with describing functions for the continuous time case and a suitable model to deal with this nonlinearity in the discrete time case. Finally a discussion and conclusions sections are shown in this chapter to analyze the advantages and other characteristics of the proposed control algorithms explained in this work.

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Research paper thumbnail of Deadbeat Control for Multivariable Discrete Time Systems with Time Varying Delays

In this chapter a novel approach for the deadbeat control of multivariable discrete time systems ... more In this chapter a novel approach for the deadbeat control of multivariable discrete time systems is proposed. Deadbeat control is a well known technique that has been implemented during the last decades in SISO and MIMO discrete time systems due to the ripple free characteristics and the designer selection of the output response. Deadbeat control consist in establishing the minimum number of steps in which the desired output response must be reached, this objective is achieved by placing the appropriate number of closed loop poles at the origin and cancelling the transmission zeros of the system. On the other side, constant time delays in the state or the input of the system is a phenomena found in many continuous and discrete time systems, produced by delays in the communication channels or other kind of sources, yielding unwanted effects on the systems like performance deterioration, or instability on the system. Even when the analysis and design of appropriate controllers with constant time delays in the state or the input has been studied by several researchers applying several control techniques such as state and output feedback, in this chapter the development of a deadbeat control for discrete time systems with constant delays is explained as a preamble of the main topic of this chapter related to the deadbeat control of discrete time systems with time varying delays. This first approach is derived by implementing a state feedback controller, and in opposition of the implementation of traditional techniques such as optimal control where a stable gain is obtained by solving the required Riccati equations, the deadbeat controller is obtained by selecting the appropriate gain matrix solving the necessary LMI’s placing the required number of poles at the origin and eliminating the finite transmission zeros of the system in order to obtain the required deadbeat characteristics in which the desired system response is reached in minimun time steps. After this overview, deadbeat controllers are designed considering the time varying delays, following a similar approach such as the constant time delay counterpart. In order to obtain an appropriate deadbeat controller, a state feedback controller gain is obtained by solving the required LMI’s, placing the required poles in order to obtain the desired response cancelling the finite transmission zeros. The theoretical background is tested by several illustrative examples and finally the discussion and conclusions of this work are shown in the end of this chapter.

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Research paper thumbnail of Adaptive Sliding Mode Control of the Furuta Pendulum

In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The Furu... more In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The Furuta pendulum is a class of underactuated mechanical systems commonly used in many control systems laboratories due to its complex stabilization which allows the analysis and design of different nonlinear and multivariable controllers that are useful in some fields such as aerospace and robotics. Sliding mode control has been extensively used in the control of mechanical systems as an alternative to other nonlinear control strategies such as backstepping, passivity based control etc. The design and implementation of an adaptive sliding mode controller for this kind of system is explained in this chapter, along with other sliding mode controller variations such as second order sliding mode (SOSMC) and PD plus sliding mode control (PD TeX SMC) in order to compare their performance under different system conditions. These control techniques are developed using the Lyapunov stability theorem and the variable structure design procedure to obtain asymptotically stable system trajectories. In this chapter the adaptive sliding mode consist of a sliding mode control law with an adaptive gain that makes the controller more flexible and reliable than other sliding mode control (SMC) algorithms and nonlinear control strategies. The adaptive sliding mode control (ASMC) of the Furuta pendulum, and the other SMC strategies shown in this chapter, are derived according to the Furuta’s pendulum dynamic equations making the sliding variables, position errors and velocity errors reach the zero value in a specified reaching time. The main reason of deriving two well known sliding mode control strategy apart from the proposed control strategy of this chapter (adaptive sliding mode control) is for comparison purposes and to evince the advantages and disadvantages of adaptive sliding mode control over other sliding mode control strategies for the stabilization of the Furuta pendulum. A chattering analysis of the three SMC variations is done, to examine the response of the system, and to test the performance of the ASMC in comparison with the other control strategies explained in this chapter.

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Research paper thumbnail of Robust IMC–PID tuning for cascade control systems with gain and phase margin specifications

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Research paper thumbnail of Análisis Comparativo de Métodos de Sintonía PI/PID en el Dominio de la Frecuencia en Problemas de Regulación

IEEE CONESCAPAN 2012 Tegucigalpa Honduras

En este artículo se muestra un análisis teórico y demostrativo de varios algoritmos de sintonizac... more En este artículo se muestra un análisis teórico y demostrativo de varios algoritmos de sintonización PI/PID, tanto algoritmos clásicos como algoritmos modernos que son la base de los métodos de auto ajuste usados por software u otros dispositivos de control. Como ya es de conocimiento, los algoritmos basados en el dominio de la frecuencia tienen la ventaja que nos ofrecen una medida de la robustez del sistema a diferencia de otros métodos, por lo tanto los parámetros de diseño son más fáciles de manipular. Por este motivo en este artículo, se muestra cómo los diversos métodos ajustan los parámetros del controlador manteniendo los valores requeridos de robustez y rendimiento; para esto se hicieron varias simulaciones en MATLAB y SIMULINK para comprobar el comportamiento de cada método y así evaluar cuáles tienen mejores características.

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Research paper thumbnail of • Control of a stewart platform with fuzzy logic and artificial neural network compensation.

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Research paper thumbnail of Neural Networks Models for Control and Identification of a Two Links Robotic Manipulator

several neural networks controllers for robotics manipulators have been developed during the last... more several neural networks controllers for robotics manipulators have been developed during the last decades due to their capability to learn the dynamics properties and the improvements in the global stability of the system. In this paper, two control and identification schemes for a two links robotic manipulator implementing neural networks are presented. A multilayer feedforward neural network and a model reference adaptive controller are used to estimate the inverse dynamic of this mechanism.
An online training algorithm based on the error dynamics is used on the adaptive neural network controller but the neural networks are trained offline with a backpropagation algorithm. The design and architecture of the neural networks are explained along with the identification procedure of the robotic system. Simulations and comparisons with a PD controller are done to test the performance of the neural network controller.

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Technical Reviews by Fernando Serrano

Research paper thumbnail of Reviewer of the IEEE Multiconference on Systems and Control.

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Research paper thumbnail of Reviewer of the ISA Transactions

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Research paper thumbnail of Reviewer of the IEEE Transactions on Automatic Control

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Affiliations by Fernando Serrano

Research paper thumbnail of IEEE Robotics and Automation Society.

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Research paper thumbnail of IEEE Control Systems Society

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Research paper thumbnail of Adaptive Sliding Mode Control of the Furuta Pendulum

Studies in Computational Intelligence, 2014

ABSTRACT In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed.... more ABSTRACT In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The Furuta pendulum is a class of underactuated mechanical systems commonly used in many control systems laboratories due to its complex stabilization which allows the analysis and design of different nonlinear and multivariable controllers that are useful in some fields such as aerospace and robotics. Sliding mode control has been extensively used in the control of mechanical systems as an alternative to other nonlinear control strategies such as backstepping, passivity based control etc. The design and implementation of an adaptive sliding mode controller for this kind of system is explained in this chapter, along with other sliding mode controller variations such as second order sliding mode (SOSMC) and PD plus sliding mode control (PD TeX SMC) in order to compare their performance under different system conditions. These control techniques are developed using the Lyapunov stability theorem and the variable structure design procedure to obtain asymptotically stable system trajectories. In this chapter the adaptive sliding mode consist of a sliding mode control law with an adaptive gain that makes the controller more flexible and reliable than other sliding mode control (SMC) algorithms and nonlinear control strategies. The adaptive sliding mode control (ASMC) of the Furuta pendulum, and the other SMC strategies shown in this chapter, are derived according to the Furuta’s pendulum dynamic equations making the sliding variables, position errors and velocity errors reach the zero value in a specified reaching time. The main reason of deriving two well known sliding mode control strategy apart from the proposed control strategy of this chapter (adaptive sliding mode control) is for comparison purposes and to evince the advantages and disadvantages of adaptive sliding mode control over other sliding mode control strategies for the stabilization of the Furuta pendulum. A chattering analysis of the three SMC variations is done, to examine the response of the system, and to test the performance of the ASMC in comparison with the other control strategies explained in this chapter.

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Research paper thumbnail of Deadbeat Control for Multivariable Discrete Time Systems with Time Varying Delays

Studies in Computational Intelligence, 2014

ABSTRACT In this chapter a novel approach for the deadbeat control of multivariable discrete time... more ABSTRACT In this chapter a novel approach for the deadbeat control of multivariable discrete time systems is proposed. Deadbeat control is a well known technique that has been implemented during the last decades in SISO and MIMO discrete time systems due to the ripple free characteristics and the designer selection of the output response. Deadbeat control consist in establishing the minimum number of steps in which the desired output response must be reached, this objective is achieved by placing the appropriate number of closed loop poles at the origin and cancelling the transmission zeros of the system. On the other side, constant time delays in the state or the input of the system is a phenomena found in many continuous and discrete time systems, produced by delays in the communication channels or other kind of sources, yielding unwanted effects on the systems like performance deterioration, or instability on the system. Even when the analysis and design of appropriate controllers with constant time delays in the state or the input has been studied by several researchers applying several control techniques such as state and output feedback, in this chapter the development of a deadbeat control for discrete time systems with constant delays is explained as a preamble of the main topic of this chapter related to the deadbeat control of discrete time systems with time varying delays. This first approach is derived by implementing a state feedback controller, and in opposition of the implementation of traditional techniques such as optimal control where a stable gain is obtained by solving the required Riccati equations, the deadbeat controller is obtained by selecting the appropriate gain matrix solving the necessary LMI’s placing the required number of poles at the origin and eliminating the finite transmission zeros of the system in order to obtain the required deadbeat characteristics in which the desired system response is reached in minimun time steps. After this overview, deadbeat controllers are designed considering the time varying delays, following a similar approach such as the constant time delay counterpart. In order to obtain an appropriate deadbeat controller, a state feedback controller gain is obtained by solving the required LMI’s, placing the required poles in order to obtain the desired response cancelling the finite transmission zeros. The theoretical background is tested by several illustrative examples and finally the discussion and conclusions of this work are shown in the end of this chapter.

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Research paper thumbnail of Stabilization and Control of Mechanical Systems with Backlash

Handbook of Research on Advanced Intelligent Control Engineering and Automation

Backlash is one of several discontinuities found in different kinds of systems; it can be found i... more Backlash is one of several discontinuities found in different kinds of systems; it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. In this chapter, three different control approaches are derived to stabilize mechanical systems in which this phenomenon is present in the actuators of the system. First, an independent joint control approach when backlash is found in the actuators is derived; then a PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Finally, an optimal controller for mechanical systems with backlash is derived, obtaining the optimal control law and oscillations frequency when this nonlinearity is found implementing a describing function to model the backlash effects.

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Research paper thumbnail of Design and Modeling of Anti Wind Up PID Controllers

Studies in Fuzziness and Soft Computing, 2014

ABSTRACT In this chapter several anti windup control strategies for SISO and MIMO systems are pro... more ABSTRACT In this chapter several anti windup control strategies for SISO and MIMO systems are proposed to diminish or eliminate the unwanted effects produced by this phenomena, when it occurs in PI or PID controllers. Windup is a phenomena found in PI and PID controllers due to the increase in the integral action when the input of the system is saturated according to the actuator limits. As it is known, the actuators have physical limits, for this reason, the input of the controller must be saturated in order to avoid damages. When a PI or PID controller saturates, the integral part of the controller increases its magnitude producing performance deterioration or even instability. In this chapter several anti windup controllers are proposed to eliminate the effects yielded by this phenomena. The first part of the chapter is devoted to explain classical anti windup architectures implemented in SISO and MIMO systems. Then in the second part of the chapter, the development of an anti windup controller for SISO systems is shown based on the approximation of the saturation model. The derivation of PID SISO (single input single output) anti windup controllers for continuous and discrete time systems is implemented adding an anti windup compensator in the feedback loop, so the unwanted effects are eliminated and the system performance is improved. Some illustrative examples are shown to test and compare the performance of the proposed techniques. In the third part of this chapter, the derivation of a suitable anti windup PID control architecture is shown for MIMO (multiple input multiple output) continuous and discrete time systems. These strategies consist in finding the controller parameters by static output feedback (SOF) solving the necessary linear matrix inequalities (LMI’s) by an appropriate anti windup control scheme. In order to obtain the control gains and parameters, the saturation is modeled with describing functions for the continuous time case and a suitable model to deal with this nonlinearity in the discrete time case. Finally a discussion and conclusions sections are shown in this chapter to analyze the advantages and other characteristics of the proposed control algorithms explained in this work.

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Research paper thumbnail of Robust IMC–PID tuning for cascade control systems with gain and phase margin specifications

Neural Computing and Applications, 2014

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Research paper thumbnail of Stabilization of Port Hamiltonian Chaotic Systems with Hidden Attractors by Adaptive Terminal Sliding Mode Control

Entropy, 2020

In this study, the design of an adaptive terminal sliding mode controller for the stabilization o... more In this study, the design of an adaptive terminal sliding mode controller for the stabilization of port Hamiltonian chaotic systems with hidden attractors is proposed. This study begins with the design methodology of a chaotic oscillator with a hidden attractor implementing the topological framework for its respective design. With this technique it is possible to design a 2-D chaotic oscillator, which is then converted into port-Hamiltonia to track and analyze these models for the stabilization of the hidden chaotic attractors created by this analysis. Adaptive terminal sliding mode controllers (ATSMC) are built when a Hamiltonian system has a chaotic behavior and a hidden attractor is detected. A Lyapunov approach is used to formulate the adaptive device controller by creating a control law and the adaptive law, which are used online to make the system states stable while at the same time suppressing its chaotic behavior. The empirical tests obtaining the discussion and conclusions...

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Research paper thumbnail of COMPLETE KINEMATIC ANALYSIS OF THE STEWART-GOUGH PLATFORM BY UNIT QUATERNIONS

Mechanics and Control

In this paper, a complete analysis of Stewart-Gough platform kinematics by unit quaternions is pr... more In this paper, a complete analysis of Stewart-Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart-Gough platform is shown. The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditions.

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Research paper thumbnail of HYBRID PASSIVITY BASED AND FUZZY TYPE-2 CONTROLLER FOR CHAOTIC AND HYPER-CHAOTIC SYSTEMS

Acta Mechanica et Automatica, 2016

In this paper a hybrid passivity based and fuzzy type-2 controller for chaotic and hyper-chaotic ... more In this paper a hybrid passivity based and fuzzy type-2 controller for chaotic and hyper-chaotic systems is presented. The proposed control strategy is an appropriate choice to be implemented for the stabilization of chaotic and hyper-chaotic systems due to the energy considerations of the passivity based controller and the flexibility and capability of the fuzzy type-2 controller to deal with uncertainties. As it is known, chaotic systems are those kinds of systems in which one of their Lyapunov exponents is real positive, and hyperchaotic systems are those kinds of systems in which more than one Lyapunov exponents are real positive. In this article one chaotic Lorentz attractor and one four dimensions hyper-chaotic system are considered to be stabilized with the proposed control strategy. It is proved that both systems are stabilized by the passivity based and fuzzy type-2 controller, in which a control law is designed according to the energy considerations selecting an appropriate storage function to meet the passivity conditions. The fuzzy type-2 controller part is designed in order to behave as a state feedback controller, exploiting the flexibility and the capability to deal with uncertainties. This work begins with the stability analysis of the chaotic Lorentz attractor and a four dimensions hyper-chaotic system. The rest of the paper deals with the design of the proposed control strategy for both systems in order to design an appropriate controller that meets the design requirements. Finally, numerical simulations are done to corroborate the obtained theoretical results.

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Research paper thumbnail of Design and Modeling of Anti Wind Up PID Controllers

In this chapter several anti windup control strategies for SISO and MIMO systems are proposed to ... more In this chapter several anti windup control strategies for SISO and MIMO systems are proposed to diminish or eliminate the unwanted effects produced by this phenomena, when it occurs in PI or PID controllers. Windup is a phenomena found in PI and PID controllers due to the increase in the integral action when the input of the system is saturated according to the actuator limits. As it is known, the actuators have physical limits, for this reason, the input of the controller must be saturated in order to avoid damages. When a PI or PID controller saturates, the integral part of the controller increases its magnitude producing performance deterioration or even instability. In this chapter several anti windup controllers are proposed to eliminate the effects yielded by this phenomena. The first part of the chapter is devoted to explain classical anti windup architectures implemented in SISO and MIMO systems. Then in the second part of the chapter, the development of an anti windup controller for SISO systems is shown based on the approximation of the saturation model. The derivation of PID SISO (single input single output) anti windup controllers for continuous and discrete time systems is implemented adding an anti windup compensator in the feedback loop, so the unwanted effects are eliminated and the system performance is improved. Some illustrative examples are shown to test and compare the performance of the proposed techniques. In the third part of this chapter, the derivation of a suitable anti windup PID control architecture is shown for MIMO (multiple input multiple output) continuous and discrete time systems. These strategies consist in finding the controller parameters by static output feedback (SOF) solving the necessary linear matrix inequalities (LMI’s) by an appropriate anti windup control scheme. In order to obtain the control gains and parameters, the saturation is modeled with describing functions for the continuous time case and a suitable model to deal with this nonlinearity in the discrete time case. Finally a discussion and conclusions sections are shown in this chapter to analyze the advantages and other characteristics of the proposed control algorithms explained in this work.

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Research paper thumbnail of Deadbeat Control for Multivariable Discrete Time Systems with Time Varying Delays

In this chapter a novel approach for the deadbeat control of multivariable discrete time systems ... more In this chapter a novel approach for the deadbeat control of multivariable discrete time systems is proposed. Deadbeat control is a well known technique that has been implemented during the last decades in SISO and MIMO discrete time systems due to the ripple free characteristics and the designer selection of the output response. Deadbeat control consist in establishing the minimum number of steps in which the desired output response must be reached, this objective is achieved by placing the appropriate number of closed loop poles at the origin and cancelling the transmission zeros of the system. On the other side, constant time delays in the state or the input of the system is a phenomena found in many continuous and discrete time systems, produced by delays in the communication channels or other kind of sources, yielding unwanted effects on the systems like performance deterioration, or instability on the system. Even when the analysis and design of appropriate controllers with constant time delays in the state or the input has been studied by several researchers applying several control techniques such as state and output feedback, in this chapter the development of a deadbeat control for discrete time systems with constant delays is explained as a preamble of the main topic of this chapter related to the deadbeat control of discrete time systems with time varying delays. This first approach is derived by implementing a state feedback controller, and in opposition of the implementation of traditional techniques such as optimal control where a stable gain is obtained by solving the required Riccati equations, the deadbeat controller is obtained by selecting the appropriate gain matrix solving the necessary LMI’s placing the required number of poles at the origin and eliminating the finite transmission zeros of the system in order to obtain the required deadbeat characteristics in which the desired system response is reached in minimun time steps. After this overview, deadbeat controllers are designed considering the time varying delays, following a similar approach such as the constant time delay counterpart. In order to obtain an appropriate deadbeat controller, a state feedback controller gain is obtained by solving the required LMI’s, placing the required poles in order to obtain the desired response cancelling the finite transmission zeros. The theoretical background is tested by several illustrative examples and finally the discussion and conclusions of this work are shown in the end of this chapter.

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Research paper thumbnail of Adaptive Sliding Mode Control of the Furuta Pendulum

In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The Furu... more In this chapter an adaptive sliding mode controller for the Furuta pendulum is proposed. The Furuta pendulum is a class of underactuated mechanical systems commonly used in many control systems laboratories due to its complex stabilization which allows the analysis and design of different nonlinear and multivariable controllers that are useful in some fields such as aerospace and robotics. Sliding mode control has been extensively used in the control of mechanical systems as an alternative to other nonlinear control strategies such as backstepping, passivity based control etc. The design and implementation of an adaptive sliding mode controller for this kind of system is explained in this chapter, along with other sliding mode controller variations such as second order sliding mode (SOSMC) and PD plus sliding mode control (PD TeX SMC) in order to compare their performance under different system conditions. These control techniques are developed using the Lyapunov stability theorem and the variable structure design procedure to obtain asymptotically stable system trajectories. In this chapter the adaptive sliding mode consist of a sliding mode control law with an adaptive gain that makes the controller more flexible and reliable than other sliding mode control (SMC) algorithms and nonlinear control strategies. The adaptive sliding mode control (ASMC) of the Furuta pendulum, and the other SMC strategies shown in this chapter, are derived according to the Furuta’s pendulum dynamic equations making the sliding variables, position errors and velocity errors reach the zero value in a specified reaching time. The main reason of deriving two well known sliding mode control strategy apart from the proposed control strategy of this chapter (adaptive sliding mode control) is for comparison purposes and to evince the advantages and disadvantages of adaptive sliding mode control over other sliding mode control strategies for the stabilization of the Furuta pendulum. A chattering analysis of the three SMC variations is done, to examine the response of the system, and to test the performance of the ASMC in comparison with the other control strategies explained in this chapter.

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Research paper thumbnail of Robust IMC–PID tuning for cascade control systems with gain and phase margin specifications

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Research paper thumbnail of Análisis Comparativo de Métodos de Sintonía PI/PID en el Dominio de la Frecuencia en Problemas de Regulación

IEEE CONESCAPAN 2012 Tegucigalpa Honduras

En este artículo se muestra un análisis teórico y demostrativo de varios algoritmos de sintonizac... more En este artículo se muestra un análisis teórico y demostrativo de varios algoritmos de sintonización PI/PID, tanto algoritmos clásicos como algoritmos modernos que son la base de los métodos de auto ajuste usados por software u otros dispositivos de control. Como ya es de conocimiento, los algoritmos basados en el dominio de la frecuencia tienen la ventaja que nos ofrecen una medida de la robustez del sistema a diferencia de otros métodos, por lo tanto los parámetros de diseño son más fáciles de manipular. Por este motivo en este artículo, se muestra cómo los diversos métodos ajustan los parámetros del controlador manteniendo los valores requeridos de robustez y rendimiento; para esto se hicieron varias simulaciones en MATLAB y SIMULINK para comprobar el comportamiento de cada método y así evaluar cuáles tienen mejores características.

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Research paper thumbnail of • Control of a stewart platform with fuzzy logic and artificial neural network compensation.

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Research paper thumbnail of Neural Networks Models for Control and Identification of a Two Links Robotic Manipulator

several neural networks controllers for robotics manipulators have been developed during the last... more several neural networks controllers for robotics manipulators have been developed during the last decades due to their capability to learn the dynamics properties and the improvements in the global stability of the system. In this paper, two control and identification schemes for a two links robotic manipulator implementing neural networks are presented. A multilayer feedforward neural network and a model reference adaptive controller are used to estimate the inverse dynamic of this mechanism.
An online training algorithm based on the error dynamics is used on the adaptive neural network controller but the neural networks are trained offline with a backpropagation algorithm. The design and architecture of the neural networks are explained along with the identification procedure of the robotic system. Simulations and comparisons with a PD controller are done to test the performance of the neural network controller.

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