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Papers by M. Velasco-Villa

Resumen—En este trabajo se presenta el problema de seguimiento de trayectorias de un robot móvil ... more Resumen—En este trabajo se presenta el problema de seguimiento de trayectorias de un robot móvil omnidireccional. A diferencia del enfoque clásico de control basado en el modelo cinemático se propone el análisis y control del problema planteado mediante la consideración del modelo dinámico y la utilización del esquema de control del tipo par calculado desarrollado originalmente en la literatura de robots manipuladores. El esquema propuesto es evaluado mediante su aplicación a un vehı́culo móvil del tipo (3,0) para el cual se muestra analı́ticamente la convergencia de los errores de seguimiento y la estabilidad en lazo cerrado. La evaluación final del esquema propuesto se realiza mediante simulación, mostrando un adecuado desempeño. Derecho reservado c © UNAM-AMCA.

IFAC-PapersOnLine, 2015

Abstract In this paper, a control strategy to solve the Leader-Follower (L-F) formation problem, ... more Abstract In this paper, a control strategy to solve the Leader-Follower (L-F) formation problem, of an unmanned aerial vehicle (UAV) quadrotor following a unicycle-type mobile robot, is presented. Feedback linearization is used to obtain a quadrotor reduced model, then a L-F model that includes the quadrotor dynamics as well as the mobile robot kinematics is obtained. For this L-F model a backstepping controller is proposed. It is formally proven that the obtained closed-loop produces a L-F formation error that is asymptotically stable. Numeric simulation results are carried out to evaluate the proposed control law, showing an adequate behavior.

European Journal of Control, 2012

ABSTRACT

1997 European Control Conference (ECC), 1997

In this paper the position regulation control problem of electromechanical systems is solved. The... more In this paper the position regulation control problem of electromechanical systems is solved. The model considered to this end is called general in the sense that it includes the effect of both inductances and capacitances in the production of mechanical force, i.e. it is considered that this force is produced by storing both magnetic and electric energies. The proposed controller belongs to the energy shaping plus damping injection class and is an extension of the one presented in [1] in the sense that the main drawback of this controller, the existence of a steady state error, is overcome in this paper by the addition of an integral term on the position error, achieving zero steady state error independently of the knowledge on the initial conditions of the system.

IFAC Proceedings Volumes, 2008

Considering the dynamic model of an omnidirectional mobile robot (also known of a type (3,0)), in... more Considering the dynamic model of an omnidirectional mobile robot (also known of a type (3,0)), in this work is addressed the Path-tracking control problem of this class of systems. The solution of the problem is obtained by considering some suitable modifications of the well known computed-torque control strategy usually used on the field of robot manipulators. The modifications considered in this work are due to the structural differences between a mobile robot and a classical rigid robot manipulator. It is formally proved that the proposed control strategy allows the convergence of the tracking errors and assures the closed loop stability of the system. The tracking strategy is evaluated by simulation, showing an acceptable performance.

IFAC Proceedings Volumes, 1998

Abstract In this paper, the disturbance decoupling problem for a class of single-input single-out... more Abstract In this paper, the disturbance decoupling problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. A dynamic state feedback that solves the problem is considered.

2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 2015

In this paper, the problem of coordination control in the formation of a finite group of mobile r... more In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots in closed loop with the control law is studied using Lyapunov techniques and the proposed scheme is evaluated through experimentation.

Institute of Mathematics of the Academy of Sciences of the Czech Republic provides access to digi... more Institute of Mathematics of the Academy of Sciences of the Czech Republic provides access to digitized documents strictly for personal use. Each copy of any part of this document must contain these Terms of use.

2010 7th International Conference on Electrical Engineering Computing Science and Automatic Control, 2010

... H. Sira-Ramırez, C. López-Uribe and M. Velasco-Villa CINVESTAV-IPN, Departamento de Ingenierı... more ... H. Sira-Ramırez, C. López-Uribe and M. Velasco-Villa CINVESTAV-IPN, Departamento de Ingenierıa Eléctrica, Sección de Mecatrónica, AP 14-740, 07000, México DF ... IEEE Catalog Number: CFP10827-ART ISBN: 978-1-4244-7314-4 978-1-4244-7314-4/10/$26.00 ©2010 IEEE ...

2009 35th Annual Conference of IEEE Industrial Electronics, 2009

In this paper, the trajectory-tracking control problem of an omnidirectional mobile robot (also k... more In this paper, the trajectory-tracking control problem of an omnidirectional mobile robot (also known as a type (3,0)) is addressed and solved. The proposed controller takes into account the mobile robot dynamic model and it is based on a particular passivity-based control formulation, widely applied in power electronics, resulting in linear time-varying controllers. It is formally proved that the proposed control strategy allows the exponentially asymptotic convergence of the tracking errors to zero and assures closed loop stability. The proposed tracking strategy is evaluated by numerical simulations and compared with the well known Computed-Torque control strategy, exhibiting an improved performance.

IEEE Conference on Decision and Control and European Control Conference, 2011

In this paper, we propose an output maneuvering nonlinear controller for the car-like mobile robo... more In this paper, we propose an output maneuvering nonlinear controller for the car-like mobile robot. The control approach is based on a combination of the inputoutput feedback linearization control technique and the output maneuvering control approach introduced in [1]. It is shown that the closed-loop system is asymptotically stable and the path following error converges asymptotically to zero when an accurate car-like mobile robot localization system is available, and it is shown that when the car-like mobile robot position is not accurately estimated (for instance, under the influence of noise measurements) the closed-loop dynamics remains ultimately bounded. Numerical simulations are performed to show the overall performance of the proposed scheme in both cases.

Journal of Process Control, 2020

Abstract This work presents a prediction-based scheme to control a class of unstable delayed (bio... more Abstract This work presents a prediction-based scheme to control a class of unstable delayed (bio)-chemical processes. The main characteristic of the control scheme is that it is based on a predicted future state that is estimated using a prediction-observation protocol that allows compensating large time-delays. The convergence of the prediction error is shown through standard stability arguments. The stability of the closed-loop system is shown by invoking the separation principle between the prediction error and the control based on estimated variables feedback. Four numerical examples are used to illustrate our results, including two time-delayed benchmark case studies taken from the control process literature.