Author
Hector Rios
Other affiliations: Consejo Nacional de Ciencia y Tecnología, University of California, Santa Barbara, École centrale de Lille ...read more
Bio: Hector Rios is an academic researcher from National Autonomous University of Mexico. The author has contributed to research in topics: Observer (quantum physics) & Lyapunov function. The author has an hindex of 15, co-authored 77 publications receiving 750 citations. Previous affiliations of Hector Rios include Consejo Nacional de Ciencia y Tecnología & University of California, Santa Barbara.
Papers
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TL;DR: This paper proposes a robust tracking output-control strategy for a quadrotor under the influence of external disturbances and uncertainties that is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances.
Abstract: The design of robust tracking control for quadrotors is an important and challenging problem nowadays. In this paper, a robust tracking output-control strategy is proposed for a quadrotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances. It is also composed of a combination of PID controllers and continuous sliding-modes controllers that robustly track a desired time-varying trajectory with exponential convergence despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on the input-to-state stability (ISS) and finite-time ISS properties. Finally, experimental results in real time show the performance of the proposed control strategy.
143 citations
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TL;DR: Two identification algorithms are developed in order to identify time-varying parameters in a finite time or prescribed time (fixed-time) and convergence proofs are based on a notion of finite-time stability over finite intervals of time, i.e., short-finite- time stability, homogeneity for time- varying systems, and Lyapunov-based approach.
Abstract: In this paper, the problem of time-varying parameter identification is studied. To this aim, two identification algorithms are developed in order to identify time-varying parameters in a finite time or prescribed time (fixed-time). The convergence proofs are based on a notion of finite-time stability over finite intervals of time, i.e., short-finite-time stability, homogeneity for time-varying systems, and Lyapunov-based approach. The results are obtained under injectivity of the regressor term, which is related to the classical identifiability condition. The case of bounded disturbances (noise of measurements) is analyzed for both algorithms. Simulation results illustrate the feasibility of the proposed algorithms.
80 citations
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TL;DR: The fault tolerant control scheme is developed using, for the first time, a continuous integral sliding-mode and a fixed control allocation technique which provides an approximate estimation of matched faults.
79 citations
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TL;DR: Experimental results show the feasibility of the robust regulation controller designed in this paper, which is based on a sliding mode observer used to estimate the state vector in finite time and identify the uncertainties and perturbations using the information of the equivalent output injection.
Abstract: This paper tackles the problem of robust output regulation for a 3-DOF helicopter. The considered system is subjected to model uncertainties and external perturbations. A sliding mode observer is used to estimate the state vector in finite time and identify the uncertainties and perturbations using the information of the equivalent output injection. Based on these estimations a robust regulation controller is designed. Experimental results show the feasibility of this approach.
65 citations
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TL;DR: Under structural conditions, it is proposed a robust estimator capable to reconstruct the continuous state, the discrete state and the unknown inputs.
Abstract: The state observation and unknown input identification problems are studied for a class of nonlinear autonomous switched systems. A bank of observers are designed using the high-order sliding mode techniques. The robustness of the high-order sliding mode observers is exploited to provide exact reconstruction of the continuous state and the discrete state even in the presence of unknown inputs. The value of the equivalent injection is used for identification of unknown inputs. Simulation results support the proposed method.
51 citations
Cited by
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03 Jan 1991380 citations
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01 Jan 2005
TL;DR: In this article, the authors investigate the relationship between optimal control design and control allocation when the performance indexes are quadratic in the control input and show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators.
Abstract: This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators. Linear quadratic optimal control is contained as a special case. A benefit of using a separate control allocator is that actuator constraints can be considered, which is illustrated with a flight control example.
341 citations
01 Jan 2016
TL;DR: The stable adaptive systems is universally compatible with any devices to read and is available in the book collection an online access to it is set as public so you can get it instantly.
Abstract: Thank you for reading stable adaptive systems. As you may know, people have look hundreds times for their chosen readings like this stable adaptive systems, but end up in infectious downloads. Rather than enjoying a good book with a cup of tea in the afternoon, instead they cope with some harmful virus inside their desktop computer. stable adaptive systems is available in our book collection an online access to it is set as public so you can get it instantly. Our digital library saves in multiple locations, allowing you to get the most less latency time to download any of our books like this one. Kindly say, the stable adaptive systems is universally compatible with any devices to read.
331 citations
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TL;DR: A design technique of adaptive sliding mode control for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties is offered and simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.
Abstract: Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.
255 citations
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TL;DR: In this paper, a survey of underactuated mechanical systems (UMS) is presented, from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.
Abstract: An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications. This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.
238 citations