Rogelio Lozano

TL;DR: This work addresses the problem of fault detection and diagnosis (FDD) for a quad-rotor mini air vehicle (MAV) using the extended state observers theory and a differential algebra approach is proposed.

TL;DR: In this article, the modeling and robust control design of a vertical flight attitude control for a mini-tail-sitter with variable pitch propeller is discussed, where a simplified attitude dynamic model that includes interval parametric uncertainty is obtained; then a control law based in the sliding mode control (SMC) technique is applied to stabilize the decoupled attitude control systems.

TL;DR: In this article, the Coriolis matrix is used to express the potential energy of a rigid object in terms of the generalized coordinates of the mass of the rigid object, including acceleration due to gravity.

TL;DR: In this article, a solution to the long standing problem of the pendulum on a cart is presented, which involves a reformulation of the original system model in order to show that the inverted pendulum system belongs to a particular class of nonlinear systems: a class consisting of four cascaded integrators and a nonlinear "perturbation" term.

TL;DR: A disturbance observer is proposed, a sliding mode control was proposed, the gain of control can be decreased and, as a result, the chattering amplitude is reduced and simulation and experimental results are presented to show the effectiveness of the proposed nonlinear algorithm in presence of external disturbances.