Author
Rogelio Lozano
Other affiliations: University of Illinois at Urbana–Champaign, Instituto Politécnico Nacional, Saint Petersburg State University ...read more
Bio: Rogelio Lozano is an academic researcher from University of Technology of Compiègne. The author has contributed to research in topics: Control theory & Adaptive control. The author has an hindex of 58, co-authored 496 publications receiving 14570 citations. Previous affiliations of Rogelio Lozano include University of Illinois at Urbana–Champaign & Instituto Politécnico Nacional.
Papers published on a yearly basis
Papers
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TL;DR: In this paper, the authors used the optical flow in combination with the integration of gyro measurement to estimate the linear and rotational yaw velocities as well as the position and velocity of a UAV.
3 citations
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28 May 2013TL;DR: In this paper, a hierarchical controller is designed considering a timescale separation between fast and slow dynamics for a quad rotorcraft UAV, and the dynamics of the fast-time system are stabilized using classical proportional derivative controllers.
Abstract: The stability analysis of a vision-based control strategy for a quad rotorcraft UAV is addressed. In the present application, the imaging sensing system provides the required states for performing autonomous navigation missions, however, it introduces latencies and time-delays from the time of capture to the time when measurements are available. To overcome this issue, a hierarchical controller is designed considering a timescale separation between fast and slow dynamics. The dynamics of the fast-time system are stabilized using classical proportional derivative controllers. Additionally, delay frequency and time domain techniques are explored to design a controller for the slow-time system. Simulations and experimental results consisting on a vision-based road following task are presented, verifying the efficacy of the approach and showing the benefits of the stability analysis performed.
3 citations
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TL;DR: In this article, a comparison of linear and nonlinear control laws to stabilize a VTOL aircraft is presented, where a linear control law using LQR method is obtained and compared with respect to three non-linear control strategies obtained using the well-known backstepping technique and saturation functions.
3 citations
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TL;DR: A new adaptive pole placement control scheme which overcomes the crucial singularity problem in indirect adaptive control and guarantees the controllability of the estimated plant model allowing the calculation of the controller parameters without introducing persistency of excitation into the system.
3 citations
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01 Jun 2017TL;DR: In this article, a control strategy for two planar vertical take-off and landing (PVTOL) vehicles cooperating to transport a rigid body load without any explicit exchange of state information between them is presented.
Abstract: This paper presents a control strategy for two planar vertical take-off and landing (PVTOL) vehicles cooperating to transport a rigid body load without any explicit exchange of state information between them. This means that the vehicles have only access to their own state variables. The solution and stability analysis is based on a passivity approach.
3 citations
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TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.
Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …
33,785 citations
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TL;DR: Some open problems are discussed: the constructive use of the delayed inputs, the digital implementation of distributed delays, the control via the delay, and the handling of information related to the delay value.
3,206 citations
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TL;DR: In this article, the authors proposed arbitrary-order robust exact differentiators with finite-time convergence, which can be used to keep accurate a given constraint and feature theoretically-infinite-frequency switching.
Abstract: Being a motion on a discontinuity set of a dynamic system, sliding mode is used to keep accurately a given constraint and features theoretically-infinite-frequency switching. Standard sliding modes provide for finite-time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Yet the relative degree of the constraint has to be 1 and a dangerous chattering effect is possible. Higher-order sliding modes preserve or generalize the main properties of the standard sliding mode and remove the above restrictions. r-Sliding mode realization provides for up to the rth order of sliding precision with respect to the sampling interval compared with the first order of the standard sliding mode. Such controllers require higher-order real-time derivatives of the outputs to be available. The lacking information is achieved by means of proposed arbitrary-order robust exact differentiators with finite-time convergence. These differentiators feature optimal asymptot...
2,954 citations
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2,084 citations
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TL;DR: In this paper, the authors studied the effect of local derivatives on the detection of intensity edges in images, where the local difference of intensities is computed for each pixel in the image.
Abstract: Most of the signal processing that we will study in this course involves local operations on a signal, namely transforming the signal by applying linear combinations of values in the neighborhood of each sample point. You are familiar with such operations from Calculus, namely, taking derivatives and you are also familiar with this from optics namely blurring a signal. We will be looking at sampled signals only. Let's start with a few basic examples. Local difference Suppose we have a 1D image and we take the local difference of intensities, DI(x) = 1 2 (I(x + 1) − I(x − 1)) which give a discrete approximation to a partial derivative. (We compute this for each x in the image.) What is the effect of such a transformation? One key idea is that such a derivative would be useful for marking positions where the intensity changes. Such a change is called an edge. It is important to detect edges in images because they often mark locations at which object properties change. These can include changes in illumination along a surface due to a shadow boundary, or a material (pigment) change, or a change in depth as when one object ends and another begins. The computational problem of finding intensity edges in images is called edge detection. We could look for positions at which DI(x) has a large negative or positive value. Large positive values indicate an edge that goes from low to high intensity, and large negative values indicate an edge that goes from high to low intensity. Example Suppose the image consists of a single (slightly sloped) edge:
1,829 citations