Keywords: Otros Tópicos Afines
Abstract: Currently, novel approaches are being developed to overcome the imminent Moore's law failure. The techniques attempt to gain greater computing power by reducing the number of transistors. This work presents the simulation of a reconfigurable voltage logic gate based on the equation of a plane. The proposal is achieved by using two variables of the equation of a plane as inputs and the other as output. The proposed circuit can perform the NAND and NOR logic gates, known as universal logic gates. The simulation results show the feasibility of the proposed reconfigurable logic gate. Also, the presented circuit is compatible with the transistor-transistor-logic and can be modified to implement other logic gates by changing a voltage level.

Keywords: Sistemas Multi-Agente, Robótica y Mecatrónica, Control de Sistemas Lineales
Abstract: A cyber-physical formation includes all the strategies to coordinate mobile robots moving in different physical workspaces sharing information through internet and the cloud. This work addresses a formation scheme of robots moving in two different workspaces. The control strategy is based on virtual agents used like "avatars" which must converge to the position of the robots in the opposite workspace. The control approach is designed for robots modeled as single integrators and extended to the case of unicycle-type robots. Results of numerical simulations and real experiments are shown using a low-cost cyber-physical micro-robot platform based on a camera as position and orientation sensor.

Keywords: Cómputo para Control, Robótica y Mecatrónica, Educación en Control
Abstract: This work presents the experimental development of the position control of a mechatronic system composed of a double acting hydraulic cylinder driven by a 4/2 solenoid valve with spring return through a single board computer and instrumentation with feedback loop. The low-cost experimental platform for the control implementation has been integrated through the use of a Raspberry Pi minicomputer, programmed with Python language that executes the control actions and obtains the position measurement data of the rod end through an infrared distance sensor and an analog-to-digital converter. Classical control schemes based on PWM signal manipulation have been experimentally tested to control the solenoid valve excitation. The results verify the widely known theoretical understanding of the impact of proportional, derivative, and integral gains of a PID controller. In addition, the experimental platform setup allows for laboratory practices of control systems courses in engineering education.

Keywords: Sistemas Electromecánicos, Sistemas Hombre-Máquina, Otros Tópicos Afines
Abstract: For the industrial sector, the filling, sealing and labeling system represents one of the most used processes with several applications, that involves the food and beverage industry until the chemical plants, among many others applications. The propouse of this work is to develop an academic prototype of a manufacturing cell for teaching the automation of industrial processes, in order to emulate the filling, sealing and labeling system. The goal is to design a learning methodology such that the acquired academic knowledge can be transported to a real industrial environment. To achieve this, the PLC S7-300, industrial proximity sensors, pneumatic cylinders of the Festo brand, as well as their respective solenoid valves, are used. The programming methodology is based on a functional graph controlled by stages and transitions (GRAFCET). In contrart with other project based on Arduino, this project employs standard signals and variable scaling.

Keywords: Otros Tópicos Afines, Control Clásico, Sincronización de Sistemas
Abstract: This article presents the development of a wireless sensing and control system for indoor air quality by measuring gases such as carbon dioxide, as well as the use of ozone as a biocide agent for environmental control in real time, respecting concentrations allowed by national and international environmental health standards. The developed system uses cutting edge technology such as the Internet of Things and Cloud Computing that allows remote access to air quality measurements through mobile devices with the installation of the developed App, which has the capacity for registration and controlled access to users, auto-configuration of devices and data visualization in real time and historical record. The use of ozone as a biocide agent for environmental control was effective against the use of chemicals or other substances since it does not leave hazardous residues, inhibiting the generation of new colonies and keeping the areas under a disinfection control.

Keywords: Control Discontinuo (modos deslizantes), Robótica y Mecatrónica, Control de Sistemas No Lineales
Abstract: Real-time implementation of a sliding mode control scheme based on the unit vector approach, for a variety of underactuated configurations of a mechatronics kit (rotational, inertia, and double pendulum) is presented in this work. Details are given to perform diffeomorphisms leading to the required normal form, based on which design conditions are cast as linear matrix inequalities, thus improving numerical systematicness of the traditional methodology. Once the control law is designed, its implementation requires reliable estimates of the velocities since the different plants under consideration do not measure them; to this end, Levant's robust differentiator is employed. Results are provided that show the effectiveness of the proposal.

Keywords: Control Discontinuo (modos deslizantes), Tecnología para Control, Procesos Biotecnológicos
Abstract: Resumen In this article it is presented an FPGA-based extremum seeking control that is used to maximize the hydrogen productivity rate in a microbial electrolysis cell (MEC) using the dilution rate as a control action. This extremum seeking control is based in the hydrogen productivity gradient and does not need a mathematical model. To achieve a positive energy balance, such optimization algorithm is implemented in an FPGA using a xed point representation. By a closed loop simulation test and performance analysis of the FPGA-based extremum seeking control, it is demonstrated that FPGAs are the best implementation choice.

Keywords: Control Discontinuo (modos deslizantes), Sistemas Electrónicos de Potencia
Abstract: One of the most popular renewable energy sources is photovoltaic energy; however, its main drawback is the low conversion efficiency. Optimal system operation requires efficient tracking of the maximum power point representing the maximum energy that can be extracted from the photovoltaic system. One of the main problems is the presence of partial shadows. In this scenario, the system's power presents multiple peaks; a robust control technique is required to properly track the Global Maximum Power Point (GMPP). This paper proposes using a Sliding Mode Controller (SMC) for the GMPP tracking which is a robust strategy for coping with changing environmental conditions and partial shadows. Numerical simulation results show the effectiveness of the proposal.

Keywords: Control de Sistemas No Lineales, Control Discontinuo (modos deslizantes), Sistemas Mecánicos Discontinuos
Abstract: This paper proposes a novel finite-time controller for the stabilization problem of the Heisenberg system. The resulting controller is globally bounded and only requires selecting and tuning two parameters. Additionally, this control design allows us to obtain some estimations for the settling--time function. A simulation is included to illustrate these properties and support the implementability of the design.

Keywords: Sistemas Adaptables
Abstract: The branch of system identification and control theory concerned about robot manipulators is adaptive control of non-linear multi-input multi-output dynamic systems which study constitutes a mature and well-founded discipline; nevertheless, there are fundamental problems open to date, one of them is to obtain a control law that is rich enough to guarantee its persistent excitation and consequently that the parametric error converges asymptotically to zero, while the tracking error converges globally asymptotically to zero. An extension of a globally convergent adaptive scheme control for a robot manipulator in the tracking of a determined trajectories with no consideration of the interaction with its environment is proposed, based on the fact that the parameter uncertainty is involved in both the tracking error and the identification error. The first control task is achieved by a feedback linearization technique that takes advantage of the structure of manipulator dynamics. The second task is achieved by a fractional order filtering technique to avoid the joint acceleration and enrich the regressor matrix in such way that is persistently exciting. Finally, the control law is expressed as feedforward compensation and a simple PD controller.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Otros Tópicos Afines
Abstract: This work focuses on the trajectory tracking problem of an input-delayed omnidirectional mobile robot affected by a constant disturbance in the time delay. The trajectory-tracking solution is based on a prediction strategy that represents a generalization of the well-known sub-prediction strategy developed for the linear case. It is formally proven that the prediction scheme provides the future state of the system and that a feedback law based on the future predicted state solves the trajectory tracking problem under some assumptions related to the size of the disturbance and the number of sub-predictors considered. To evaluate the prediction-based strategy, numerical simulations are carried out showing an adequate performance of the overall closed-loop system.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Sistemas de Eventos Discretos
Abstract: This paper presents the design of an autopilot for the flight mode transition in a hybrid quadrotor/fixed-wing aircraft known as QuadPlane. The autopilot includes an attitude stabilization subsystem, a control subsystem for takeoff and landing in quadrotor mode, and a control subsystem to regulate the longitudinal speed of the aircraft and determine the transition from quadrotor to fixed-wing and vice versa. During pure fixed-wing and quadrotor modes, the pilot has control authority on the QuadPlane. The proposed scheme is validated using the X-Plane flight simulator.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Control Discontinuo (modos deslizantes)
Abstract: In this paper, we design a robust control strategy to solve the trajectory-tracking problem for perturbed unicycle mobile robots. The design is composed of an Integral Sliding-Mode Control, an interval predictor-based state-feedback controller and a Model Predictive Control. The controller handles some perturbations in the kinematic model, and state and input constraints that are related to workspace constraints and saturation on the actuators, respectively. The proposed approach ensures the exponential convergence to zero of the tracking error. Some simulation results illustrate the performance of the proposed approach.

Keywords: Robótica y Mecatrónica, Modelado e Identificación de Sistemas
Abstract: Practical problems for the implementation of a real-time controller for gaits subject to disturbances on the NAO robot are shown in this paper. Moreover, how to deal with them and carry out real-time practical stable walkings is explained. The robot is modeled with the Linear Inverted Pendulum (LIP) model, which is a simplified model that concentrates the mass of the robot in a single point and constrains the height of the Center of Mass to a straight line. The controller in charge of keeping a stable gait is the Model Predictive Controller (MPC). The MPC is perhaps the most used controller in legged robots due to its optimization over a time horizon and to the possibility of including constraints in the optimization problem. Furthermore, important notes about the implementation of real-time experiments with the NAO robot are discussed in this work. This work gives the first steps to achieve a real-time control using the Essential Model.

Keywords: Redes Neuronales, Control Supervisor, Otros Tópicos Afines
Abstract: This article presents the procedure undertaken to discover the most suitable model for predicting the outlet pressure of a horizontally oriented pipe with high-viscosity two-phase flow. In order to achieve this, a collection of artificial neural networks (ANN) with diverse architectures was developed, utilizing experimental data for training and validation purposes. The data used in this study were obtained from experiments carried out in a 54-meter-long pipeline, where a mixture of air and glycerin was flowing. The various ANN were constructed based on three different combinations of input variables, namely, the air flow rate (Qa), glycerin flow rate (Qg), and pressure measurements at specific spatial points. Subsequently, a statistical analysis was performed, followed by a comparison of the models' performance across different scenarios.

Keywords: Detección y Aislamiento de Fallas, Otros Tópicos Afines, Modelado e Identificación de Sistemas
Abstract: In this work, the usage of bio-inspired algorithms for developing models capable of identifying the ubication of the anomaly, specifically a shunt fault in High Voltage Alternate Current (HVAC) for a monophase transmission line. The approach is data-driven based, where the line is simulated under different operation conditions, afterward, the cross-correlation is used for extracting the most representative characteristics of the signals. The specifications under which the genetic algorithm searched for a solution, only with the correlations, generating mathematical models are able of identifying the distance of the fault even for changing conditions. Finally, the model found by the genetic program is validated through two different sets of data (training and test), having different combinations of parameters and measuring the average error between the predicted and the real distance.

Keywords: Sistemas Eléctricos de Potencia, Control Basado en pasividad, Control Difuso
Abstract: In this work, an isolated single-phase microgrid based on parallel-connected inverters is analyzed to supply the power demanded by the load. A controller based on the interconnection of Hamiltonian systems with fuzzy components is proposed to attack the problem of current tracking and voltage regulation, as well as a droop controller for power dispatch. It is determined that the incorporation of a structure based on fuzzy logic improves the transient response of the closed-loop system in current and voltage monitoring. Comparative numerical results are shown to demonstrate the effectiveness of the proposed scheme.

Keywords: Control Robusto, Control Discontinuo (modos deslizantes), Redes Neuronales
Abstract: This work proposes the design of a robust controller for the perturbed kinematic model of the unicycle mobile robot. The controller is based on integral sliding modes (ISMs) and the approximation provided by a differential neural network (DNN) for the tracking error dynamics, represented as an uncertain time-varying linear system. The methodology ensures asymptotic stability for the tracking error despite multiplicative disturbances in the control channel. The ISM compensates for the matched dynamics identified with the DNN. Then, a feedback controller minimizes the effect of unmatched dynamics by solving a set of Linear Matrix Inequalities. Simulation results show the feasibility of the proposed strategy against classical controllers.

Keywords: Control de Procesos, Sistemas Hombre-Máquina
Abstract: This paper presents the design and construction of a semi-automatic prototype to control the processes of pressing, braiding and cutting of wire in the manufacture of flowerpot hooks at the Maquiladora Hermanos CAYFRA (Xochimilco, CDMX). The prototype was developed using 3D modeling and printing, electronics and programming in C language. The proposed prototype is mainly composed of three mechanical structures, an electronic circuit and a user interface to control the processes. The main objective of this work is to improve and reduce the manufacturing time of the wire hooks for flowerpots.

Keywords: Control de Procesos
Abstract: This work presents the implementation of a PI controller for a falling film evaporator model, which is part of an Absorption Heat Transformer (AHT). The evaporator control aids the process to maintain adequate performance which benefits the heat produced in the absorber to obtain high performance in the AHT. In this research, the evaporated mass flow rate was controlled by manipulating the mass flow rate flowing inside of the tubes to reach a certain heat transfer rate to evaporate a load of fluid flowing outside of the tubes as a falling film. The control is performed with a PI controller and a proportional controller with an adjusted bias. Additionally, disturbances are applied in the input temperature to simulate the temperature coming from industrial waste heat. This work can be a reference to control the falling film evaporator when it is coupled in the AHT and in other research such as in control of evaporators in the dairy industry.

Keywords: Control de Procesos, Control de Sistemas No Lineales, Modelado e Identificación de Sistemas
Abstract: The on-line supervision of the process variables in a steam distillation plant is the main objective of this work. For this end, a nonlinear observer is designed based on the mathematical model proposed by Cerpa et al. (2008). The model has three differential equations, which reproduce the dynamics of the oil mass throughout the three stages of the process: (i) Loss of oil from plant material, (ii) Biphasic (oil-water) layer, (iii) Colected essential oil. The purpose of this work is to estimate the mass flow of oil lost by the plant material and the mass flow in the two-phase layer called the aqueous layer. Both process variables are difficult to measure physically, but it is important to know them because they can have an impact on the performance of the process. However, the mass of oil collected is considered to be an available variable to measure. By taking this consideration into account, a nonlinear Luenberger type observer is designed that takes as available output the mass of oil collected, and from this variable is able to estimate the dynamics of the unavailable variables.

Keywords: Control de Procesos, Modelado e Identificación de Sistemas, Sistemas de Parámetros Distribuidos
Abstract: As first step towards the consideration of the associated control-estimator design problem, in this study the problem of drawing a low-order finite-dimensional DA model of the bi/tristable OPDE one of a spatially distributed throated biomass gasification reactors is addressed, with focus on the description of the practical steady state (SS) of highest conversion. The reactor is described by 15 nonlinear PDEs, which are numerically solved using finite differences to discretize the spatial domain. The number and placement of nodes along the axial direction of the reactor act as degrees of freedom that must be carefully chosen. In this study, a node location method, initially developed for a different class of reactors, is applied to the throated reactor. It was found that the desired SS can be effectively described by relocating some nodes using the adaptive mesh method, which results in a model order smaller than the case with an uniform node distribution. It was also observed that one must be mindful of the discretization near the air entrance, as excessive discretization in that zone can lead to poor descriptions of the desired SS or increase unnecessarily the model order (and consequently, the number of equations to be solved online). The results presented here lay the groundwork for improving the adaptive mesh location method to extend its application to throated gasifiers, thereby ensuring accurate numerical solutions for control and estimation tasks.

Keywords: Control de Sistemas Lineales, Control Basado en pasividad, Control Discontinuo (modos deslizantes)
Abstract: The development of a fractional order tracking control for a differential wheeled mobile robot under the effect of skidding and slipping effects is presented in this paper. The kinematic model of a differential mobile robot with disturbances are used to solve the tracking problem. The control scheme proposed is based on backstepping, feedback passivity and fractional sliding modes techniques. Numeric simulations are shown to prove the effectiveness of the proposed method and a comparison with entire order scheme is also provided.

Keywords: Sistemas Electrónicos de Potencia, Control Basado en pasividad, Control de Sistemas No Lineales
Abstract: In order to guarantee the stability of quasi-resonant converters, the zero-current switching quasi-resonant buck topology is supplied with a PI passivity-based controller in this study. An adequate and full-order model with constant steady-state solutions is generated, via the interconnection of port-Hamiltonian systems based on the principal structure of the converter. The passivity-based approach is employed to complete the control design, and numerical validation results are provided to ensure performance estimations

Keywords: Sistemas Electrónicos de Potencia, Sistemas Eléctricos de Potencia, Control Basado en pasividad
Abstract: In this paper, a direct power control (DPC) is proposed in order to improve the power dispatch in electrical power grids, as well as in microgrids. The objective of defining the active power and reactive power as state variables is to get a representation of the first level in a hierarchical control. The DPC model is studied under passivity rules, and an implementation of passivity-based control is proposed. Simulations are carried out to show the effectiveness of the proposed research.

Keywords: Modelado e Identificación de Sistemas
Abstract: This work presents the development of a Dual Extended Kalman Filter (DEKF) used to calculate the parameter known as wetting efficiency of a falling film evaporator. The wetting efficiency refers to the part of the tube that is in contact with the falling film. This parameter depends on different factors as the type of surface, physical properties of the fluid, and mainly the mass flow rate. The knowledge of the value of this parameter gives information about the lack or the abundance of the mass flow rate of the falling film. The evaporator consists of 13 tubes, in which the wetting efficiency of the first tube is estimated using the experimental outlet temperature of the fluid flowing inside the tubes. The results show that the predicted temperature for the first tube matches adequately the measured temperature. Alternatively, the wetting efficiency and the overall heat transfer coefficient were estimated together as a single parameter. The results show that both approaches can be used to estimate the unknown evaporator parameters, however, estimating the wetting efficiency gives more system information because it determines the lack of fluid on the tubes.