Keywords: Control de Sistemas No Lineales, Otros Tópicos Afines, Sistemas Multi-Agente
Abstract: This paper presents a novel controller for the evader in the pursuit-evasion game, when each player is modeled as a single integrator. The resulting control design does not require any information on the pursuer control, only requires information on the pursuer state. The resulting control ensures the escape of the evader from the pursuer under an adequate selection and design of the evader controller parameters. Additionally, the synthesis of this controller is constructive and can be tuned straightforwardly since it is obtained from the solution of an LMI. The stability analysis of the tracking error dynamics is carried out considering a Lyapunov–like function, and the effectiveness of the proposed result is illustrated through some simulations.

Keywords: Sistemas Discretos, Cómputo para Control, Control de Sistemas No Lineales
Abstract: We propose a modification of an existing discretization technique. The technique we atempt to improve is a discretization method designed for homogeneous systems, characterized by first-order consistency, numerical convergence, and the noteworthy feature of preserving both the stability of the system's equilibrium point and the type of convergence of the solutions toward the origin. Its design is based on the projection of the dynamics of the system over a level surface of the Lyapunov function, and the complementary use of the explicit Euler method. In this work the Euler's explicit method is replaced by the midpoint method, and it is proved that, with such a change, the discretization methodology continues to preserve both the Lyapunov function and the type of convergence exhibited by the solutions of the original system. Furthermore, it is proven that this new approach improves the accuracy of the method since it can achieve second-order convergence.

Keywords: Sincronización de Sistemas, Sistemas Caóticos, Control de Sistemas No Lineales
Abstract: We investigate the synchronization of bidirectionally coupled nonidentical chaotic systems. We propose a design of their coupling to achieve synchronization that takes into consideration the variable structure nature of the systems, and guarantees the stability of an identical synchronization manifold for nonidentical systems using output feedback linearization. We illustrate our results with numerical simulations of well-known benchmark chaotic systems.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Sistemas Discretos
Abstract: This work proposes a discrete-time output regulator for nonlinear descriptor systems. The approach consists in two parts: 1) the design of a convex nonlinear stabilizer computed by means of the so-called non-quadratic Lyapunov functions, 2) the design of a linear regulator computed through the so-called Francis equations for descriptor models; the designing conditions of both parts are in terms of linear matrix inequalities. The effectiveness of the proposal is illustrated via numerical examples.

Keywords: Control de Sistemas No Lineales, Sistemas Multi-Agente, Robótica y Mecatrónica
Abstract: This article presents an algorithm for robust trajectory tracking and a three-dimensional collision avoidance strategy for perturbed quadrotors operating in the same airspace. When activated, the avoidance strategy forms a three-dimensional repulsive vector field around each vehicle. A control law, based on the direction of the vector field, ensures collision avoidance. The robust control law for trajectory tracking compensates for constant unknown disturbances. The trajectory tracking and collision avoidance strategies are then practically validated, demonstrating their real-world applicability.

Keywords: Sistemas Multi-Agente, Control de Sistemas No Lineales, Robótica y Mecatrónica
Abstract: By merging digital twin strategies with cooperative multirotor drone systems for load transportation, we are expanding the boundaries of autonomous logistics. This paper delves into the intricacies of modeling and controlling multiple drones in a collaborative setting, with the ultimate goal of developing digital twins that can facilitate comprehensive simulation, analysis, and optimization of drone operations. The paper introduces a well-known control strategy to demonstrate how n agents can transport a point mass load or a rigid body load, considering the center of mass of the load. The i-th agent is assumed to have knowledge of the states of neighboring j-th agents. Newton’s formalism with quaternion parameterization has been used to model the agents along with the load.

Keywords: Sistemas Biomédicos, Procesos Biológicos, Control de Sistemas Lineales
Abstract: This work presents the design of a cascade observer for a linear system that isapplicated for state estimation of the cardiovascular system. The system exhibits time-varying delays in the available output. The cascade observer in this work is capable of estimating actual state vector even in the presence of time-varying delays. The structure of the observer consists of m+1 subsystems, the first subsystem is an observer that estimates the delayed state vector and the m subsystems will compesate a fraction of the time-delay where the last subsystems estimate the actual state vector. The observer is validated in simulation and applied to estimate the dynamics of the cardiovascular system by obtaining the actual state vector estimatation and the output signal.

Keywords: Control de Sistemas Lineales, Control Clásico, Sistemas Biomédicos
Abstract: This paper presents the design of an observer for a nonlinear model that describes the I and II Types of Diabetes Mellitus. The model includes a sigmoid function to represent the behavior of a discontinuous nonlinear function. Therefore, we give the conditions for the required gains for the observer’s convergence.

Keywords: Procesos Biológicos, Otros Tópicos Afines
Abstract: Some mathematical models of infectious diseases or cancer use time delays to consider the influence of past states in their evolution, models that include distributed delays are more realistic since they take into account all the states in a time interval in the past. In cancer models it is convenient to know the parameter ranges for which the model is stable in the presence of a tumour. We use tools like an stability criterion depending on the delay Lyapunov matrix and a computational program to determine the roots of the characteristic equation of the linearized model.

Keywords: Sistemas Biomédicos, Sistemas Caóticos, Procesos Biológicos
Abstract: In this study, a cardiac model based on the discretized Barrio-Varea-Aragon-Maini (BVAM) model is investigated. The model is modified to include a time delay that represent the non immediate communication between the natural cardiac pacemakers. The objective is to understand how the introduction of such delay can affect the system’s dynamics and its relationship with the onset of cardiac arrhythmias. By using dynamic analysis techniques the presence of chaos is analyzed, as well as its impact on the system’s stability. Our results conclude that the introduction of a time delay can induce nonlinear and chaotic behaviors which are known to have a close relationship with critical arrhythmias. This study contributes to the advancement of knowledge in cardiac physiology and highlights the importance of considering nonlinear dynamics in the investigation of cardiac disorders such as arrhythmias.

Keywords: Control Robusto, Control de Sistemas No Lineales, Sistemas Biomédicos
Abstract: The manuscript is devoted to blood glucose regulation in type 1 diabetic patients using a robust switching control. The controller relies on an interval-based predictor that estimates the state considering estate and input constraints. The proposed controller can deal with the uncertainties in the patient parameters and external perturbations such as unannounced food intake. The closed-loop stability analysis relies on the Lyapunov function approach. The blood glucose is stabilized around the desired value while the state and control trajectories remain within the desired constraints. The feasibility of the approach was validated in simulations using a cohort of four adult patients.

Keywords: Control de Sistemas No Lineales, Procesos Biológicos, Sistemas Biomédicos
Abstract: An observer-based control is designed using the feedback linearization strategy for blood glucose regulation using a model of the glucose-insulin system that represents a person with type 1 diabetes. The design of two nonlinear state observers are performed; a high-gain observer and a nonlinear observer for Lipschitz systems. The results of the estimated state variables are compared, as well as the control based on each of the observers and the action of the control law for insulin application.

Keywords: Modelado e Identificación de Sistemas, Cómputo para Control, Otros Tópicos Afines
Abstract: This article presents a comparison between three different metaheuristic methods: the genetic algorithm (GA), the simulated annealing (SA), and the particle swarm optimization (PSO) in an experimental setup for leak diagnosis in a water distribution network. First a detection stage estimates the value of the flow-rate residual between the input and the output of the water distribution network until it exceeds a preestablished threshold value. The estimated value of the leak is analyzed during a previous time window and when its value is stable around a constant value a detection alert is emitted. Then, an optimization algorithm is implemented. A cost function with two search variables (location and magnitude of the leak) is then defined. The optimization of the cost function is performed using the three metaheuristic methods. Finally, results using experimental data are presented: the computing time of each metaheuristic method, the estimated leaked outflow and the success/failure rate for each method.

Keywords: Modelado e Identificación de Sistemas, Sistemas Biomédicos, Sistemas Económicos y Sociales
Abstract: The emergence of the COVID-19 pandemic in December 2019, caused by the SARS-CoV-2 virus, has prompted extensive analysis using mathematical models like SIR (Susceptible, Infected, Recovered) and SEIR (Susceptible, Exposed, Infected, Recovered) to comprehend the dynamics of the disease. Recent advancements in model refinement include the incorporation of time delays to account for incubation and recovery periods, as well as adaptations to encompass the transmission by asymptomatic individuals. However, the precise identification of parameters in these models remains a challenging task due to incomplete and non-uniform data.

This study delves into the utilization of numerical algorithms, specifically Particle Swarm Optimization and Genetic Algorithms, to optimize parameters and delay times in SIR models based on recent pandemic data. The performance of both algorithms is explored through the testing of parameter identification under varying levels of uncertainty in measures of infected patients. The results of this research aim to improve the understanding of the COVID-19 pandemic and contribute to the refinement of mathematical models for analyzing infectious disease dynamics.

Keywords: Otros Tópicos Afines, Modelado e Identificación de Sistemas, Sistemas Electromecánicos
Abstract: This paper presents the analysis and synthesis of the fractional-order model of an electrohydraulic system expressed by fractional-order transfer functions of the servo valve and the double-acting cylinder by applying Caputo's definition. From the analysis of the differential equations of the system dynamics, it is possible to obtain the fractional order expression that relates the output signal with respect to the input signal, of each of the analyzed elements. Then, these transfer functions are put in a block diagram to perform numerical simulations that allow comparing the performance of the proposed approach with respect to the modeling given in integer order. The results of the simulations have shown that the variation of the fractional exponent can reduce the settling time and rise time of the system response to a step input, however, it also shows the need to correctly understand the physical operation of the system to avoid a performance that does not correspond to real scenarios.

Keywords: Modelado e Identificación de Sistemas, Sistemas de Parámetros Distribuidos, Control de Procesos
Abstract: The presence of ammonium and its derivatives in drinking water sources is a problem of worldwide concern. This work introduces a formal framework to model and analyze an ion exchange process for ammonium removal commonly used in drinking water treatment. The work aims to evaluate (via simulation) the breakthrough curves for ammonium removal in a fixed-bed column with zeolites operating in upflow regime. The results show quantitatively the influence of the initial ammonium concentration and the flow velocities on the behavior of the breakthrough curves. With this, the proposal is intended to be a reference framework for designing experiments in ion exchange processes for ammonia removal and further optimizing them using control strategies.

Keywords: Modelado e Identificación de Sistemas, Robótica y Mecatrónica, Otros Tópicos Afines
Abstract: Attitude determination and control systems in nano-satellites require reliable verification systems capable of reproducing the conditions that the system may encounter in space, such as weightlessness, electromagnetic disturbances, etc. In this regard, testing benches commonly use air suspension systems, which require precise initial positioning. For this purpose, mass balance models are employed, allowing the system to reproduce or be controlled under precise and controlled disturbances, closely aligning with the design guidelines set by international space agencies.

Keywords: Modelado e Identificación de Sistemas, Educación en Control, Tecnología para Control
Abstract: This article presents the implementation of the digital twin of a process of interconnected atmospheric tanks, the parametric design was implemented with the help of software intended for computer-aided design based on the information provided by the manufacturer's sheets and performing reverse engineering. A mathematical model is proposed using non-linear differential equations implemented in Matlab Simulink, which reflects the fluid dynamics within the hydraulic plant reacting to disturbances generated by the control elements in real time. The digital twin was evaluated by executing different tank filling and emptying scenarios whose results were compared with tests in the physical plant, obtaining a good approximation of the results and ensuring that the mathematical model reacts to disturbances generated by the control elements in real time. By integrating the information obtained from the mathematical model with the 3D parametric model we obtain a software tool that is centralized, efficient and reproducible in which operators can experiment and accelerate the acquisition of knowledge as well as identify and classify control optimization opportunities of the studied process, emphasizing the fact of supporting decision-making without wasting valuable resources.

Keywords: Control Robusto, Control Discontinuo (modos deslizantes), Robótica y Mecatrónica
Abstract: En este trabajo se propone una alternativa para resolver el problema de control para seguimiento de trayectorias con aplicación en motores de corriente directa principalmente. Se diseña un controlador discontinuo por modos deslizantes que es insensible a incertidumbre paramétrica y perturbaciones externas, siempre y cuando se cumplan ciertas condiciones para evitar la etapa de alcanzabilidad. Por otra parte, se presenta un estimador de perturbaciones el cual es fácil de implementar y nos ayuda a disminuir la amplitud de la ganancia del término discontinuo del controlador. Las simulaciones numéricas respaldan los resultados teóricos, demostrando un buen rendimiento del controlador propuesto.

Keywords: Control de Sistemas Lineales, Control Discontinuo (modos deslizantes)
Abstract: This paper presents a methodology for the design of observers for a family of Linear Time Varying systems with a single output satisfying a differential uniform observability property. To address the problem, an immersion of the original system in a higher-dimensional state space is proposed, where a bl-homogeneity (homogeneity in the bi-limit) based state observer is designed with theoretically exact convergence in finite-time. Furthermore, it is shown that, according to the selection of a set of parameters and gains, the convergence is in fixed-time.

Keywords: Control Discontinuo (modos deslizantes), Sistemas Multi-Agente, Control Robusto
Abstract: This article introduces a distributed control approach for unicycle mobile robots in a leader-follower configuration, ensuring a specific geometric arrangement on the horizontal plane. The proposed control algorithm allows the formation of the follower robots relative to the leader using a super-twisting sliding mode controller even in the presence of disturbances. This method employs a pair of sliding variables and a continuous control signal, ensuring that the sliding variables converge to zero within a finite time. The specific formulation of these sliding variables guarantees that the formation errors converge asymptotically to a bounded region around the origin.

Keywords: Control Discontinuo (modos deslizantes), Control Robusto, Control de Sistemas Lineales
Abstract: In this article, a robust positive control is proposed for the stabilization of a family of nonlinear positive systems. Sufficient conditions are provided for stabilization by sliding modes, which entails the robustness of the feedback system. The construction of a stabilizing line with sliding dynamics is detailed. The feasibility of the stabilization method is illustrated by studying a two-dimensional Lotka-Volterra mutualistic system where the sliding conditions, the construction of the segment of the stabilizing line and the robustness of the bounded positive control are shown.

Keywords: Control de Sistemas Lineales, Control Robusto, Control Discontinuo (modos deslizantes)
Abstract: This paper analyzes the problem of the ``unmatched'' uncertain control coefficient in a class of linear systems. Sufficient conditions are determined to ensure the stability of the dynamics during the sliding mode. This communication states that it is possible to design first-order SMC when the direction in the control vector is unknown. Finally, the feasibility of the results is shown through simulations in a fin-controlled rocket model.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Control Basado en pasividad
Abstract: In this paper, a modification of the classical proportional plus damping injection control scheme is proposed to solve the bilateral teleoperation problem in finite-time for fully actuated Euler-Lagrange systems in the joint space. In order to prove finite-time convergence, the controller is designed to provide global asymptotic stability and then, by properly designing the control parameters, the closed-loop system is proved to admit a homogeneous approximation of negative degree. Simulation results with a teleoperation system composed of two robots with six degrees of freedom are given to show the effectiveness of the proposed scheme.

Keywords: Control de Sistemas Lineales, Sincronización de Sistemas, Sistemas Discretos
Abstract: This paper presents an estimation algorithm based on a synchronized observer, using homogeneous sensor fusion for a linear system in the presence of multiple sampling periods, whether periodic or aperiodic. This allows for the fusion of a single continuous time estimation applied in a vertical building-like structure. Additionally, the multisensors are affected by different measurement noises. The designed algorithm is validated on a two-story vertical building structure with multisensors that have different sampling rates and significantly large sampling intervals for the system, aiming to reduce the effects of noisy signals. The effects of multiple sampling and noise are very real issues in monitoring systems.

Keywords: Control de Sistemas No Lineales, Sistemas Adaptables, Robótica y Mecatrónica
Abstract: In this paper, we propose an adaptive control scheme for achieving finite-time regulation in the simplest nonlinear mechanical system: a one degree of freedom Euler-Lagrange system. Our control approach consists of two components: a Proportional-Derivative (PD) nonlinear feedback and a finite-time estimation algorithm, which is based on a Dynamic Regressor Extension and Mixing (DREM) estimator. We emphasize that finite-time regulation of Euler-Lagrange systems using adaptive control has not been addressed in the literature. Although the control system under analysis is basic, it reveals important aspects of the finite-time convergence of the closed-loop system. The performance of the proposed controller is demonstrated through simulations.

Keywords: Modelado e Identificación de Sistemas, Robótica y Mecatrónica, Sistemas Caóticos
Abstract: The study of pendulum-based systems has been a subject of interest, from the cart-pendulum and the Kapitza pendulum, among others, which are the most studied. However, one of the less addressed pendulums is the variable mass pendulum, which involves a difficulty not common in other types of systems. Due to this, the modelling of a variable mass system is carried out using the Euler-Lagrange formalism, thus finding a nonlinear system. The dynamic modelling of this system does not delve into the characteristics of variable mass but presents the intrinsic difficulties of such a system.

Keywords: Control de Sistemas Lineales, Control Clásico, Sistemas Discretos
Abstract: This work proposes the design of a lead-lag compensator for a permanent-magnet synchronous motor applying the Tustin method to obtain stability as a tool to avoid a separated transformation for continuous and discrete time. Therefore some problems of the adaptation between S plane and Z plane can be circumvented. As a main tool to achieve control and improve the transient response, the root locus approach is applied. The results are corroborated with experiments.

Keywords: Control Basado en pasividad, Sistemas Electromecánicos, Modelado e Identificación de Sistemas
Abstract: We present a controller for a power generation system composed of a fuel cell connected to a boost converter system which feeds a resistive load. The controller aims to regulate the output voltage of the converter, regardless of sudden changes of the load and the fuel cell voltage. Leveraging monotonicity, we prove that the nonlinear system can be controlled by means of a simple passivity-based PI. We afterward extend the result to an adaptive version, allowing the controller to deal with parameter uncertainties. This adaptive design is based on an indirect control approach with parameter identification performed by a ``hybrid'' estimator, which combines two techniques: the gradient-descent and the immersion-and-invariance algorithms. The overall system is proven to be stable, with the output voltage regulated to its reference. Furthermore, realistic simulation results validate our proposal.

Keywords: Control Basado en pasividad, Sistemas Discretos, Sistemas Eléctricos de Potencia
Abstract: This paper presents a Hamiltonian model of a direct current microgrid consisting of rectifiers connected in parallel in closed-loop with a Droop-type power-sharing algorithm. The main contribution is to demonstrate that a discretization using the backward Euler method preserves the microgrid's Hamiltonian structure and passivity properties with a simple implementation of the method. The results are numerically evaluated by comparing the backward and forward Euler methods.

Keywords: Control Basado en pasividad, Sistemas Electromecánicos, Control de Sistemas No Lineales
Abstract: In this paper the problem of current tracking control for the three phases Switched Reluctance Motor (SRM) is approached from the Passivity Based Control (PBC) perspective. The methodology applied has two important steps; the first one is to analyze the system structure of the simplified Euler-Lagrange mathematical model of the SRM system, which allows the decomposition of the electrical and mechanical subsystems. Exploiting this property, the key to the control design is on the interconnection of the subsystems; where the current control is designed for the electrical subsystem and the mechanical subsystem, due to its passivity properties, can be considered as a passive perturbation. Also, it is proven that the angular velocity of the motor is bounded, therefore the mechanical subsystem is also bounded. To validate this result, a numerical evaluation is made with a Matlab/Simulink simulation performed with parameters of a three phase SRM 12/8 Emerson Electric Co.

Keywords: Control Basado en pasividad, Sistemas Electromecánicos, Control de Sistemas No Lineales
Abstract: In this work, the problem of speed tracking control for the Induction Motor (IM) is studied by implementing a Passivity Based Control (PBC) scheme for the Port Controlled Hamiltonian (PCH) mathematical model of the system. The first step of the implemented methodology is to analyze the model structure and exploit its properties to design a speed tracking control. The mathematical model used to design the speed tracking control is in the dq reference frame, where the stator electrical sinusoidal signals are transformed into constant signals. The importance of the contribution is embedded in the system inversion, as the IM has an electrical subsystem not completely actuated, which makes the control scheme implementation for the IM not a trivial result. For illustration purposes, the numerical evaluation was done by a MATLAB Simulink simulation that shows that the designed control is able to follow variant speed references.

Keywords: Control Basado en pasividad, Control de Sistemas No Lineales, Sistemas Electrónicos de Potencia
Abstract: This article deals with the decentralized passivity-based controller (PBC) design for the power modules DC/DC and AC/DC connected to a DC microgrid. The DC power modules use buck and boost topologies, while the AC/DC rectifier employs the boost topology. Linear extended state observers are used to estimate the load current demand by the DC microgrid. Thus, the power modules get equitable contribution and synchronization. The PSIM simulation results show the effectiveness and robustness of the decentralized passivity-based controllers of the power modules for the DC microgrid system.