Keywords: Control de Sistemas No Lineales, Control Robusto, Robótica y Mecatrónica
Abstract: The aim of this paper is to design a sampled robust controller for the trajectory tracking problem in constrained unicycle mobile robots. The proposed swithched controller is composed by an aperiodic control law and a periodic control law. The aperiodic control consists on an state–feedback–based event–triggered control wich is designed by means of the attractive ellipsoid method and the barrier Lyapunov function. The periodic sampled control part is designed taking into account a maximum sampling time. A safe set where the state constraints are not violated, and a switching set that determines the region where each part of the controller is active are provided. The proposed strategy guarantees the input–to–state stability of the tracking error dynamics with respect to external disturbances. The feasibility of the proposed approach is demonstrated through simulation results.

Keywords: Robótica y Mecatrónica, Detección y Aislamiento de Fallas
Abstract: En la industria la evaluación de la calidad de uniones soldadas es de suma importancia para cumplir con los estándares de calidad y seguridad requeridos. En el contexto general, para identificar defectos producidos durante el proceso de soldadura se requiere de una amplia inspección utilizando distintos métodos, como las pruebas destructivas y no destructivas. Además, los inspectores de la soldadura requieren de capacitaciones y certificaciones para llevar a cabo una inspección eficiente de la soldadura. La presente investigación propone analizar soldaduras utilizando técnicas de visión por computadora como una herramienta auxiliar para la identificación de defectos en recubrimientos. Por lo que, se propone realizar un análisis de color para la segmentación de los defectos generados durante el proceso de soldadura encontrados en placas de acero ASTM A36 recubiertas de acero inoxidable 308 mediante el proceso GMAW robotizado. La automatización a través del uso de visión por computadora ofrece una herramienta alternativa para identificar y clasificar los defectos en la soldadura mediante la segmentación de color de un banco de imágenes de micrografías. Por lo que al final del procesamiento, se concluyó que el espacio de color HSV y YCbCr lograron una mejor segmentación de los defectos presentes en las muestras, como la falta de fusión y porosidades.

Keywords: Sistemas Electromecánicos, Control de Procesos
Abstract: In this paper, we design a portable banana fiber extractor machine. The design is based on national regulations, which lead to restrict the mechanical characteristics. Before manufacturing, we use 3D specialized software to outline a prototype. To ensure a rigid structure, a finite element analysis (FEA) is performed in accordance with the American Society for testing and materials (ASTM). With the aim of improving fiber quality, we also design an electronic circuit for controlling motor speed. Finally, we construct the machine and test according the design parameters.

Keywords: Robótica y Mecatrónica
Abstract: This article presents a trajectory tracking robust control for a mobile robot with Mecanum wheels. Using the sliding mode technique, a controller is developed to ensure robustness against unknown uncertainties, providing stable convergence. For stability conditions, the direct Lyapunov method is used, which guarantees the asymptotic convergence of the system. Finally, the results are evaluated at the simulation level using the nonlinear model and ROS2 in the Gazebo environment.

Keywords: Robótica y Mecatrónica, Redes Neuronales, Control de Sistemas No Lineales
Abstract: This paper presents the construction of an experimental platform consisting of a 4-degrees-of-freedom SCARA robot. The proposed platform is designed to quickly test nonlinear controllers experimentally. The code is written in C++, which is both flexible and efficient, resulting in a 2 ms sample time for the closed-loop controller. Additionally, a model-free adaptive controller is proposed in this work, which uses the direct kinematics of the robot to construct a pseudo-regressor. The proposed approach demonstrated superior performance when compared experimentally with two other model-free controllers and a classical model-based adaptive controller.

Keywords: Robótica y Mecatrónica, Cómputo para Control, Control Clásico
Abstract: This paper presents a practical methodology for tuning a fractional-order PID (FOPID) controller applied to a two-wheeled differential mobile robot. Using the robot's kinematic model and the particle swarm optimization (PSO) method, the goal is to improve the system's control precision and stability. Numerical results show that the FOPID controller, compared to its integer-order PID counterpart, offers greater flexibility in parameter tuning and better trajectory tracking performance, achieving a reduction in error. However, challenges related to the FOPID implementation, such as higher computational demand, are also discussed. Future work includes the experimental validation of the results on a physical platform, allowing for the evaluation of the controller's performance under real-world conditions.

Keywords: Control de Sistemas No Lineales, Control Robusto, Otros Tópicos Afines
Abstract: In this paper we consider an output-feedback homogeneous controller for a class of second order nonlinear systems subject to model uncertainties. We prove that, despite the uncertainty, the controller drives the trajectories of the system to the origin in finite time. The theoretical developments are tested in an electronic experimental set up.

Keywords: Control Robusto, Control de Sistemas No Lineales, Robótica y Mecatrónica
Abstract: This paper presents the design of a robust controller for joint position regulation of the inertial wheel pendulum. The proposed controller for this underactuated mechanical system affected by an unknown constant disturbance was designed using an interesting energy shaping approach. The unknown disturbance is estimated via a nonlinear observer, and the stability analysis is based on Lyapunov's theory. Numerical simulations on the inertia wheel pendulum model illustrate the performance of the proposed controller.

Keywords: Modelado e Identificación de Sistemas, Sistemas Adaptables, Control Robusto
Abstract: This paper presents a new robust adaptive joint position trajectory tracking control for torque-driven robot manipulators using a novel parameter identification scheme. The novelty of this identification scheme is that ensures convergence of the true parameters exponentially, even when the regressor do not verify the stringent condition of persistent excitation, using a classical normalized gradient descendent adaptive law. An indirect adaptive controller approach is used to combine the identification scheme with a robust model based GES controller to verify joint position trajectory tracking control objectives under constant disturbances. The validity of our claims are illustrated with simulations of a two degrees-of-freedom robot manipulator.

Keywords: Control Robusto
Abstract: This work describes the design of a practical model-free nonlinear control algorithm for the angular speed regulation on BLDC motors for automotive electrical tractions. For control development, the gain of the input signal and the total disturbance of the system are assumed to be unknown. In order to compare the proposed control behavior, an active disturbance rejection control (ADRC) and PID controller were developed, all control algorithms were implemented in real-time, and the experimental results are presented, showcasing the potential real-world applications of the proposed research.

Keywords: Control Robusto, Otros Tópicos Afines
Abstract: This article describes a methodology for controller design, Youla-Kucera Parameterization is used for this purpose. The controller is designed for an electric machine, taking into account its sensitivity functions which must be stable and proper to ensure better behavior in the control loop, using a DC motor will allow us to observe the behavior of the controller in smooth and disturbances in the system. It will be possible to have a control that, in addition to making estimates of the states, will allow for a more robust control. The main steps of this resulting methodology are: mathematical design, experimentation and of course the results, which will allow the performance of the technique to be evaluated.

Keywords: Control de Sistemas No Lineales, Control Robusto, Robótica y Mecatrónica
Abstract: This paper presents a model quasi-linear parameter varying (qLPV) and an integral Linear Quadratic Regulator (LQR) controller for an unmanned aerial vehicle type hexarotor. The qLPV model is derived using the nonlinear sector approach, which can accurately represent the hexarotor nonlinear model under bounded nonlinear terms. Meanwhile, the goal of the controller is to achieve trajectory tracking despite disturbances caused by residual rotor speeds and wind disturbances. Trajectory tracking is accomplished by using an integrator comparator block which is divided into three subsystems governed by rotational, altitude and position dynamics. To guarantee robustness against disturbances and tracking error, a H_infty performance criterion is considered. The stability condition and robust performance are formulated using the Lyapunov quadratic function, with sufficient conditions provided by linear matrix inequalities (LMIs). Finally, numerical simulations of the proposed method are illustrated using the hexarotor model.

Keywords: Redes Neuronales
Abstract: Estimating the State Of Health (SOH) of Lithium-Ion Batteries (LIB) is essential for optimal performance in applications such as electric vehicles (EV) and energy storage systems. However, this battery’s electrochemical parameter is impossible to measure directly. Many works have addressed estimating the battery SOH using different techniques. Recently, techniques such as machine learning have enabled data-driven predictions when a parameter cannot be measured. In this work, an artificial neuronal network (ANN) is proposed to estimate the battery’s SOH for an EV. The ANN was trained at the beginning with Ames PCoE battery data provided by NASA and complemented with synthetic data from a LIB electrochemical model. The electrochemical model describes the battery behavior with specific SOH. Therefore, a parameter estimation algorithm such as Particle Swarm Optimization (PSO) was used to figure out the model parameters for each SOH to generate new profiles and add more information to train the ANN. Finally, the ANN was implemented with a candidate battery to demonstrate its effectiveness and performance in out-range LIB operating conditions in which it was trained.

Keywords: Cómputo para Control, Modelado e Identificación de Sistemas, Educación en Control
Abstract: This paper introduces an open-source Python software that achieves a high performance for the sampled period, despite running on a general-purpose operating system instead of a real-time operating system. The software is designed to implement control systems and experiment with physical platforms, particularly the Quanser Qube-Servo 2. This article describes the coding design, numerical methods, modeling, and identification of the Qube-Servo 2, the control design, and its implementation. Finally, a quick guide to downloading via GitHub and installation requirements are provided.

Keywords: Educación en Control, Robótica y Mecatrónica, Tecnología para Control
Abstract: Robot control is an area where concepts from different science and engineering disciplines, that at first are difficult to associate, converge. To illustrate and integrate such concepts, functional experimental platforms with actualized software and hardware components are required. For this reason, in this work we present the reconditioning of a 5 DOF manipulator robot, out of service, manufactured in the nineties. Its rehabilitation process presents an excellent opportunity to illustrate the essential theoretical and practical knowledge in a first approach to learning the industrial manipulator robots control.

Keywords: Educación en Control, Tecnología para Control, Control Clásico
Abstract: In our days, there is a set of problems associated with water scarcity due to its vital importance for humans, as it is related to most of our domestic activities, hygiene, production chains, etc. This situation worsens if we consider technical problems in distribution as leaks as a result of lack of maintenance and aging of infrastructure. Motivated by the issues with the hydraulic distribution network in the city of Tecate, Baja California, Mexico, a prototype was built in order to emulate its operation and validate proposed control schemes as an alternative to the current manual management. The prototype has been built integrating a series of industrial sensors and actuators to truly provide the features of a real application to ease the implementation in a real scenario, using the IoT platform Node-RED. This paper describes a PI-IoT proposed control system for regulating the level of a tank by means of an analog valve. In the real system, these elements are indeed separated by a distance of 4.5 km, which implies the use of a real-time communication channel to effectively regulate the level. The performance of the proposed scheme is validated by real-time experiments.

Keywords: Tecnología para Control
Abstract: This paper explores the discrete implementation of an Extended State Observer (ESO) for a Laser Beam Stabilization (LBS) system, presenting both simulation and experimental results. The study compares a conventionally discretized ESO with a predictor-corrector ESO within a PD control scheme, aiming to reject disturbances and improve real-time performance. The predictor-corrector ESO demonstrates superior disturbance estimation and compensation capabilities, significantly enhancing the precision of laser beam positioning. This implementation lays the groundwork for integrating Active Disturbance Rejection Control (ADRC) with Model Predictive Control (MPC) in a modular approach for advanced optomechatronic systems.

Keywords: Redes Neuronales, Sistemas Hombre-Máquina
Abstract: Recent advances in computing and technological development have significantly enhanced the importance of algorithms such as neural networks, deep learning, and artificial intelligence in practical applications. Indeed, innovations like the Raspberry Pi and similar devices have facilitated neural network programming. This work details the development and implementation of a smart video reproduction system capable of recognizing various hand gestures, which are interpreted as instructions via a convolutional neural network (CNN). Using a presence sensor (PIR), the system determines when to activate. The CNN also enables real-time classification of content from a webcam, ensuring that the played videos align with user preferences. The integration of the PIR sensor and CNN presents an innovative approach for automated video playback management, enhancing user-system interaction and optimizing the viewing experience. The system efficiently responds to user presence and personalizes content based on real-time analysis. All functionalities are programmed on a Raspberry Pi model 4 computer via phyton software. The results demonstrate the effectiveness of the proposed approach, highlighting the potential of presence detection, content classification, and adaptive technologies based on computer vision.

Keywords: Educación en Control, Tecnología para Control, Robótica y Mecatrónica
Abstract: In this article, the implementation of a control and supervision system for the recycling module in a prototype model, which represents an industrial bottling process, is presented. This module includes a robotic arm, conveyor belts, a rail with a transport cart, sensors, DC motors, and pistons. The recycling process uses the robot to move boxes with bottles to a conveyor belt, which takes them to the emptying zone and then to the recycling zone, where the robot separates the bottles from the packaging to reintegrate each element into its respective stage of the process. As part of the development, a motion control system was designed for the conveyor belt motors to reduce mechanical wear, optimize the energy consumption of the motors as well as reduce abrupt movements that could affect product quality. A monitoring system for the electrical variables of the system was also implemented, providing useful information for decision-making that contributes to increasing the process efficiency. For this, the IEC 61131 standard, the GRAFCET methodology, and new IoT technologies, such as View of Things, were used. After the implementation, the module was successfully automated and optimized, with monitoring and management from mobile devices, validating the effectiveness of the control system for current large-scale industrial environment.