Keywords: Sistemas con retardos, Control de Sistemas No Lineales, Sistemas Electromecánicos
Abstract: During oil well drilling process, vibrations can reduce operating efficiency and damage equipment. This paper presents a model that describes the coupled torsional, axial and lateral dynamics of a drill string. Using a stability approach based on Lyapunov theory, the controller gains that ensure system stability are determinated. Numerical simulations show that the implemented control eliminates torsional and axial oscillations and significantly attenuates lateral vibrations, contribuiting to improved overall drilling system performance.

Keywords: Sistemas con retardos, Control de Sistemas Lineales, Control de Procesos
Abstract: Este artículo presenta un esquema de control para sistemas de primer orden con retardos considerables, basado en un enfoque multi-predictor. La metodología propuesta emplea múltiples modelos de predicción junto con la inyección de salida para mejorar la estabilidad y el rendimiento del sistema. Se proporcionan las condiciones necesarias y suficientes para garantizar la estabilidad del sistema, y se desarrolla un procedimiento sistemático para determinar el número mínimo de sub-predictores requerido para garantizar la estabilidad del observador, evitando así estructuras de diseño excesivamente complejas. Los resultados obtenidos corroboran la eficacia del esquema propuesto para estabilizar sistemas con retardos prolongados, superando las estrategias de control tradicionales. Se presenta un ejemplo de simulación para validar la propuesta.

Keywords: Control de Sistemas Lineales, Sistemas con retardos, Control Óptimo
Abstract: This paper presents a stabilization methodology for time-delayed systems by means of a continuous model-based predictive control (CMPC). The stabilization strategy is based on the design of an observer-predictor scheme with a single gain, which allows estimating internal signals not directly measurable in the plant, these signals are used for the design of the CMPC predictive controller. The main contribution consists in the development of a CMPC predictive control algorithm by using Laguerre functions. Experimental results illustrate the effectiveness of the approach, showing advantages over other conventional control schemes.

Keywords: Control de Sistemas Lineales, Control Clásico, Sistemas con retardos
Abstract: This work presents the analysis and control of the Wood-Berry distillation column model, a two-input-two-output (TITO) system with time delays. The study is conducted in the frequency domain, demonstrating the effectiveness of the individual channel analysis and design framework. Within this framework, the multivariable system is decomposed into single-input, single-output (SISO) subsystems while preserving the original multivariable dynamics and delay effects. The individual channel analysis enables: clear visualization of delay impacts on system stability, design of controllers with robust stability margins, and the introduction of the delay margin concept as a key design parameter. The results here presented confirm that classical control techniques—based on Nyquist and Bode diagrams—can be successfully applied to design effective controllers for this system. Simulation results of the control system are presented.

Keywords: Otros Tópicos Afines, Sistemas con retardos, Control de Sistemas Lineales
Abstract: This paper investigates the design of an observer for linear systems with commensurate delays affected by bounded unknown inputs, assuming that the system is observable in the presence of such inputs. The observer proposed by Hou is employed, as well as information from the system output and its derivatives, which are approximated using the high-order Levant's differenciator, to enable finite-time reconstruction of the system trajectories.

Keywords: Sistemas con retardos, Control de Sistemas Lineales
Abstract: The problem of safety control for linear systems with delay in the input is addressed via an observer predictor. Under this approach, no implementation of any integral is required, avoiding potential instability phenomena that might induce violation of the imposed constraints in the state space. We provide some insights into how to select the parameters of the observer predictor scheme to guarantee that the system trajectories remain within a given set of the state space.

Keywords: Redes Neuronales, Sistemas Caóticos, Procesos Biológicos
Abstract: Memristor-based neuron models are gaining significant attention for their ability to imitate the firing activity of biological neurons efficiently. The complex interplay of external and internal factors in biological nervous systems influences neuronal firing. Due to its memory function and synaptic plasticity, memristor-coupled neuronal networks offer a promising framework for exploring the complex dynamics of biological neural systems. This work shows a two-neuron model coupled through a second-order memristor. Numerical analyses are performed to see the dynamic behavior of the proposed system. The proposed memristive-synapse system is implemented in an electronic circuit and validated in the laboratory, confirming its potential for neuromorphic applications.

Keywords: Modelado e Identificación de Sistemas, Redes Neuronales, Sistemas Eléctricos de Potencia
Abstract: This work proposes a methodology for diagnosing static eccentricity faults in induction motors using Artificial Neural Networks (ANN) trained on simulated data. Three ANN architectures were implemented: Backpropagation Neural Networks (BPN), Deep Neural Networks (DNN), and Convolutional Neural Networks (CNN), representing different modeling approaches. In addition, a Support Vector Machine (SVM), a traditional machine learning classifier, was included for comparative analysis. The method employs Park’s vector analysis of the stator current under varying load and fault conditions to extract statistical characteristics, including mean, median, RMS, mode and variations in the width of the inner and outer vector radius. Simulations were carried out on an 11 kW three-phase induction motor, with varying load levels and severity of eccentricity. The extracted features formed the input dataset for training the neural networks using the MATLAB Deep Learning Toolbox. Classification performance was evaluated on unseen test data. The results demonstrate the potential of ANN- based approaches for fault diagnosis, with different architectures exhibiting varying sensitivity to the borderline or transitional fault conditions. The study supports the applicability of this technique as a diagnostic tool for monitoring industrial motor condition

Keywords: Redes Neuronales, Sistemas Adaptables, Control Inteligente
Abstract: En este artículo se realiza un análisis comparativo de cuatro estrategias para la clasificación inteligente de fallas basada en el análisis de datos en tiempo real. La cantidad de trabajos de investigación, donde se proponen diferentes estrategias de clasificación inteligente, es muy amplia, sin embargo la gran mayoría de los clasificadores propuestos trabajan fuera de línea. En este artículo se exploran diferentes técnicas de clasificación inteligente, con el objetivo de poder implementarlas en tiempo real para la detección de fallas en sistemas dinámicos no lineales. La clasificación de datos en tiempo real es de gran relevancia para el diseño de sistemas de control tolerantes a fallas.

Keywords: Robótica Móvil, Control Clásico, Redes Neuronales
Abstract: Spherical robots offer omnidirectional mobility and mechanical robustness, making them ideal for exploration and surveillance in unstructured environments. However, their control is challenging due to their non-linear and coupled dynamics. This paper presents the design, modelling and control of a spherical robot with an internal pendulum. The approach combines realistic simulations in CoppeliaSim, experimental validation using a visual tracking platform, and advanced control strategies based on Deep Reinforcement Learning (DQN and DDPG) and traditional approaches. Results from both simulation and real-world experiments demonstrate the effectiveness of model-free learning techniques in achieving stable and accurate position control.

Keywords: Control de Procesos
Abstract: This research expands the ultra-local model framework by explicitly incorporating valve fail-action modes, allowing the controller design to integrate these considerations into the control law during application. Consequently, two scenarios are explored in the formulation of the ultra-local model, in which a fault action is incorporated into the model-free controller strategy to ensure stability in industrial process control. Validation of the methodology through simulations confirms its effectiveness in preserving system stability and performance. The findings illustrate the adaptability of the MFC for fault-tolerant control, presenting a practical solution for processes with unmodeled dynamics and actuator uncertainties.

Keywords: Otros Tópicos Afines, Sistemas Eléctricos de Potencia, Redes Neuronales
Abstract: Se presenta un sistema de gestión energética para la optimización de microrredes híbridas equipadas con energía renovable y almacenamiento en baterías. La solución propuesta se basa en técnicas de machine learning, como redes neuronales para predicción y Random Forest para clasificación, integradas con un algoritmo de optimización metaheurística para el despacho eficiente de los recursos.

Keywords: Redes Neuronales, Robótica Móvil
Abstract: This work presents a hybrid mobile robot navigation system for simulated environments. The system integrates the Dynamic Window Approach (DWA) with a deep reinforcement learning (DRL) using an actor-critic architecture. Initially, the robot uses DWA, while concurrently, a DRL agent generates alternative control speeds using actor and critic networks. An entropy-based mechanism dynamically weights the DWA and DRL speeds, transitioning gradually to DRL control. The system's performance is evaluated using success rate and trajectory length, comparing the hybrid approach to DWA and DRL alone. Results demonstrate improved robustness and performance, particularly in complex scenarios.

Keywords: Robótica Móvil, Control de Sistemas No Lineales, Otros Tópicos Afines
Abstract: This work proposes a class of bounded non-linear controllers to address the tracking task in non-holonomic wheeled mobile robots. Using Lyapunov redesign and a particular class of bounded sector nonlinearities, global asymptotic stability of the closed-loop dynamics is demonstrated, and the bounded properties of the nonlinear controllers are established. The proposed design aims to build controllers that meet the bounded practical assumptions required for implementation purposes. The bound value of the control signals can be numerically computed on the basis of the maximum velocity values required for the desired trajectory plus the bound values of the bounded sector non-linearities, which can be set by the designer. The performance of two non-linear control laws, chosen as examples from the proposed general class of controllers, is numerically assessed.

Keywords: Robótica Móvil, Educación en Control
Abstract: This article presents the modeling and control of a self-balancing two-wheeled mobile robot. The robot is built around an 8-bit microcontroller and is designed to maintain balance while in motion. The primary objective is to develop a mathematical model of the system using the Euler–Lagrange formulation. Once the dynamic equations are obtained, they are expressed in state-space form. The mechanical parameters of the robot, such as mass, center of mass, and moments of inertia, are calculated based on physical measurements and component weights. A state feedback controller is then designed by selecting a suitable equilibrium point and applying the pole placement technique to determine the feedback gains. Numerical simulations are conducted to assess the system's behavior in both open-loop and closed-loop configurations. Finally, the control algorithm is implemented on the robot's microcontroller, and its performance is validated through experimental tests.

Keywords: Robótica Móvil, Control de Sistemas No Lineales, Mecatrónica
Abstract: This work presents the design and implementation of a state observer for the control of a differential mobile robot operating in a leader–follower formation. Unlike traditional approaches that rely on inertial coordinates, the proposed strategy is based exclusively on relative distances, allowing the system to function without a global reference frame. This methodology is highly useful as it provides an advantage in environments with limited access to absolute location. Using the kinematic model derived from relative measurements between the leader and follower robots, a state observer is developed to estimate the full relative system dynamics and the evolution of tracking errors. Through a Lyapunov-based stability analysis, it is demonstrated that the estimated error converges exponentially. The estimated state is used to tackle the leader follower formation. Simulation results are presented to validate the effectiveness of the proposed strategy and supports the stability conditions, demonstrating accurate performance.

Keywords: Robótica Móvil, Modelado e Identificación de Sistemas, Control Robusto
Abstract: Mecanum-wheeled mobile robots offer notable flexibility for navigating in conglomerated environments, as they can move without reorientation, in contrast to car-like robots constrained by kinematics. However, their control remains challenging due to the wheels' strong susceptibility to slippage and high-speed vibrations, leading to positioning and orientation errors. This manuscript presents an improved motion control using Active Disturbance Rejection Control and S-Curve motion profiles to mitigate peak responses. The structure is validated through simulations and experiments, and its performance is compared against step inputs and trapezoidal profiles.

Keywords: Control de Sistemas Lineales, Robótica Móvil, Mecatrónica
Abstract: This work shows a control design methodology for a class of time-variant nonlinear systems. This proposal uses a kinematic model of the differential robot, and a reference model that describes the desired trajectory as a function of time. Based on the linearization of the system in the error, a linear control is developed, capable of performing accurate tracking of the desired trajectory, as well as the convergence of the position and orientation errors to zero, without resorting to complex models or computationally expensive control strategies.

Keywords: Control de Sistemas No Lineales, Robótica Móvil, Sincronización de Sistemas
Abstract: In this work we have a spatially dependent time synchronization with differential traction type mobile robots, which will simulate a firefly network environment. In particular, we have in a virtual environment a group of terrestrial mobile robots in which the synchronization of different oscillating signals emitted by each mobile robot is intended to be achieved. The conventional control law proposed to synchronize the oscillating signals coupled to the robots will depend on the position in space of the robots, which may be synchronized (in phase or anti-phase) or not, to a periodic or randomly generated trajectory.

Keywords: Vehículos Aéreos, Robótica Móvil, Sistemas Multi-Agente
Abstract: This paper proposes a consensus-based protocol to achieve rendezvous between a pair of Unmanned Aerial Vehicles (UAVs), each controlled using a state-feedback linearization approach for trajectory tracking. Within this study, rendezvous is defined as the simultaneous arrival of the UAVs at a predetermined location. To accomplish this objective, the proposed protocol modulates the linear velocity of the UAVs—either amplifying or attenuating it—based solely on each aircraft’s relative distance to the target position. Numerical simulations conducted using MATLAB/Simulink are presented to assess the feasibility of the proposed approach.

Keywords: Sincronización de Sistemas, Sistemas Multi-Agente, Sistemas Discretos
Abstract: This paper addresses the outer synchronization problem of complex dynamical networks with outer heterogeneous topologies. Bidirectional coupling topologies are used for network clusters, where each node is a discrete periodic oscillator. For the analysis of the implemented complex dynamical networks ensembles the diffusive coupling strategy is employed in order to achieve sufficient conditions to exhibit the collective behavior of synchronization. The objective of this work is to show a numerical analysis of the possible advantages of using heterogeneous topologies.

Keywords: Robótica Móvil, Sistemas Multi-Agente, Control de Sistemas No Lineales
Abstract: This research proposes a control algorithm that allows to a group of wheeled mobile robots to emulate the flocking behavior. The controller is designed in such a manner that linear velocity measurements are not necessary either locally or in the exchange of information between the group members. Given that in the real life is possible that not all the members of the group to have knowledge of the desired flocking velocity, we propose a distributed observer. To analyze the stability of the flocking algorithm and distributed observer we employ tools from linear systems theory. To demonstrate the correct functioning of the control law experimental test are shown.

Keywords: Robótica Móvil, Sistemas Caóticos, Control de Sistemas No Lineales
Abstract: This work investigates the synchronization problem of wheeled mobile robots (WMRs) in a leader-follower configuration while safely sending information. First, we design an almost global trajectory tracking controller for the wheeled mobile robot. Then, we propose a synchronization strategy using static (direct) couplings combined with an encryption algorithm to add security to network communication. The stability and synchronization analyses were carried out using Lyapunov and graph theories and complex systems concepts. We provide experimental results to validate our theoretical findings.

Keywords: Vehículos Aéreos, Cómputo para Control, Sistemas Multi-Agente
Abstract: Artificial Potential Fields (APFs) are commonly used to control multi-agent systems such as drone swarms, enabling behaviors like trajectory tracking, coordination, and collision avoidance. However, APFs are typically hand-crafted and require extensive tuning, limiting their adaptability. To address this, we propose an evolutionary strategy based on Genetic Programming (GP) to automatically synthesize vector-valued controllers that replace traditional APF components for attraction, synchronization, and repulsion. Controllers are evolved in a 3D quadrotor simulation with realistic dynamics and evaluated on position and velocity errors during coordinated trajectory tracking. Results show that the evolved controllers match or outperform classical APFs, enabling emergent coordination without manual design. This demonstrates the potential of evolutionary synthesis for scalable, adaptive multi-agent control.

Keywords: Detección y Aislamiento de Fallas, Sistemas Electrónicos de Potencia
Abstract: Commercial I–V curve tracers use irradiance and temperature sensors to diagnose faults in photovoltaic arrays, which increases their cost and complexity. This work proposes a low-cost I–V curve tracer with intelligent diagnostic capabilities, able to detect faults without additional sensors. The system can identify electrical mismatches such as partial shading (including localized obstructions like bird droppings, leaves, or spot dirt), bypass diode failures, and hot spots. Fault detection is based on the comparison between the measured I–V curve and a theoretical model, using the Euclidean norm with a sliding window applied to a current residual signal. The proposed ideas are experimentally validated on a PV array consisting of two 175 Wp modules connected in series under non-uniform irradiance conditions.

Keywords: Detección y Aislamiento de Fallas, Modelado e Identificación de Sistemas, Sistemas Electromecánicos
Abstract: This paper presents a formulation for simulating induction motors based on the theory of coupled multiple circuits, with a particular focus on modeling electrical and mechanical behaviors under both normal and fault conditions. Using MATLAB® and Simulink®, the simulation incorporates detailed equations that account for stator and rotor configurations, winding functions, and rotor position-dependent inductance variations. The emphasis is placed on how air gap eccentricity affects electromagnetic torque, rotor speed, and phase currents. The proposed model allows the user to analyze fault scenarios, such as static eccentricity, and observe their impact on motor performance, offering an effective tool for fault detection and diagnostic system development

Keywords: Detección y Aislamiento de Fallas, Sistemas Hombre-Máquina, Sistemas Electromecánicos
Abstract: Mechanical faults in electrical machines, particularly in industrial washing machines, are a relevant case study, particularly due to the high costs of corrective maintenance performed in the event of a failure. Therefore, the present work aims to detect incipient (small in magnitude) mechanical eccentricity failures by means of a frequency analysis of motor current signals through a programmable logic controller (PLC). Noninvasive signal measurements were performed using Hall effect sensors and signal conditioning for a SIMATIC S7-1200 PLC, obtaining a database during the process of a washing cycle. For data analysis, the Discrete Fourier Transform (FDT) of the Park Instantaneous Space Vector (ISP) was used. For the different eccentricity failures, varying loads in the industrial washing machine basket were considered. The algorithm programmed in the PLC allowed the fault to be detected during a wash cycle, at different operating points of the industrial washing machine and under normal operating environmental conditions; that is, with the noise and vibration of other industrial washing machines. The scope of this work, therefore, allows for early "online" fault detection, avoiding corrective maintenance on industrial washing machines and the generation of other types of mechanical failures, such as bearing failures.

Keywords: Detección y Aislamiento de Fallas, Sistemas Eléctricos de Potencia, Sistemas Electrónicos de Potencia
Abstract: Small- and medium-scale photovoltaic (PV) plants commonly rely on monitoring systems limited to electrical parameters, such as generated power. Incorporating sensors to measure plane-of-array irradiance and module operating temperature is often not cost-effective in these installations, which restricts the use of traditional strategies for anomaly detection and performance evaluation. This paper proposes an advanced monitoring scheme based on unsupervised learning, specifically using hierarchical clustering, to identify atypical behaviors and assess the relative performance of neighboring PV inverters. The methodology is grounded in fault diagnosis principles, such as physical redundancy and parity relations, leveraging the expected similarity among power generation profiles. The proposed approach is validated using real data from a 240 kW PV plant consisting of 16 inverters rated at 15 kW, 304 modules of 450 Wp, and 238 modules of 545 Wp.

Keywords: Control de Procesos, Control de Sistemas No Lineales, Control Clásico
Abstract: The growing demand for sustainable energy sources has intensified interest in ethanol as a renewable feedstock for producing advanced biofuels. Packed bed reactors (PBRs) are well-suited for this application due to their high efficiency and compact design, but they exhibit nonlinear dynamics, multivariable coupling, and spatial gradients that complicate control. This paper presents the development and validation of a robust multivariable PI control strategy for an ethanol-based PBR, focused on regulating internal temperature and ethanol concentration. The control design employs a hybrid centralized approach that combines Davison’s method with the Moore–Penrose pseudoinverse to manage the nonsquare nature of the system. This allows the controller to effectively allocate control efforts among redundant actuators, ensuring stability and performance despite input-output mismatch and system nonlinearities. The proposed controller is validated through extensive simulations in MATLAB/Simulink®, assessing its performance in reference tracking, disturbance rejection, and robustness under dynamic conditions. Results show fast convergence, minimal steadystate error, and strong disturbance rejection in both temperature and concentration loops. These findings confirm that the hybrid centralized controller is a viable and efficient solution for real-world biofuel production systems based on packed bed reactors.

Keywords: Control Óptimo, Sistemas Discretos, Sistemas Eléctricos de Potencia
Abstract: Abstract: This paper introduces an ultra-local model redictive current control (UMPCC) for a permanent magnet synchronous motor (PMSM). The main objective of the ultra-local model approach is to improve the robustness of the current control of the PMSM. Previous works on ultra-local model techniques for the current control of a PMSM are designed based on deadbeat control, which leads to a high current ripple due to the fast response of the controller. This paper proposes a continuous UMPCC (C-UMPCC) to minimize the current ripple. In the proposed approach, a continuous vector control is designed using the solution of an optimal control tracking problem. Simulation results are presented to illustrate the proposed controller.

Keywords: Control Basado en pasividad, Sistemas Electrónicos de Potencia, Modelado e Identificación de Sistemas
Abstract: In this paper, a mathematical model for a three-stage PET is proposed based on the port-Hamiltonian systems framework. Furthermore, two controllers are integrated: a passive-PI controller implemented in the first stage of the PET (VSC in rectifier mode) and a conventional PI controller for the isolation stage (Dual Active Bridge). Their performance is evaluated for the three interconnected stages. The implementation demonstrates the robustness of the passive controller when another converter is connected. The validation of the complete mathematical model and the correct operation of the closed-loop system are numerically evaluated in Simscape-MATLAB.

Keywords: Control de Sistemas Lineales, Sistemas Electrónicos de Potencia, Control Clásico
Abstract: In this paper, a control strategy for a non-isolated step-up dc-dc converter with a high-voltage gain and reduced voltage stress in semiconductor devices is proposed. This converter can achieve wide voltage ratios with high-power efficiency, which is suitable for applications with alternative sources and batteries. Analysis, modeling and controller design are carried out for implementation purposes. Due to its non-minimum phase dynamics, the proposed controller consists of two feedback loops to ensure system stability and accurate voltage regulation. To verify the performance, a 220 V, 500 W laboratory prototype was built.

Keywords: Sistemas Eléctricos de Potencia, Control Óptimo, Modelado e Identificación de Sistemas
Abstract: Renewable microgrids are making headway as a way to decarbonize the planet and bring electricity production closer to the point of consumption without polluting. This implies changing the concept of the traditional (centralized) electrical grid to a distributed grid. As is well known, renewable resources are intermittent, so in order to guarantee 24/7 supply, in addition to trying to take advantage of all available renewable resources (mainly solar photovoltaic and wind), energy storage systems (ESS) are required, which makes these grids complex (the more so the more independent they are from the main power grid) and with a strongly non-linear behavior. This article incorporates hydrogen production, use and storage in the microgrid as part of its ESS. On the other hand, although the local controllers of each of the elements that make up the grid can guarantee the proper functioning of each of them, for example, the control of the maximum power transfer in the photovoltaic parks, the management of the grid as a whole requires a superior control that guarantees the balance of power (instantaneous) and energy (over time), as well as the economic management of the microgrid. This superior control is called “energy management system” (EMS) and can be a paradigmatic example of multivariable control of a nonlinear system. This paper presents a methodological basis for obtaining a general state-space model for hydrogen-hybridized renewable microgrids. A general control-oriented state space model is developed which, taking into account all parameters (technical and economic), allows the design of an EMS to make the best decisions both in the short term (how to adapt demand and production) and in the long term (how to economically manage the microgrid). The model captures all the nonlinearities of the microgrid using the linear parameter-varying model technique.

Keywords: Control de Sistemas No Lineales, Sistemas Electromecánicos, Control Clásico
Abstract: In this work, we consider a rotational mechanical system composed of a rigid body mounted on the shaft of a field-wound direct current (DC) motor, where the mass of the rotating body is assumed to be concentrated at a point located at a fixed radial distance from the axis of rotation, representing a simplified model of an eccentric inertia load. A complete dynamic model is derived, considering both electrical and mechanical components, including the electromagnetic torque and back electromotive force. The control objective is to achieve global asymptotic tracking of a desired angular velocity trajectory using only position and armature current measurements. A feedback control law is designed based on a reference current and its derivative, incorporating a second-order linear filter to obtain the angular velocity from position measurements. The closed-loop system stability is analyzed using a Lyapunov-based approach. Numerical simulations demonstrate the effectiveness of the proposed control scheme in ensuring velocity tracking with bounded internal signals, even under limited state measurement.

Keywords: Robótica Móvil, Sistemas Multi-Agente, Control de Sistemas No Lineales
Abstract: This paper presents the experimental validation of a Fractional-Order PID (FOPID) control scheme for mobile robots, implemented on TurtleBot3 platforms in multi-robot formation tasks. Two control strategies are evaluated: a conventional PID controller and a FOPID controller, both tested under abrupt changes in the global formation reference. Each robot tracks an absolute global reference while maintaining a predefined geometric configuration in both position and ori-entation. The controller parameters are tuned by minimizing the Integral Squared Error (ISE). Experimental results demonstrate that the inclusion of Fractional-Order terms in the FOPID significantly enhances performance, achieving faster and more stable responses compared to the conventional PID. Specifically, the FOPID reduced the Integral Absolute Error (IAE) by 23.76% and the control effort measured by Total Variation of the control signal (TVu) by 16.07%. These results indicate notable improvements in accuracy, stability, and robustness, while also overcoming the limitations of traditional leader–follower approaches.

Keywords: Robótica Móvil, Mecatrónica, Control Óptimo
Abstract: This article demonstrates how homography matrices can be integrated into a differential drive robot (DDR) controller for pose regulation, driving the robot from one configuration to another using only images as inputs. The visual errors generated by homography are incorporated into the objective function of a non-linear programming scheme to define the final pose of the robot relative to a reference image. Using homographies instead of specific feature points, our method mitigates the issue of feature occlusion.

Keywords: Robótica Móvil, Mecatrónica, Otros Tópicos Afines
Abstract: This work presents the design and implementation of a voice-controlled wheelchair mobile robot. For its development three state-of-the-art Automatic Speech Recognition (ASR) models were compared: Open AI Whisper, Google Speech Recognition and MCU Phynx. Our proposal is based on a low-cost Raspberry Pi computer, which receives the acquired voice commands and processes them on a Windows-based control computer both offline and online. Communication between these two systems is carried out via web sockets showing a delay of less than 1 second. The implemented architecture has shown a satisfactory performance in both speech recognition and movement execution.

Keywords: Robótica Móvil, Otros Tópicos Afines
Abstract: This work describes a method for evaluating the energy perfor-mance of trajectory tracking control algorithms for mobile service robots. The proposed approach incorporates elements from the ISO 18646-2 standard, along with performance metrics for testing energy in different trajectory tracking algorithms. The primary goal of this method is to provide a structured benchmark for identifying energy-efficient algorithms, which can extend the robot’s autonomy and reduce operational costs. Opti-mizing energy consumption is particularly crucial for applications with constrained energy resources, such as exploration, logistics, search and rescue, another industrial applications. As a case study, two trajectory tracking control algorithms are compared: one based on PID control and another employing a Lyapunov function control. Real experiments were developed. Results indicate that the difference in the energy consumption reached at least 4.14%. In this evaluation, the Lyapunov-based algorithm emerged as the more energy-efficient option. A 4.14% energy saving in trajectory tracking can be translated into benefits such as: greater autonomy, lower operating cost, and lower environmental impact. This study highlights the importance of energy performance in trajectory tracking and provides a useful method for comparing mobile robot control strategies. The use of the ISO 18646-2 standard provides standardization to the tests, increasing the study's credibility. Use in a real robot validates the results.

Keywords: Sistemas Multi-Agente, Vehículos Aéreos, Robótica Móvil
Abstract: In this work, two control strategies using a leader-follower scheme for a heterogeneous system consisting of aerial and ground robots are presented. The aerial leader (nanoquadcopter) follows a trajectory while the ground follower (differential-drive robot) maintains a formation concerning the leader in the XY plane. To validate the control strategies, experiments are carried out using an experimental platform with a CrazyFlie 2.1 nano quadcopter as the leader and a Lego EV3 differential-drive robot as the follower.

Keywords: Sincronización de Sistemas, Control de Sistemas No Lineales, Otros Tópicos Afines
Abstract: We investigate the synchronization problem for a dynamical network of identical nodes with different types of connections. In this sense, we consider a multinetwork model where the output functions between the nodes are linear and nonlinear. In order to determine the conditions under which the combined effect of different types of coupling result in a stable synchronization manifold. We identify the presence of different synchronization patterns in the multigraph as the coupling intensity and connection topology changes. We illustrate our results with numerical simulations of networks of Hindmarsh-Rose neuron models coupled via electrical and chemical synapses.

Keywords: Sincronización de Sistemas, Tecnología para Control, Educación en Control
Abstract: This work presents the implementation of ordinary differential equation systems and observer schemes using data acquisition boards programmed in Python. The proposed approach enables the emulation of autonomous linear and nonlinear systems of differential equations, generating electrical signals proportional to the system’s dynamics. This methodology is also used to implement an observer, allowing the estimation of the master system to be visualized through electrical signals.

Keywords: Sistemas Caóticos, Sincronización de Sistemas, Control Basado en pasividad
Abstract: This work addresses the synchronization of chaotic Hamiltonian mechanical systems via an energy shaping-based control methodology within a master-slave configuration. The proposed control scheme ensures global exponential stability (GES) of the state-space origin of the closed-loop system. Specifically, two representative chaotic systems—the Hénon–Heiles system and the double pendulum—are employed as two examples for illustration. The effectiveness of the control laws is demonstrated through numerical simulations.

Keywords: Control de Sistemas No Lineales, Sistemas Multi-Agente, Robótica Móvil
Abstract: This article presents a switched control scheme for non-holonomic mobile robots, aiming to avoid collisions between static and dynamic obstacles while following a predetermined trajectory. Two different algorithms are implemented in the development of the controllers: the first is a convex control protocol, whose objective is to follow the predefined trajectory for each robot; the second is a reactive control protocol based on the limit-cycle approach, designed to avoid collisions with obstacles smoothly. To achieve this, the kinematic model of non-holonomic mobile robots is obtained and transformed into a linear parameter-varying (LPV) mathematical model, which facilitates the application of Lyapunov stability theory through linear matrix inequalities (LMIs) and guarantees the effectiveness of the tracking algorithm. Numerical simulations are performed in MATLAB to demonstrate the behavior of the proposed method.

Keywords: Control de Sistemas No Lineales
Abstract: This paper presents a unified design methodology for contractive controllers and observers in non-linear systems, formulated through a set of linear matrix inequalities. Unlike prior approaches that impose restrictive assumptions such as monotonicity or sector boundedness on the non-linearities, our method utilizes a more general framework based on quadratic abstractions. This generalization presents existing results as special cases, thus providing greater flexibility and broader applicability. The proposed single-linear matrix approach approach enables the simultaneous synthesis of controllers and observers, guaranteeing contraction properties, thus guaranteeing robust global stability and performance. Numerical simulations illustrate the effectiveness of the methodology.

Keywords: Sistemas Multi-Agente, Robótica Móvil, Modelado e Identificación de Sistemas
Abstract: This paper presents a control strategy for collision avoidance and trajectory tracking in multi-agent systems composed of differential-drive robots. The method integrates artificial potential fields with a leader–follower consensus protocol, enabling distributed agents to maintain formation while avoiding obstacles. A Lyapunov-based analysis demonstrates the stability of the closed-loop system, ensuring convergence to the reference trajectory and preservation of inter-agent distances. The proposed framework is validated in ROS–Gazebo through cooperative scenarios with six and seven agents, showing its effectiveness and adaptability in dynamic environments. Although only a limited number of cases are presented, the approach is generalizable to larger teams and diverse formation patterns, providing a scalable solution for cooperative navigation.

Keywords: Mecatrónica, Educación en Control, Robótica Móvil
Abstract: This paper presents the design and implementation of a three-phase integrative project for Mechatronics Engineering students at the University of Talca, Chile. Conducted in the seventh semester of an eleven-semester program, the course serves as a mid-program competency evaluation, providing evidence of both disciplinary and transversal skills acquired up to that point. The project progresses from the modeling and experimental validation of DC motors, to the analysis of nonlinear dynamics in a mobile platform, and finally to trajectory planning with human–machine interfaces. This staged structure establishes a coherent link between foundational courses and advanced subjects such as Control Theory, while simultaneously fostering teamwork, programming, and communication skills.

Assessment of a representative cohort indicated satisfactory performance in system modeling, mechanical design, and programming, with electronic design and responsibility identified as areas requiring reinforcement. The structured methodology and systematic role rotation enhanced engagement and accountability, reinforcing project-based learning as an effective formative assessment strategy.

The proposed approach demonstrates replicability for other integration workshops or engineering curricula seeking to balance disciplinary rigor with collaborative skill development. Future longitudinal studies are expected to confirm its sustained impact on professional readiness.

Keywords: Sistemas Multi-Agente, Sistemas Discretos, Sistemas Electromecánicos
Abstract: This paper presents a cruise control with road condition compensation based on discrete extended state observers. The road condition compensator operates as a multi-agent systems in consensus to achieve real-time disturbance estimation under measurement noise. The road characteristics considered in this study include the friction coefficient and slope. Numerical simulations are provided to validate the proposed road condition compensation scheme for four different slope angles with measurement noise for two types of graphs: ring and star.

Keywords: Robótica Móvil, Mecatrónica
Abstract: In this research, the problem of path tracking and data fusion is addressed using the Extended Kalman Filter to improve the accuracy in states estimating of the bicycle kinematic model. The pure pursuit algorithm based on vehicle geometry is employed to achieve path tracking. A novel nonlinear control strategy is implemented for controlling electric motors in a differential traction system. The Ackermann geometry model is used to establish the reference speeds of the motors and enhance maneuver stability in curved paths. Finally, experimental results are presented for tracking a Lemniscate path under different position update data times.

Keywords: Vehículos Aéreos, Tecnología para Control, Sistemas Electromecánicos
Abstract: The testing of control algorithms for fixed-wing aircraft is particularly challenging due to the inherent complexity of their dynamics and the risks associated with flight testing. This paper presents the design and implementation of a real-time Hardware-in-the-Loop (HIL) simulation system that provides a safe and reliable environment for testing embedded controllers. The proposed HIL system integrates: (i) a real-time dynamic model, (ii) a DSP-based processor programmed in C, (iii) a Gough–Stewart platform that physically replicates the aircraft attitude, and (iv) communication with MATLAB/Simulink. Experimental and simulation results are analyzed and compared, confirming the system's effectiveness as a reproducible environment for the development and testing of advanced control algorithms.

Keywords: Control de Sistemas Lineales, Sistemas Biomédicos, Detección y Aislamiento de Fallas
Abstract: This paper presents the design of an Unknown Input Interval Observer for positive linear systems. The proposed methodology extends conventional unknown input observer (UIO) frameworks to systems constrained within the positive quadrant of the Euclidean space, a crucial requirement in various applications where state and output variables must remain non-negative. The approach is formulated using Linear Matrix Inequalities (LMIs), allowing the derivation of conditions that ensure the existence of the observer, as well as the positivity and convergence of state estimates. Additionally, the estimation error dynamics are shown to be cooperative, thereby ensuring that the true state trajectories are bounded between robust upper and lower estimates, even in the presence of unmeasured disturbances and model uncertainty. The effectiveness of the proposed scheme is validated through a numerical case study, demonstrating its applicability in a wide variety of positive systems.

Keywords: Modelado e Identificación de Sistemas, Detección y Aislamiento de Fallas, Control de Sistemas de Gran Escala
Abstract: The strategic placement of pressure sensors in a water distribution network (WDN) is crucial for enhancing the early detection of anomalies, such as leaks, and strengthening system monitoring. This paper introduces a training-free, two-stage methodology for identifying effective sensor locations. In Stage 1, a numerical WDN model is used to inject synthetic leaks—one per pipe—and compute, for every node, the variation in piezometric head between nominal and leak conditions. Nodes are then ranked by both the magnitude and frequency with which they exhibit the largest pressure variation across scenarios, yielding a high-value candidate set. In Stage 2, the candidate nodes are clustered using Density-Based Spatial Clustering of Applications with Noise (DBSCAN) to identify dense regions of sensitivity. One representative node is selected per cluster, resulting in a minimal, non-redundant sensor layout.

Keywords: Control de Sistemas Lineales, Control de Procesos, Detección y Aislamiento de Fallas
Abstract: The administration of general anesthesia involves various inherent risks for patients, which has driven the development of automation aimed at ensuring precise drug delivery. Automation consists of regulating the Depth of Hypnosis (DoH), considering the infusion of drugs as control variables. This paper presents a fault detection strategy for an automated drug delivery system that regulates the DoH. The strategy considers the patient's pharmacokinetic and pharmacodynamic linear models under the action of a model predictive control for DoH regulation. The approach employs the design of an interval observer that exploits the cooperativity property of the estimation error to enhance fault sensitivity and robustness against uncertainties. The proposed algorithm's performance is evaluated through in silico simulations under different fault scenarios related to the blockage of the infusion pumps. The results demonstrate the effectiveness of the strategy in detecting faults in the actuators responsible for administering propofol and remifentanil.

Keywords: Detección y Aislamiento de Fallas, Sistemas Electromecánicos, Control de Sistemas Lineales
Abstract: This work addresses the sensor fault detection problem in accelerometers placed in building structures. Given the harsh conditions to which these measurement instruments are subjected to and the importance of having non-faulty sensors, this study investigates the use of observers for estimating accelerometer faults modeled as unknown inputs. The proposed approach employs an observer that simultaneously estimates both the internal states of the dynamic system and the unknown inputs. The observer design is based on optimization techniques within the H infty framework, that provides robustness against external disturbances, parametric uncertainties, and measurement noise. Furthermore, the observer is capable to detect and isolate these sensors failures without affecting the estimation of the structural state. Simulation results show the effectiveness of the proposed scheme and validate the theoretical framework.

Keywords: Detección y Aislamiento de Fallas, Control de Sistemas Lineales
Abstract: This paper addresses the problem of state reconstruction in linear time-invariant systems under sensor attacks. In particular, a novel observer-based strategy is presented, which relies on the notion of recoverability, a structural property that allows us to estimate the clean state of a system even in the presence of attacks in the output. For the design of the observer gain, we propose a simple but effective algorithm, in which we use the left kernel of the attack vector and a discrepancy. The effectiveness of the proposed strategy is illustrated by numerical simulations and experimentally validated by using a hydraulic system.