Sistemas de estructura variable : Aplicación al control con restricciones

En este trabajo de tesis se aborda el control de sistemas multivariables con restricciones. Uno de los principales objetivos es el desarrollo de nuevas estrategias de control que permitan reducir las interacciones cruzadas de los sistemas de múltiples entradas y múltiples salidas; es decir, mejorar su grado de desacoplamiento. Este problema se considera para diferentes limitaciones en la planta (restricciones a la entrada, restricciones a la salida, ceros de fase no-mínima) y distintas estructuras de control (controladores centralizados y descentralizados). Las estrategias propuestas combinan conceptos de la teoría de control por estructura variable y el acondicionamiento de la señal de referencia.Facultad de Ingenierí

Sliding mode reference coordination of constrained feedback systems

This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new methodology based on reference conditioning techniques using geometric set invariance and sliding mode control: the sliding mode reference coordination (SMRCoord). The main idea is to coordinate the systems references. Starting from a general framework, we propose two approaches: a local one through direct interactions between the different systems by sharing and conditioning their own references and a global centralized one, where a central node makes decisions using information coming from the systems references. In particular, in this work we focus in implementation on multivariable systems like unmanned aerial vehicles (UAVs) and robustness to external perturbations. To show the applicability of the approach, the problem of coordinating UAVs with input constraints is addressed as a particular case of multivariable reference coordination with both global and local configuration.Facultad de Ingenierí

Sliding Mode Reference Coordination of Constrained Feedback Systems

[EN] This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new methodology based on reference conditioning techniques using geometric set invariance and sliding mode control: the sliding mode reference coordination (SMRCoord). The main idea is to coordinate the systems references. Starting from a general framework, we propose two approaches: a local one through direct interactions between the different systems by sharing and conditioning their own references and a global centralized one, where a central node makes decisions using information coming from the systems references. In particular, in this work we focus in implementation on multivariable systems like unmanned aerial vehicles (UAVs) and robustness to external perturbations. To show the applicability of the approach, the problem of coordinating UAVs with input constraints is addressed as a particular case of multivariable reference coordination with both global and local configuration.Research in this area is partially supported by Argentine government (ANPCyT PICT 2011-0888 and CONICET PIP 112-2011-00361), Spanish government (FEDER-CICYT DPI2011-28112-C04-01), and Universitat Politecnica de Valencia (Grant FPI/2009-21)Vignoni, A.; Garelli, F.; Picó, J. (2013). Sliding Mode Reference Coordination of Constrained Feedback Systems. Mathematical Problems in Engineering. 2013:1-11. https://doi.org/10.1155/2013/764348S1112013Information consensus in multivehicle cooperative control. (2007). IEEE Control Systems, 27(2), 71-82. doi:10.1109/mcs.2007.338264Cao, Y., Yu, W., Ren, W., & Chen, G. (2013). An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination. IEEE Transactions on Industrial Informatics, 9(1), 427-438. doi:10.1109/tii.2012.2219061Interconnected dynamic systems: An overview on distributed control. (2013). IEEE Control Systems, 33(1), 76-88. doi:10.1109/mcs.2012.2225929Olfati-Saber, R., Fax, J. A., & Murray, R. M. (2007). Consensus and Cooperation in Networked Multi-Agent Systems. Proceedings of the IEEE, 95(1), 215-233. doi:10.1109/jproc.2006.887293He, W., & Cao, J. (2011). Consensus control for high-order multi-agent systems. IET Control Theory & Applications, 5(1), 231. doi:10.1049/iet-cta.2009.0191Liu, L. (2012). Robust cooperative output regulation problem for non-linear multi-agent systems. IET Control Theory & Applications, 6(13), 2142-2148. doi:10.1049/iet-cta.2011.0575Pitarch, J. L., Sala, A., & Arino, C. V. (2014). Closed-Form Estimates of the Domain of Attraction for Nonlinear Systems via Fuzzy-Polynomial Models. IEEE Transactions on Cybernetics, 44(4), 526-538. doi:10.1109/tcyb.2013.2258910Nuñez, S., De Battista, H., Garelli, F., Vignoni, A., & Picó, J. (2013). Second-order sliding mode observer for multiple kinetic rates estimation in bioprocesses. Control Engineering Practice, 21(9), 1259-1265. doi:10.1016/j.conengprac.2013.03.003Wu, L., Su, X., & Shi, P. (2012). Sliding mode control with bounded gain performance of Markovian jump singular time-delay systems. Automatica, 48(8), 1929-1933. doi:10.1016/j.automatica.2012.05.064Cao, Y., Ren, W., & Meng, Z. (2010). Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking. Systems & Control Letters, 59(9), 522-529. doi:10.1016/j.sysconle.2010.06.002Cortés, J. (2006). Finite-time convergent gradient flows with applications to network consensus. Automatica, 42(11), 1993-2000. doi:10.1016/j.automatica.2006.06.015Rao, S., & Ghose, D. (2011). Sliding mode control-based algorithms for consensus in connected swarms. International Journal of Control, 84(9), 1477-1490. doi:10.1080/00207179.2011.602834Guo, P., Zhang, J., Lyu, M., & Bo, Y. (2013). Sliding Mode Control for Multiagent System with Time-Delay and Uncertainties: An LMI Approach. Mathematical Problems in Engineering, 2013, 1-12. doi:10.1155/2013/805492Garelli, F., Mantz, R. J., & De Battista, H. (2006). Limiting interactions in decentralized control of MIMO systems. Journal of Process Control, 16(5), 473-483. doi:10.1016/j.jprocont.2005.09.001Garelli, F., Mantz, R. J., & De Battista, H. (2007). Sliding mode compensation to preserve dynamic decoupling of stable systems. Chemical Engineering Science, 62(17), 4705-4716. doi:10.1016/j.ces.2007.05.020Picó, J., Garelli, F., De Battista, H., & Mantz, R. J. (2009). Geometric invariance and reference conditioning ideas for control of overflow metabolism. Journal of Process Control, 19(10), 1617-1626. doi:10.1016/j.jprocont.2009.08.007Revert, A., Garelli, F., Pico, J., De Battista, H., Rossetti, P., Vehi, J., & Bondia, J. (2013). Safety Auxiliary Feedback Element for the Artificial Pancreas in Type 1 Diabetes. IEEE Transactions on Biomedical Engineering, 60(8), 2113-2122. doi:10.1109/tbme.2013.2247602Gracia, L., Sala, A., & Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems, 60(1), 1-15. doi:10.1016/j.robot.2011.07.008Gracia, L., Garelli, F., & Sala, A. (2013). Integrated sliding-mode algorithms in robot tracking applications. Robotics and Computer-Integrated Manufacturing, 29(1), 53-62. doi:10.1016/j.rcim.2012.07.007Vignoni, A., Garelli, F., & Picó, J. (2013). Coordinación de sistemas con diferentes dinámicas utilizando conceptos de invarianza geométrica y modos deslizantes. Revista Iberoamericana de Automática e Informática Industrial RIAI, 10(4), 390-401. doi:10.1016/j.riai.2013.09.001Hanus, R., Kinnaert, M., & Henrotte, J.-L. (1987). Conditioning technique, a general anti-windup and bumpless transfer method. Automatica, 23(6), 729-739. doi:10.1016/0005-1098(87)90029-xMareczek, J., Buss, M., & Spong, M. W. (2002). Invariance control for a class of cascade nonlinear systems. IEEE Transactions on Automatic Control, 47(4), 636-640. doi:10.1109/9.995041Blasco, X., García-Nieto, S., & Reynoso-Meza, G. (2012). Control autónomo del seguimiento de trayectorias de un vehículo cuatrirrotor. Simulación y evaluación de propuestas. Revista Iberoamericana de Automática e Informática Industrial RIAI, 9(2), 194-199. doi:10.1016/j.riai.2012.01.00

Sliding mode reference conditioning for path following applied to an AUV

This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time.Fil: Rosendo, Juan Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Clement, Benoit. Centre National de la Recherche Scientifique; Francia. Laboratoire Des Sciences Et Techniques de L'information, de la Communication Et de la Connaissance; FranciaFil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentin

Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems

© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” Upon publication, authors are asked to include either a link to the abstract of the published article in IEEE Xplore®, or the article’s Digital Object Identifier (DOI).This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.This work was supported in part by research under Project DPI2011-27845-C02-01 (Spanish Government), Projects PAID-05-11-2640, and PAID-00-12-SP20120159, (Universitat Politecnica de Valencia, Spain), and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361, and UNLP I164 in Argentina. Recommended by Associate Editor M. Zefran.Gracia Calandin, LI.; Garelli, F.; Sala, A. (2013). Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems. IEEE Transactions on Control Systems Technology. 21(6):2391-2399. https://doi.org/10.1109/TCST.2012.2231866S2391239921

A path conditioning method with trap avoidance

This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research project PAID-05-11-2640 of the Technical University of Valencia (Spain), and the Argentinian Government (UNLP 11I127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535).Gracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A path conditioning method with trap avoidance. Robotics and Autonomous Systems. 60(6):862-873. https://doi.org/10.1016/j.robot.2012.01.009S86287360

Specific growth rate estimation in (fed-)batch bioreactors using second-order sliding observers

[EN] This paper addresses the estimation of specific growth rate of microorganisms in bioreactors using sliding observers. In particular, a second-order sliding observer based on biomass concentration measurement is proposed. Differing from other proposals that only guarantee bounded errors, the proposed observer provides a smooth estimate that converges in finite time to the time-varying parameter. Stability is proved using a Lyapunov approach. The observer exhibits also robustness to process uncertainties since no model of the reaction is used for its design. In addition, the off-surface coordinate of the sliding observer is useful to determine the convergence time as well as to identify sensor faults and unexpected behaviors. Because of the structure of the output error injection, chattering phenomena of conventional sliding mode algorithms are substantially reduced. The features of the proposed observer are assessed by numerical and experimental data. (C) 2011 Elsevier Ltd. All rights reserved.This work was supported by the National University of La Plata (Project 11-1127), ANPCyT (PICT2007-00535) and CONICET (PIP112-200801-01052) of Argentina; the Technical University of Valencia (PAID-02-09 program and FPI-2009/21 grant), the CICYT (DPI2005-01180) and AECID (A/024186/09) of Spain: and by FEDER funds of the European Union.De Battista, H.; Picó, J.; Garelli, F.; Vignoni, A. (2011). Specific growth rate estimation in (fed-)batch bioreactors using second-order sliding observers. Journal of Process Control. 21(7):1049-1055. https://doi.org/10.1016/j.jprocont.2011.05.008S1049105521

Extended SEIR Model for Health Policies Assessment Against the COVID-19 Pandemic: the Case of Argentina

This work presents an extended and age-band compartmentalised SEIR model that allows describing the spread evolution of SARS-CoV-2 and evaluating the effect of different detection rates, vaccination strategies or immunity periods. The model splits up the population into fifteen age groups of 5 years each, linked through a statistical interaction matrix that includes seventeen health states within each age group. An age-dependent transmission rate takes into account infectious between the groups as well the effect of interventions such as quarantines and mobility restrictions. Further, the proposal includes a nonlinear switched controller for model tuning purposes guarantying a simple and fast adjusting process. To illustrate the model potentials, the particular case of COVID-19 evolution in Argentina is analysed by simulation of three scenarios: (i) different detection levels combined with mobility restrictions, (ii) vaccination campaigns with re-opening of activities and (iii) vaccination campaigns with possible reinfections. The results exhibit how the model can aid the authorities in the decision making process.Fil: Inthamoussou, Fernando Ariel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Valenciaga, Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Nuñez, Sebastián. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentin

Analysis of transcriptional feedback strategy for reducing interaction in gene expression processes

Advances in genetic manipulation have allowed the overexpression of proteins and insertion of circuits in cells. However, the expected behaviour can be altered by the internal competition for the limited amount of cellular resources. In this work we analyse a feedback strategy based on transcription inhibition that aims to reduce the interaction in a two-protein expression system. The results allow interpreting the effects of negative feedback on the steady-state protein levels and how the realizable protein region is affected by the feedback loop.Fil: Nuñez, Sebastián. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Picó, Jesús. Universidad Politécnica de Valencia. Departamento de Ingeniería de Sistemas y Automática; EspañaFil: de Battista, Hernán. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentin

Control cuasi-óptimo de cultivos continuos de microalgas

En este trabajo se presenta un modelo dinámico completo que permite describir el comportamiento macroscópico de cultivos de microalgas (μ-algas) en fotobiorreactores que operan bajo condiciones térmicas y de irradiación natural. Ante la complejidad analítica y/o práctica que involucra optimizar la producción de este tipo de sistemas, se propone incorporar un esquema de búsqueda del punto óptimo de operación bajo condiciones de funcionamiento cuasi estacionarias. Este esquema logra que el sistema se encuentre en las vecindades del punto de máxima producción resultando por ello cuasi óptimo. La efectividad de la propuesta se analiza a través de simulaciones representativas que incorporan variaciones lumínicas y térmicas estacionales. En ellas se observa la buena performance que posee el esquema de control en el seguimiento del punto de producción óptimo.Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señale