265 research outputs found
Introductory notes for the Acta IMEKO Special Issue on the “19th Symposium on Measurement of Electrical Quantities” and the “17th Workshop on ADC/DAC Modelling and Testing”
Postprint (published version
Obstacle detection algorithm of low computational cost for Guanay II AUV
Obstacle detection is one of the most important
stages in the obstacle avoidance system. This work is focused
to explain the operation of a designed and implemented for
the overall detection of objects with low computational cost
strategy. This strategy of low computational cost is based on
performing a spatial segmentation of the information
obtained by the SONAR and determine the minimum
distance between the SONAR (AUV) and the obstacle.Postprint (published version
The predictive functional control and the management of constraints in GUANAY II autonomous underwater vehicle actuators
Autonomous underwater vehicle control has been a topic of research in the last decades. The challenges addressed vary depending on each research group's interests. In this paper, we focus on the predictive functional control (PFC), which is a control strategy that is easy to understand, install, tune, and optimize. PFC is being developed and applied in industrial applications, such as distillation, reactors, and furnaces. This paper presents the rst application of the PFC in autonomous underwater vehicles, as well as the simulation results of PFC, fuzzy, and gain scheduling controllers. Through simulations and navigation tests at sea, which successfully validate the performance of PFC strategy in motion control of autonomous underwater vehicles, PFC performance is compared with other control techniques such as fuzzy and gain scheduling control. The experimental tests presented here offer effective results concerning control objectives in high and intermediate levels of control. In high-level point, stabilization and path following scenarios are proven. In the intermediate levels, the results show that position and speed behaviors are improved using the PFC controller, which offers the smoothest behavior. The simulation depicting predictive functional control was the most effective regarding constraints management and control rate change in the Guanay II underwater vehicle actuator. The industry has not embraced the development of control theories for industrial systems because of the high investment in experts required to implement each technique successfully. However, this paper on the functional predictive control strategy evidences its easy implementation in several applications, making it a viable option for the industry given the short time needed to learn, implement, and operate, decreasing impact on the business and increasing immediacy.Peer ReviewedPostprint (author's final draft
Diseño de un controlador difuso supervisor para la regulación de un convertidor conmutado elevador
En este trabajo, se diseña un controlador difuso del tipo Takagi-Sugeno-Kang (TSK) para un regulador elevador conmutado DC-DC que opera a diferentes tensiones en estado estacionario. Este controlador realiza tareas de supervisión mediante su característica zonal. Por un lado, el controlador asigna diferentes leyes lineales de control acorde al valor de tensión de régimen estacionario y de los límites de aplicación a perturbación en pequeña señal. Por otra parte, el controlador asegura un arranque correcto para alcanzar el valor deseado de tensión de estado estacionario, por medio de una adecuada saturación del modulador de ancho de pulso (PWM) de acuerdo con los principios de control en modo deslizamiento. Como resultado, se logra un comportamiento ecualizado en pequeña señal y un arranque controlado para diferentes tensiones de estado estacionario; por tanto, se amplían las características del regulador. Se presentan resultados de simulación y experimentales realizados sobre un regulador elevador controlado por corriente, operando sobre dos valores de tensión diferentes de estado estacionario que validan el diseño
Design of obstacle detection and avoidance system for GUANAY II AUV
Postprint (published version
Linear control of the yaw and rudder limitations
This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (auv). The development includes the physical limitations of the rudder that involve more constraints for the control.
The whole system is simulated in simulink and three different controls (P, PD, PID) are compared.Postprint (published version
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