Application of a Fractional Order Integral Resonant Control to increase the achievable bandwidth of a nanopositioner

The congress program will essentially include papers selected on the highest standard by the IPC, according to the IFAC guidelines www.ifac-control.org/publications/Publications-requirements-1.4.pdf, and published in open access in partnership with Elsevier in the IFAC-PapersOnline series, hosted on the ScienceDirect platform www.sciencedirect.com/science/journal/24058963. Survey papers overviewing a research topic are also most welcome. Contributed papers will have usual 6 pages length limitation. 12 pages limitation will apply to survey papers.Publisher PD

Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems

Peer reviewedPublisher PD

A Modified Positive Velocity and Position Feedback scheme with delay compensation for improved nanopositioning performance

Acknowledgments This paper was sponsored by the Spanish FPU12/00984 Program (Ministerio de Educacion, Cultura y Deporte). It was also sponsored by the Spanish Government Research Program with the Project DPI2012-37062-CO2-01 (Ministerio de Economia y Competitividad) and by the European Social Fund.Peer reviewedPostprin

A robust control scheme for flexible arms with friction in the joints

A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis

Integral Resonant Control for vibration damping and precise tip-positioning of a single-link flexible manipulator

Peer reviewedPostprin

Increasing the damping of oscillatory systems with an arbitrary number of time varying frequencies using fractional-order collocated feedback

Acknowledgements: This research was sponsored in part by the Spanish Government Research Program with the project DPI2016-80547-R (Ministerio de Economía y Competitividad), in part by the University of Castilla-La Mancha under Project 2019-GRIN-26969 and in part by the European Social Fund (FEDER, EU).Peer reviewedPublisher PD

Flexible link arm with a passive gravity compensation mechanism: design and modeling

[Abstract] The gravity compensation of flexible link manipulators using mechanisms based on counterweights has been previously studied in the research literature. However, as far as we are concerned, no attempt has been done to study the difficulties and benefits of constructing mechanisms for the same purposes based on springs. This paper presents a gravitational mechanism based on springs for a single-link flexible arm. In specific, we address the mechanical design of the mechanism and the dynamic modeling of the resulting system. To assess the effectiveness of the mechanism and the validity of the dynamic model, we present experimental results.[Resumen] La compensación por gravedad de los manipuladores de enlace flexible que utilizan mecanismos basados en contrapesos se ha estudiado previamente en la literatura de investigación. Sin embargo, en lo que a nosotros respecta, no se ha hecho ningún intento de estudiar las dificultades y los beneficios de construir mecanismos para los mismos propósitos basados en resortes. Este artículo presenta un mecanismo gravitatorio basado en resortes para un brazo flexible de un solo enlace. En concreto, abordamos el diseño mecánico del mecanismo y el modelado dinámico del sistema resultante. Para evaluar la efectividad del mecanismo y la validez del modelo dinámico, presentamos resultados experimentales.Ministerio de Economía y Competitividad; DPI2016-80547-

A new truck prototype for transporting flexible manipulators

[Resumen] Este trabajo se ocupa del diseño mecánico y la descripción de los diferentes componentes de una base móvil novedosa para un manipulador móvil flexible. Un manipulador móvil flexible normalmente se compone de múltiples enlaces flexibles montados en una plataforma móvil. Este trabajo se centra en la descripción de la plataforma móvil. La plataforma móvil de este trabajo tiene dos configuraciones diferentes para llevar a cabo diferentes tareas. Además, en este trabajo se muestran algunas hipótesis y resultados experimentales como un primer paso para poder obtener un modelo cinemático del sistema más adelante.[Abstract] This work is concerned with the mechanical design and the description of the different components of a novel mobile base for a flexible mobile manipulator. A flexible mobile manipulator is normally composed of multiple flexible links mounted on a mobile platform. This work is focused on the description of the mobile platform. The mobile platform of this work has two different configurations in order to carry out different tasks. Also, some hypothesis and experimental results are shown in this work as a first step to be able to obtain a kinematic model of the system later.Ministerio de Educación, Cultura y Deporte; FPU14/02256Ministerio de Economía, Industria y Competitividad; DPI2016-80547-

Two-degrees-of-freedom PI2D controller for precise nanopositioning in the presence of hardware-induced constant time delay

This work was supported in part by the Spanish Agencia Estatal de Investigacion (AEI) under Project DPI2016-80547-R (Ministerio de Economia y Competitividad) and in part by the European Social Fund (FEDER, EU), and in part by the Spanish FPU12/00984 Program (Ministerio de Educacion, Cultura y Deporte).Peer reviewedPostprin

Fractional-order identification based on time domain methodology for hydraulic canal system

[Abstract] This paper discusses the identification of hydraulic canal system with a fractional-order model. The identification procedure is carried out by using a time domain technique. A pseudorandom binary signal (PRBS) is considered, the auto-correlation of the input signal, as well as, the impulsive response of the system has been concluded, and the obtained model are discussed in order to show the effect of using the PRBS signal in comparison with a fundamental step signal. Finally, we put the accent into the improvisation of the fractional-order model of the considered prototype that has a significant impact on improving the performance of canal monitoring, control, and supervisory systems.[Resumen] Este artículo discute la identificación del sistema de canal hidráulico con un modelo de orden fraccional. El procedimiento de identificación se lleva a cabo utilizando una técnica de dominio de tiempo. Se considera una señal binaria pseudoaleatoria (PRBS), se ha concluido la autocorrelación de la señal de entrada y la respuesta impulsiva del sistema, y se analiza el modelo obtenido para mostrar el efecto del uso de la señal PRBS. En comparación con una señal de paso fundamental. Finalmente, ponemos el acento en la improvisación del modelo de orden fraccional del prototipo considerado que tiene un impacto significativo en la mejora del rendimiento de los sistemas de supervisión, control y supervisión del canal