Experimental comparison of control strategies for trajectory tracking for mobile robots

The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.Fil: Capito, Linda. Escuela Politécnica Nacional; EcuadorFil: Proaño, Pablo. Escuela Politécnica Nacional; EcuadorFil: Camacho, Oscar. Escuela Politécnica Nacional; EcuadorFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentin

STATE ESTIMATION IN ALCOHOLIC CONTINUOUS FERMENTATION OF ZYMOMONAS MOBILIS USING RECURSIVE BAYESIAN FILTERING: A SIMULATION APPROACH

This work presents a state estimator for a continuous bioprocess. To this aim, the Non Linear Filtering theory based on the recursive application of Bayes rule and Monte Carlo techniques is used. Recursive Bayesian Filters Sampling Importance Resampling (SIR) is employed, including different kinds of resampling. Generally, bio-processes have strong non-linear and non-Gaussian characteristics, and this tool becomes attractive. The estimator behavior and performance are illustrated with the continuous process of alcoholic fermentation of Zymomonas mobilis. Not too many applications with this tool have been reported in the biotechnological area

Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications

In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Albertos, Pedro. Universidad Politécnica de Valencia; Españ

A linear-interpolation-based controller design for trajectory tracking of mobile robots

This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Rosales, Andrés. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Quintero, Lucia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Agarwal, Ravi. Florida Institute of Technology; Estados Unido

Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique

(is work presents a novel controller for the dynamics of robots using a dynamic variations observer. (e proposed controller uses a saturated control law based on sin(tg− 1(.)) function instead of tanh(.). Besides, this function is an alternative to the use of tanh(.) in saturation control, since it reaches its maximum value more gradually than the hyperbolic tangent function. Using this characteristic, the transition between states is smoother, with similar accuracy to tanh(.). (e controller is designed using a saturated SMC (sliding mode controller) and a dynamic variations observer based on GRNN (general regression neural network). (e originality of this work is the use of a combination of adaptive GRNN with a sliding mode controller (SMC) including a new saturation function. Finally, experiments based on trajectory tracking demonstrate the robustness and simplicity of this method.Fil: Rossomando, Francisco Guido. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

CONTROL BASED ON NUMERICAL METHODS AND RECURSIVE BAYESIAN ESTIMATION IN A CONTINUOUS ALCOHOLIC FERMENTATION PROCESS

Biotechnological processes represent a challenge in the control field, due to their high nonlinearity. In particular, continuous alcoholic fermentation from Zymomonas mobilis (Z.m) presents a significant challenge. This bioprocess has high ethanol performance, but it exhibits an oscillatory behavior in process variables due to the influence of inhibition dynamics (rate of ethanol concentration) over biomass, substrate, and product concentrations. In this work a new solution for control of biotechnological variables in the fermentation process is proposed, based on numerical methods and linear algebra. In addition, an improvement to a previously reported state estimator, based on particle filtering techniques, is used in the control loop. The feasibility estimator and its performance are demonstrated in the proposed control loop. This methodology makes it possible to develop a controller design through the use of dynamic analysis with a tested biomass estimator in Z.m and without the use of complex calculations

Multivariable Tracking Control of a Bioethanol Process under Uncertainties

Bioethanol is one of the most studied alternative fuels nowadays. Due to its production process complexity and the low quality of the mathematical models that describe it, a reliable controller is needed to maximize the fuel production and minimize its environmental impact, even in the presence of uncertainty. Here, a controller for tracking optimal profiles considering model errors and external perturbations is proposed. This work is an improvement of a previously presented technique. To reduce the earlier mentioned uncertainties' effect during the fermentation, some tracking error integrators are added in the control action calculation. This simple modification ensures the tracking error convergence to zero, even in the presence of uncertainties (demonstration available). Different tests are carried out and a performance comparison with the original controller is shown to highlight improvements in the tracking error of up to 98% when integrators are incorporated. Furthermore, a classical PI controller is contrasted with the proposed techniques.Fil: Fernández Puchol, María Cecilia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Pantano, Maria Nadia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentin

Improvement of linear algebra controllers using sliding surface concepts: Applications to chemical processes

This work presents a novel control technique that combines concepts of Sliding Surface with a Linear Algebra methodology for controller design. The result is a controller with an improved robustness, while the chattering effect attributed to great uncertainties is avoided. A First Order Plus Dead Time (FOPDT) model of the process is used to develop a controller based on Linear Algebra and the concept of sliding surface is used to improve its performance under uncertainties. An interesting feature of this new controller is its ability to follow variable references without overshoot, a highly desirable characteristic for most process systems, and avoids the chattering problem. Results of the control of a CSTR and a laboratory batch reactor using this novel technique are presented. Simulated and experimental results demonstrate the outstanding performance of this new control algorithm.Fil: Sardella, Maria Fabiana. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Camacho Quintero, Oscar Eduardo. Escuela Politécnica Nacional. Departamento de Automatización y Control Industrial; EcuadorFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

Linear algebra and optimization based controller design for trajectory tracking of typical chemical process

This paper presents a new controller design to tracking trajectory of a typical chemical process. The plant model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented. Simulation results show the good performance of the proposed control system.Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Aballay, P.. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; ArgentinaFil: Ortiz, O. A.. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin

Hétérogénéité de la prolactine circulante chez la chienne

Different molecular forms of circulating prolactin (PRL) are known to occur in several species. As no such information was available in dogs, we assessed the molecular profile of circulating PRL in bitches. Pooled sera from covertly (CTRL) and overtly pseudopregnant (PSPT) diestrous bitches with high or low (> 10 or -1, respectively) serum PRL (measured by ELISA) were analyzed by Sephadex G-100 and Concanavalin A-Sepharose column chromatography. Four serum PRL fractions were identified and termed big-big, big (> 67 kDa), native (23 kDa) and fragmented ( 10 ou -1 respectivement; dosages effectués par Elisa). Les sérums ont été analysés sur colonne de Séphadex G-100 et par chromatographie d’affinité, sur colonne de Sépharose couplée à de la Concanavaline A. La chromatographie sur G-100 a identifié quatre fractions de PRL, qui ont été appelées big-big, big (PM < 67 kDa), native (23 kDa) et fragmentée (< 20 kDa). Les pourcentages relatifs de ces fractions sont identiques chez les CTRL et les PSPT, quel que soit le taux, élevé ou bas, de PRL sérique (plus haut chez les animaux CTRL). De plus, une proportion importante de PRL sérique (69 à 100 %) est sous fonne glycosylée. En conclusion, la PRL sérique se trouve, chez le chien, sous des tonnes moléculaires multiples, dont l’abondance relative est comparable chez la chienne normale et pseudogestante.Facultad de Ciencias VeterinariasInstituto de Investigaciones Bioquímicas de La PlataFacultad de Ciencias Exacta