45 research outputs found
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 CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Rosales, AndrĂ©s. Escuela PolitĂ©cnica Nacional; EcuadorFil: Albertos, Pedro. Universidad PolitĂ©cnica de Valencia; Españ
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(tgâ 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 IngenierĂa. Instituto de AutomĂĄtica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - Mendoza; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas; ArgentinaFil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de AutomĂĄtica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - Mendoza; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas; Argentina. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentin
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: FernĂĄndez Puchol, MarĂa Cecilia. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Pantano, Maria Nadia. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico 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 IngenierĂa. Instituto de IngenierĂa QuĂmica; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; ArgentinaFil: Camacho Quintero, Oscar Eduardo. Escuela PolitĂ©cnica Nacional. Departamento de AutomatizaciĂłn y Control Industrial; EcuadorFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; 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 CientĂficas y TĂ©cnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas; 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 CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico San Juan. Instituto de AutomĂĄtica; Argentin
Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.Fil: Rodriguez Aguilar, Leandro Pedro Faustino. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Sanchez, Mabel Cristina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - BahĂa Blanca. Planta Piloto de IngenierĂa QuĂmica. Universidad Nacional del Sur. Planta Piloto de IngenierĂa QuĂmica; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentin
Nonlinear Trajectory Tracking Control for Marine Vessels with Additive Uncertainties
The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of theresults obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order toreduce the effect of the uncertainty in the tracking error. This new approach does not increase the complexityof the design methodology. In addition, the zero convergence of tracking error under polynomial uncertaintiesis demonstrated. Simulation results under environmental disturbance and model mismatches are presentedand discussed.Fil: Serrano, Mario Emanuel. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; ArgentinaFil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de AutomĂĄtica. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de AutomĂĄtica; ArgentinaFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de AutomĂĄtica. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de AutomĂĄtica; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de AutomĂĄtica. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de AutomĂĄtica; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; Argentin
Mixed control for trajectory tracking in marine vessels
Este trabajo muestra la estrategia de control de un controlador basado en ĂĄlgebra lineal para la cinemĂĄtica y una tĂ©cnica de control adaptable para la parte dinĂĄmica del buque. Que en el primer caso (LABC) es aplicado sobre la cinemĂĄtica que recibe las referencias de posiciĂłn deseadas y esto genera otro par de velocidad de referencia para el controlador adaptable (dinĂĄmico). El objetivo principal de esta tĂ©cnica de control combinada (LABC-adaptable) se presenta en el caso de que la masa del buque (u otro parĂĄmetro) varĂe con su trayectoria (por ejemplo, buque pesquero, buque de reabastecimiento de combustible, etc.) donde el controlador combinado con caracterĂsticas adaptables ajusta sus parĂĄmetros mediante una ley de sintonĂa, que a su vez genera una acciĂłn de control que compensa las variaciones dinĂĄmicas del buque. AdemĂĄs, este trabajo presenta el anĂĄlisis de estabilidad y la ley de ajuste LABC-adaptable basada en el criterio de estabilidad de Lyapunov. Los resultados obtenidos por simulaciĂłn demuestran que el sistema marino puede seguir las señales de referencia con pequeños errores aĂșn en presencia de incertidumbres.This work proposes the design of an adaptive controller for a marine vessel; the proposed control strategy applies a controller designed on linear algebra for the kinematics and an adaptive control technique for the dynamic part of the vessel. The linear algebra based controller (LABC) for kinematics receives the desired position references and this generates another reference velocity pair for the adaptive (dynamic) controller. The main goal of the application of the adaptive control technique in this kind of enforcement is presented in the case that the mass of the vessel varies with its trajectory (e.g. fishing vessel, refueling vessel, etc.) where the adaptive controller adjusts its parameters through of adaptation law, which in turn generates a control action that compensates dynamic variations of the ship. Besides, this work presents the stability analysis and adaptive adjustment law based on the Lyapunov theory. And the simulation results that are presented prove that the control can deal with nonlinearities and time-variant dynamics.Fil: Vacca Sisterna, Carlos Alberto. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de AutomĂĄtica. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de AutomĂĄtica; ArgentinaFil: Serrano, Mario Emanuel. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas; Argentina. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - Patagonia Norte. Instituto de InvestigaciĂłn y Desarrollo en IngenierĂa de Procesos, BiotecnologĂa y EnergĂas Alternativas. Universidad Nacional del Comahue. Instituto de InvestigaciĂłn y Desarrollo en IngenierĂa de Procesos, BiotecnologĂa y EnergĂas Alternativas; Argentina. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de IngenierĂa QuĂmica; ArgentinaFil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de AutomĂĄtica. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de AutomĂĄtica; Argentin
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Prevalence, associated factors and outcomes of pressure injuries in adult intensive care unit patients: the DecubICUs study
Funder: European Society of Intensive Care Medicine; doi: http://dx.doi.org/10.13039/501100013347Funder: Flemish Society for Critical Care NursesAbstract: Purpose: Intensive care unit (ICU) patients are particularly susceptible to developing pressure injuries. Epidemiologic data is however unavailable. We aimed to provide an international picture of the extent of pressure injuries and factors associated with ICU-acquired pressure injuries in adult ICU patients. Methods: International 1-day point-prevalence study; follow-up for outcome assessment until hospital discharge (maximum 12 weeks). Factors associated with ICU-acquired pressure injury and hospital mortality were assessed by generalised linear mixed-effects regression analysis. Results: Data from 13,254 patients in 1117 ICUs (90 countries) revealed 6747 pressure injuries; 3997 (59.2%) were ICU-acquired. Overall prevalence was 26.6% (95% confidence interval [CI] 25.9â27.3). ICU-acquired prevalence was 16.2% (95% CI 15.6â16.8). Sacrum (37%) and heels (19.5%) were most affected. Factors independently associated with ICU-acquired pressure injuries were older age, male sex, being underweight, emergency surgery, higher Simplified Acute Physiology Score II, Braden score 3 days, comorbidities (chronic obstructive pulmonary disease, immunodeficiency), organ support (renal replacement, mechanical ventilation on ICU admission), and being in a low or lower-middle income-economy. Gradually increasing associations with mortality were identified for increasing severity of pressure injury: stage I (odds ratio [OR] 1.5; 95% CI 1.2â1.8), stage II (OR 1.6; 95% CI 1.4â1.9), and stage III or worse (OR 2.8; 95% CI 2.3â3.3). Conclusion: Pressure injuries are common in adult ICU patients. ICU-acquired pressure injuries are associated with mainly intrinsic factors and mortality. Optimal care standards, increased awareness, appropriate resource allocation, and further research into optimal prevention are pivotal to tackle this important patient safety threat
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Correction to: Prevalence, associated factors and outcomes of pressure injuries in adult intensive care unit patients: the DecubICUs study
The original version of this article unfortunately contained a mistake