Presentaciones a Congresos
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Browsing Presentaciones a Congresos by Subject "CONTROL AUTOMATICO"
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ponencia en congreso.listelement.badge Cluster space LPV control of robot formations(2018-10) Ghersin, Alejandro S.; Giribet, Juan I.; Mas, Ignacio"Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varying) approach is employed for the design of the main (outer) control loop where the geometry and kinematics of the problem are captured by the LPV formulation. Certain aspects of the design such as stability are tackled, and the use of parameter-dependent weighting functions is discussed through a design example tested in simulations in order to illustrate the use of the method."ponencia en congreso.listelement.badge Multi-UAV specification and control with a single pilot-in-the-loop(2019-09) Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I."This work presents a multi-unmanned aerial vehicle formation implementing a trajectory following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."ponencia en congreso.listelement.badge Sistema de control para un robot aerodeslizante(2019-11) Pecker Marcosig, Ezequiel; Presenza, Francisco; Giribet, Juan I.; Mas, Ignacio"En este trabajo se presenta la construcción de un robot aerodeslizante, y la implementación del sistema de medición y control utilizando ROS (Robot Operating System). Este vehículo fue diseñado para el estudio de estrategias de control híbrido en sistemas ciber-físicos. Para comprobar el funcionamiento de esta plataforma se cerró el lazo utilizando una estrategia de control simple (PID). Se presentan los resultados experimentales preliminares obtenidos para el seguimiento de referencias."ponencia en congreso.listelement.badge Trajectory following with a MAV under rotor fault conditions(2019-09) Pose, Claudio D.; Presenza, Francisco; Mas, Ignacio; Giribet, Juan I."Lately, a novel multirotor aerial vehicle capable of handling single rotor failures was presented. When a rotor fails, physically reconfiguring one of the remaining rotors of an hexarotor allows to compensate for maneuverability limitations. In this work, experimental results show the performance of the vehicle in a trajectory-following task in both nominal and fault conditions."