In this paper, a new approach for the Generalized Proportional Integral Observer when only noisy measurements are available is proposed, based in a integral extention of the system and observer model. A comparison of the GPI observer to the new approach is given via an academic simulation example. With this approach, is possible to estimate completely unknown, but bounded, perturbations and the states of the system, such that a perturbation-cancel plus PD compensation control is proposed for trajectory tracking tasks.

There are several tools, frameworks, and algorithms to solve information sharing from multiple tasks and robots. Some applications such as ROS, Kafka, and MAVLink cover most problems when using operating systems. However, they cannot be used for particular problems that demand optimization of resources. Therefore, the objective was to design a solution to fit the resources of small vehicles. The methodology consisted of defining the group of vehicles with low performance or are not compatible with high-level known applications; design a reduced, modular, and compatible architecture; design a producer-consumer algorithm that adjusts to the simultaneous localization and communication of multiple vehicles with UWB sensors; validate the operation with an interception task. The results showed the feasibility of performing architecture for embedded systems compatible with other applications managing information through the proposed algorithm allowed to complete the interception task between two vehicles. Another result was to determine the system’s efficiency by scaling the memory size and comparing its performance. The work’s contributions show the areas of opportunity to develop architectures focusing on the optimization of robot resources and complement existing ones.

This work presents the development of a differential-drive wheeled mobile robot educational prototype, manufactured using 3D additive techniques. The robot is powered by an embedded ARM-based computing system and uses open-source software. To validate the prototype, a trajectory-tracking task was successfully implemented. The aim of this contribution is to provide an easily replicable prototype for teaching automatic control and related engineering topics in academic settings.

Single‐Input‐Multiple‐Output (SIMO) systems are found in several applications. Some of the main concerns are (1) the possibility of stabilizing all the outputs and (2) the possibility of attaining independent tracking control of all the outputs. Whereas the first issue can be easily be elucidated, the second has proven to be impossible in all but a few systems. In many cases one practical option is to use the input to drive a main output, taking care that the behavior of the remaining secondary outputs is acceptable. In this configuration, in addition to the features of the main control loop, the perturbation rejection properties of the secondary outputs become important. This article analyzes the structural properties, stability, and perturbation rejection characteristics of SIMO systems. The article presents fundamental conclusions regarding the relationship of the main control loop and the perturbation rejection characteristics of the secondary outputs. A simple and intuitive example is used to show how the theoretical findings can be used to improve the design of the main control loop through its frequency domain characteristics. The results are developed using simple frequency domain theoretical elements, making the findings relevant for both engineering applications and deriving further theoretical developments.

The implementation of experimental benches for wind turbines is fundamental for performing tests under controlled conditions of wind power generation systems. A particular case of these systems are the generators mounted on aircraft. The design, construction, and testing of a test bench at laboratory level is presented. The aim is to develop a facility for the study, design and validation of wind turbines for small unmanned aerial vehicles. A model based on the node analysis and its identification through the time response of the actual boost-circuit of the generator is obtained. The validation of the model was carried out through static, dynamic and wind tunnel tests. The model obtained proved to be fundamental for the design of a control system which rendered high performance in the range of operation. The test bench was developed for wind tunnel tests together with the required instrumentation and data adquisition system. The data processing and the control implementation was developed in LabVIEW®. Some results showing the effectivity of the experimental bench are included.