This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

In this letter, we propose a contraction-based variable gain nonlinear control scheme for the laser-beam stabilizing (LBS) servo-system, which guarantees that the closed-loop system is convergent. With the variable gain acting on the velocity error, the well known waterbed effect of the low-frequency/bandwidth trade-off can be overcome. Moreover, the contraction-based framework allows us to extend the linear control performance metrics for analyzing the closed-loop nonlinear system behavior. The closed-loop system's performance is evaluated in numerical simulations under input disturbances and/or white noise measurements and its efficacy is compared to that using PID and LQG controllers.

The transition towards the new technological paradigm in production systems resulting from Industry 4.0 (hereinafter I4.0), pursues among its main objectives, greater operational efficiency, and productivity, a greater scope of automation, customization, and flexibility in production, the increase in man-machine interaction, as well as the creation of more complex but better-paid jobs and new business models. For this reason, a broad understanding of what constitutes I4.0 today and what can represent the future requires knowledge about the technologies that make it up, as well as different tools that can help to carry out a correct and comprehensive implementation. The relevance of the Mexican automotive manufacturing industry in the national economy, as well as the importance of the I4.0 transition in this sector, is addressed, referring to several success stories and their key factors. A Systemic and Cyber-physical Methodology is presented as a fundamental component of this work, where its different stages are described, the used tools, and its isomorphic relationship with the Soft Systems Methodology. As an added element an illustrative example is provided of how the application of the Proposed Methodology would be in an Automotive Manufacturing Company.

Desde la propuesta en la Feria de Hannover de 2011, de lo que hoy conoce como Cuarta Revolución Industrial, se ha desencadenado todo un nuevo paradigma tecnológico aplicable principalmente a la producción y los servicios. Actualmente, sigue suponiendo un reto su adopción y aplicación en cada uno de los sectores que mueven la economía de cada nación. Por esto el objetivo del presente trabajo fue establecer un marco de referencia de la Industria 4.0 a nivel internacional, así como, de un acercamiento a la forma en que se ha manifestado esta nueva revolución tecnológica a nivel internacional, con especial énfasis en México y la introducción paulatina de las tecnologías de la información y su transición hacia la Industria 4.0. Para dicho propósito se lleva a cabo un estudio sobre la temática en cuestión, desde sus orígenes, evolución y qué se ha hecho por parte de los gobiernos para facilitar y potenciar la implementación de sus componentes. Se ha de recalcar que se requiere una mayor accesibilidad en cuanto a la información disponible por parte de las empresas mexicanas, de manera que se puedan recabar y analizar datos más concretos sobre el alcance y el impacto de la implementación de tecnologías de la Industria 4.0 en las mismas. Luego de culminada la investigación, se puede afirmar que aún son insuficientes las estrategias de digitalización, la facilitación de recursos financieros y el desarrollo de los recursos humanos que permitan potenciar rápidamente la implementación de la Industria 4.0 en las empresas mexicanas.