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Prof. Vicente Feliu-Batlle
University of Castilla-la Mancha (Spain)

Basic Info


Research Keywords & Expertise

0 Robotics
0 NONLINEAR CONTROL TECHNIQUES
0 Fractional calculus and their applications to real world problems
0 Mechatronics & Advanced Controls
0 Identification and modelling

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Robotics
Fractional calculus and their applications to real world problems

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Short Biography

Vicente Feliu (M’88–SM’08) received the M.Sc. (Hons.) degree in industrial engineering and the Ph.D. degree in automatic control from the Polytechnical University of Madrid, Spain, in 1979 and 1982, respectively. From 1980 to 1987, he was in the Electrical Engineering Department, Universidad Nacional de Educación a Distancia (UNED), Madrid, Spain. From 1987 to 1989 he was a visiting researcher at the Robotics Institute at Carnegie Mellon University (USA) granted by a postdoctoral Fulbright scholarship. In 1990 he became Full Professor, and the Head of the previous Department of the UNED from 1991 to 1994. From 1994 to 2008, he was the Dean of the School of Industrial Engineering, Universidad de Castilla-La Mancha, Ciudad Real, Spain. His research interests include multivariable and digital control systems, fractional dynamics and control, kinematic and dynamic control of rigid and flexible robots, and mechatronics.

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Journal article
Published: 05 May 2021 in IEEE Latin America Transactions
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This paper proposes the design of a state feedback Smith predictor controller (SFC-SP) for the effective temperature control in a precalciner of a cement rotary kiln. The dynamic model of this process is obtained from real-time data by applying a system identification procedure. This identification procedure yields a fourth order with dominant time delay transfer function. A state feedback controller combined with a Smith predictor is therefore designed which behaves effectively. Simulated results compare the performance of the proposed controller with a standard PID controller. Two performance indexes have been used in this comparison: the integral absolute error (IAE), and the control effort (EU). Simulations show that the proposed controller provides lower values of these indexes and, therefore, outperforms the standard PID controller in terms of performance and accuracy

ACS Style

Raul Rivas Perez; Vicente Feliu Batlle; Jose Salcedo Hernandez. State Feedback Temperature Control Based on a Smith Predictor in a Precalciner of a Cement Kiln. IEEE Latin America Transactions 2021, 19, 138 -146.

AMA Style

Raul Rivas Perez, Vicente Feliu Batlle, Jose Salcedo Hernandez. State Feedback Temperature Control Based on a Smith Predictor in a Precalciner of a Cement Kiln. IEEE Latin America Transactions. 2021; 19 (01):138-146.

Chicago/Turabian Style

Raul Rivas Perez; Vicente Feliu Batlle; Jose Salcedo Hernandez. 2021. "State Feedback Temperature Control Based on a Smith Predictor in a Precalciner of a Cement Kiln." IEEE Latin America Transactions 19, no. 01: 138-146.

Journal article
Published: 05 March 2021 in Sensors
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The design and application of sensing antenna devices that mimic insect antennae or mammal whiskers is an active field of research. However, these devices still require new developments if they are to become efficient and reliable components of robotic systems. We, therefore, develop and build a prototype composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that measures the forces and torques at the base of the flexible beam. This work reports new results in the area of the signal processing of these devices. These results will make it possible to estimate the point at which the flexible antenna comes into contact with an object (or obstacle) more accurately than has occurred with previous algorithms. Previous research reported that the estimation of the fundamental natural frequency of vibration of the antenna using dynamic information is not sufficient as regards determining the contact point and that the estimation of the contact point using static information provided by the forces and torques measured by the load cell sensor is not very accurate. We consequently propose an algorithm based on the fusion of the information provided by the two aforementioned strategies that enhances the separate benefits of each one. We demonstrate that the adequate combination of these two pieces of information yields an accurate estimation of the contacted point of the antenna link. This will enhance the precision of the estimation of points on the surface of the object that is being recognized by the antenna. Thorough experimentation is carried out in order to show the features of the proposed algorithm and establish its range of application.

ACS Style

Luis Mérida-Calvo; Daniel Feliu-Talegón; Vicente Feliu-Batlle. Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information. Sensors 2021, 21, 1808 .

AMA Style

Luis Mérida-Calvo, Daniel Feliu-Talegón, Vicente Feliu-Batlle. Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information. Sensors. 2021; 21 (5):1808.

Chicago/Turabian Style

Luis Mérida-Calvo; Daniel Feliu-Talegón; Vicente Feliu-Batlle. 2021. "Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information." Sensors 21, no. 5: 1808.

Journal article
Published: 03 February 2021 in IEEE Transactions on Control Systems Technology
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This article deals with the control of two degrees of freedom manipulators that have a flexible and very lightweight link. These robots have a single low-frequency and high-amplitude vibration mode. Their actuators have high friction, and their vibration sensors are often strain gauges that have offset and high-frequency noise. These problems reduce the robot precision and produce noisy control signals that saturate actuators. An efficient control system is proposed to overcome these drawbacks. Actuator friction effect is nearly removed by closing a high gain position control loop around the actuator. It causes the separation of the robot dynamics into the controlled actuator fast subsystem and the link dynamics slow subsystem. Based on that, an innovative control system is designed to remove vibrations using the singular perturbation theory combined with the input-state linearization technique. This control system includes fractional-order controllers that nearly remove unknown sensor offset and sensor ramp disturbances while reducing the high-frequency component of the control signal caused by sensor noise. Simulated and experimental results show the superior performance of these controllers over other standard integer-order controllers of similar complexity and nominal behavior.

ACS Style

Daniel Feliu-Talegon; Vicente Feliu-Batlle. Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach. IEEE Transactions on Control Systems Technology 2021, PP, 1 -16.

AMA Style

Daniel Feliu-Talegon, Vicente Feliu-Batlle. Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach. IEEE Transactions on Control Systems Technology. 2021; PP (99):1-16.

Chicago/Turabian Style

Daniel Feliu-Talegon; Vicente Feliu-Batlle. 2021. "Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach." IEEE Transactions on Control Systems Technology PP, no. 99: 1-16.

Journal article
Published: 05 December 2020 in ISA Transactions
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The robust control of the crude oil outlet temperature uniformity in a heating furnace of a petroleum refinery is addressed. A reliable dynamic model of the nominal process has been attained using a system identification procedure based on real-time data. This procedure yields a second order model with a dominant time-delay. A PI controller embedded in a modified Smith predictor structure is therefore proposed. Sensitivity and robustness properties of this control system are analytically obtained. Based on that, a tuning procedure is developed for this control system which has lower sensitivity to disturbances than the standard Smith predictor while guaranteeing the system stability when plant parameters change. Simulations are carried out of the proposed control system and other well-known linear advanced process control systems. The comparison of the obtained results shows the superior performance of our control system in most cases, both in rejecting a variety of disturbances and in maintaining the closed-loop stability when the process parameters change.

ACS Style

Vicente Feliu-Batlle; Raul Rivas-Perez. Control of the temperature in a petroleum refinery heating furnace based on a robust modified Smith predictor. ISA Transactions 2020, 112, 251 -270.

AMA Style

Vicente Feliu-Batlle, Raul Rivas-Perez. Control of the temperature in a petroleum refinery heating furnace based on a robust modified Smith predictor. ISA Transactions. 2020; 112 ():251-270.

Chicago/Turabian Style

Vicente Feliu-Batlle; Raul Rivas-Perez. 2020. "Control of the temperature in a petroleum refinery heating furnace based on a robust modified Smith predictor." ISA Transactions 112, no. : 251-270.

Journal article
Published: 04 November 2020 in ISA Transactions
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The aim of this study was to design and evaluate a prototype of a snake-like endoscopic manipulator robot (SLEMR) and its corresponding automatic controller based on the first order sliding mode theory. The SLEMR was controlled with a set of actuators made of shape memory alloys (SMA). The SLEMR device was constructed with a sequential arrangement of links interconnected by a two degree-of-freedom joint. A parallel agonist-antagonist configuration of actuators was implemented to move each joint. The physical relation between temperature and elongation in SMA forced the execution of the movement in the joint. Elongation-temperature model of the SMA actuator served to get a feasible bound of velocity for each joint. Each pair of SMA actuators was controlled by a first order sliding mode controller. This control design solved the tracking trajectory problem for each joint in the SLEMR because of its robustness against uncertainties and external perturbations. The control action was projected into a feasible implementable set of pulse-width modulated signals which was used to regulate the temperature of the corresponding SMA actuator. The controller designed in this study was experimentally validated in a SLEMR made up by a tridimensional printing technique. The control strategy induced the successful trajectory tracking for all the joints in the SLEMR simultaneously. This characteristic of the control design also enforces the tracking of a reference position by the tip of the final link of the SLEMR. An image acquisition system was used to determine the position of the final actuator in the SLEMR. The effectiveness of the controller proposed in this study was confirmed by the evaluation of the tracking error of the final actuator which approached to a bounded region (less than 1.0 mm) near the origin in a finite-time (0.5 s).

ACS Style

R. Cortez-Vega; I. Chairez; A. Luviano-Juarez; N. Lozada-Castillo; V. Feliu-Batlle. Multi-link endoscopic manipulator robot actuated by shape memory alloys spring actuators controlled by a sliding mode. ISA Transactions 2020, 1 .

AMA Style

R. Cortez-Vega, I. Chairez, A. Luviano-Juarez, N. Lozada-Castillo, V. Feliu-Batlle. Multi-link endoscopic manipulator robot actuated by shape memory alloys spring actuators controlled by a sliding mode. ISA Transactions. 2020; ():1.

Chicago/Turabian Style

R. Cortez-Vega; I. Chairez; A. Luviano-Juarez; N. Lozada-Castillo; V. Feliu-Batlle. 2020. "Multi-link endoscopic manipulator robot actuated by shape memory alloys spring actuators controlled by a sliding mode." ISA Transactions , no. : 1.

Journal article
Published: 01 January 2020 in IFAC-PapersOnLine
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This work addresses the robust control of a pool of a main irrigation canal working in a submerged flow condition. A laboratory prototype of hydraulic canal at the University of Castilla-La Mancha is used in this study. A series connection of a non-linear static block and a linear first order plus time delay system is proposed to model the dynamics of such process for all the considered operating regimes. The gain variations in function of the operating regimes are counted and corrected by using a gain scheduling block that inverts the before nonlinearity. However, a residual gain variation remains, whose effect is corrected by a fractional-order proportional integral PI controller that is robust to process gain changes. Such controller is tuned to make the closed-loop system fulfill two temporal specifications: (a) a desired overshoot, obtained defining an equivalent phase margin frequency specification and (b) a desired settling time, obtained defining an equivalent gain crossover frequency specification. Moreover, a third specification is defined: the isophase margin condition, which accounts for the changes in the gain. The simulated results of our canal show the adequate performance of this control system.

ACS Style

Gharab Saddam; Vicente Feliu Batlle. Robust Fractional Order Control of a Pool of a Main Irrigation Canal in Submerged Flow Condition. IFAC-PapersOnLine 2020, 53, 16611 -16616.

AMA Style

Gharab Saddam, Vicente Feliu Batlle. Robust Fractional Order Control of a Pool of a Main Irrigation Canal in Submerged Flow Condition. IFAC-PapersOnLine. 2020; 53 (2):16611-16616.

Chicago/Turabian Style

Gharab Saddam; Vicente Feliu Batlle. 2020. "Robust Fractional Order Control of a Pool of a Main Irrigation Canal in Submerged Flow Condition." IFAC-PapersOnLine 53, no. 2: 16611-16616.

Journal article
Published: 01 January 2020 in IFAC-PapersOnLine
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The control of the temperature of the burning zone of an industrial cement rotary kiln is addressed in this paper. An experimental identification of the process was carried out, which yielded a second order transfer function with no zeros but with a very large time delay. Moreover, it was detected that this time delay could change between ±8% of its nominal value. Then a robust controller had to be designed for this process. A standard PI controller, a PI controller embedded in a Smith Predictor scheme, and a fractional-order controller embedded in a Smith Predictor have been studied. A method to design the fractional-order controller is developed in this paper that yields better results than the other studied controllers. Simulated results are presented.

ACS Style

V. Feliu-Batlle; R. Rivas-Perez. Design of a Robust Fractional Order Controller for Burning Zone Temperature Control in an Industrial Cement Rotary Kiln. IFAC-PapersOnLine 2020, 53, 3657 -3662.

AMA Style

V. Feliu-Batlle, R. Rivas-Perez. Design of a Robust Fractional Order Controller for Burning Zone Temperature Control in an Industrial Cement Rotary Kiln. IFAC-PapersOnLine. 2020; 53 (2):3657-3662.

Chicago/Turabian Style

V. Feliu-Batlle; R. Rivas-Perez. 2020. "Design of a Robust Fractional Order Controller for Burning Zone Temperature Control in an Industrial Cement Rotary Kiln." IFAC-PapersOnLine 53, no. 2: 3657-3662.

Journal article
Published: 22 July 2019 in Energies
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In this article, a novel maximum power point tracking (MPPT) controller for a photovoltaic (PV) system is presented. The proposed MPPT controller was designed in order to extract the maximum of power from the PV-module and reduce the oscillations once the maximum power point (MPP) had been achieved. To reach this goal, a combination of fuzzy logic and an adaptive radial basis function neural network (RBF-NN) was used to drive a DC-DC Boost converter which was used to link the PV-module and a resistive load. First, a fuzzy logic system, whose single input was based on the incremental conductance (INC) method, was used for a variable voltage step size searching while reducing the oscillations around the MPP. Second, an RBF-NN controller was developed to keep the PV-module voltage at the optimal voltage generated from the first stage. To ensure a real MPPT in all cases (change of weather conditions and load variation) an adaptive law based on backpropagation algorithm with the gradient descent method was used to tune the weights of RBF-NN in order to minimize a mean-squared-error (MSE) criterion. Finally, through the simulation results, our proposed MPPT method outperforms the classical P and O and INC-adaptive RBF-NN in terms of efficiency.

ACS Style

Noureddine Bouarroudj; Djamel Boukhetala; Vicente Feliu-Batlle; Fares Boudjema; Boualam Benlahbib; Bachir Batoun. Maximum Power Point Tracker Based on Fuzzy Adaptive Radial Basis Function Neural Network for PV-System. Energies 2019, 12, 2827 .

AMA Style

Noureddine Bouarroudj, Djamel Boukhetala, Vicente Feliu-Batlle, Fares Boudjema, Boualam Benlahbib, Bachir Batoun. Maximum Power Point Tracker Based on Fuzzy Adaptive Radial Basis Function Neural Network for PV-System. Energies. 2019; 12 (14):2827.

Chicago/Turabian Style

Noureddine Bouarroudj; Djamel Boukhetala; Vicente Feliu-Batlle; Fares Boudjema; Boualam Benlahbib; Bachir Batoun. 2019. "Maximum Power Point Tracker Based on Fuzzy Adaptive Radial Basis Function Neural Network for PV-System." Energies 12, no. 14: 2827.

Journal article
Published: 01 June 2019 in ISA Transactions
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The control of robots that interact with the environment is an open area of research. Two applications that benefit from this study are: the control of the force exerted by a robot on an object, which allows the robot to perform complex tasks like assembly operations, and the control of collisions, which allows the robot safely collaborate with humans. Robot control is difficult in these cases because: (1) bouncing between free and constrained motion appears that may cause instability, (2) switching between free motion (position) controller and constrained motion (force) controller is required being the switching instants difficult to know and (3) robot control must be robust since the mechanical impedance of the environment is unknown. Robots with flexible links may alleviate these drawbacks. Previous research on flexible robots proved stability of a PD controller that fed back the motor position when contacting an unknown environment, but force control was not achieved. This paper proposes a control system that combines a fractional-order D tip position controller with a feedforward force control. It attains higher stability robustness and higher phase margin than a PD controller, which is the integer-order controller of similar complexity. This controller outperforms previous controllers: (1) it achieves force control with nearly zero steady state error, (2) this control is robust to uncertainties in the environment and motor friction, (3) it guarantees stability (like others) but it also guarantees a higher value of the phase margin, i.e., a higher damping, and a more efficient vibration cancellation, and (4) it effectively removes bouncing. Experimental results prove the effectiveness of this new controller.

ACS Style

Daniel Feliu-Talegon; Vicente Feliu-Batlle; Inés Tejado; Blas M. Vinagre; S. Hassan HosseinNia. Stable force control and contact transition of a single link flexible robot using a fractional-order controller. ISA Transactions 2019, 89, 139 -157.

AMA Style

Daniel Feliu-Talegon, Vicente Feliu-Batlle, Inés Tejado, Blas M. Vinagre, S. Hassan HosseinNia. Stable force control and contact transition of a single link flexible robot using a fractional-order controller. ISA Transactions. 2019; 89 ():139-157.

Chicago/Turabian Style

Daniel Feliu-Talegon; Vicente Feliu-Batlle; Inés Tejado; Blas M. Vinagre; S. Hassan HosseinNia. 2019. "Stable force control and contact transition of a single link flexible robot using a fractional-order controller." ISA Transactions 89, no. : 139-157.

Journal article
Published: 21 March 2019 in Entropy
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This article addresses the identification of the nonlinear dynamics of the main pool of a laboratory hydraulic canal installed in the University of Castilla La Mancha. A new dynamic model has been developed by taking into account the measurement errors caused by the different parts of our experimental setup: (a) the nonlinearity associated to the input signal, which is caused by the movements of the upstream gate, is avoided by using a nonlinear equivalent upstream gate model, (b) the nonlinearity associated to the output signal, caused by the sensor’s resolution, is avoided by using a quantization model in the identification process, and (c) the nonlinear behaviour of the canal, which is related to the working flow regime, is taken into account considering two completely different models in function of the operating regime: the free and the submerged flows. The proposed technique of identification is based on the time-domain data. An input pseudo-random binary signal (PRBS) is designed depending on the parameters of an initially estimated linear model that was obtained by using a fundamental technique of identification. Fractional and integer order plus time delay models are used to approximate the responses of the main pool of the canal in its different flow regimes. An accurate model has been obtained, which is composed of two submodels: a first order plus time delay submodel that accurately describes the dynamics of the free flow and a fractional-order plus time delay submodel that properly describes the dynamics of the submerged flow.

ACS Style

Saddam Gharab; Vicente Feliu-Batlle; Raul Rivas-Perez. A Fractional-Order Partially Non-Linear Model of a Laboratory Prototype of Hydraulic Canal System. Entropy 2019, 21, 309 .

AMA Style

Saddam Gharab, Vicente Feliu-Batlle, Raul Rivas-Perez. A Fractional-Order Partially Non-Linear Model of a Laboratory Prototype of Hydraulic Canal System. Entropy. 2019; 21 (3):309.

Chicago/Turabian Style

Saddam Gharab; Vicente Feliu-Batlle; Raul Rivas-Perez. 2019. "A Fractional-Order Partially Non-Linear Model of a Laboratory Prototype of Hydraulic Canal System." Entropy 21, no. 3: 309.

Journal article
Published: 15 December 2018 in Electronics
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This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.

ACS Style

Daniel Feliu-Talegon; Andres San-Millan; Vicente Feliu-Batlle. A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators. Electronics 2018, 7, 441 .

AMA Style

Daniel Feliu-Talegon, Andres San-Millan, Vicente Feliu-Batlle. A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators. Electronics. 2018; 7 (12):441.

Chicago/Turabian Style

Daniel Feliu-Talegon; Andres San-Millan; Vicente Feliu-Batlle. 2018. "A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators." Electronics 7, no. 12: 441.

Original paper
Published: 12 December 2018 in Nonlinear Dynamics
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This work presents a new methodology for the design of passivity-based controllers of fractional order for single-link flexible robots. In this work, some previously developed passivity-based controllers, which have robust stability to parametric uncertainties and spillover effects, are extended by using phase-lag controllers of fractional order. The extra degree of freedom supplied by these controllers is used to enhance the phase margin robustness of these systems and the sensitivity to sensor high-frequency noise. These controllers are applied to the position control of a single-link flexible robot. Experiments show that fast and precise vibration-free movements of a flexible robot are achieved. Also, the property of phase margin robustness to changes in the payload using this new controller is experimentally assessed.

ACS Style

Daniel Feliu-Talegon; Vicente Feliu-Batlle. Passivity-based control of a single-link flexible manipulator using fractional controllers. Nonlinear Dynamics 2018, 95, 2415 -2441.

AMA Style

Daniel Feliu-Talegon, Vicente Feliu-Batlle. Passivity-based control of a single-link flexible manipulator using fractional controllers. Nonlinear Dynamics. 2018; 95 (3):2415-2441.

Chicago/Turabian Style

Daniel Feliu-Talegon; Vicente Feliu-Batlle. 2018. "Passivity-based control of a single-link flexible manipulator using fractional controllers." Nonlinear Dynamics 95, no. 3: 2415-2441.

Journal article
Published: 01 November 2018 in ISA Transactions
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ACS Style

Andres San-Millan; Vicente Feliu-Batlle; Sumeet S. Aphale. Fractional order implementation of Integral Resonant Control – A nanopositioning application. ISA Transactions 2018, 82, 223 -231.

AMA Style

Andres San-Millan, Vicente Feliu-Batlle, Sumeet S. Aphale. Fractional order implementation of Integral Resonant Control – A nanopositioning application. ISA Transactions. 2018; 82 ():223-231.

Chicago/Turabian Style

Andres San-Millan; Vicente Feliu-Batlle; Sumeet S. Aphale. 2018. "Fractional order implementation of Integral Resonant Control – A nanopositioning application." ISA Transactions 82, no. : 223-231.

Journal article
Published: 01 November 2018 in ISA Transactions
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ACS Style

Vicente Feliu-Batlle; Daniel Feliu-Talegón; Andres San-Millan; Raul Rivas-Perez. Wiener-Hopf optimal control of a hydraulic canal prototype with fractional order dynamics. ISA Transactions 2018, 82, 130 -144.

AMA Style

Vicente Feliu-Batlle, Daniel Feliu-Talegón, Andres San-Millan, Raul Rivas-Perez. Wiener-Hopf optimal control of a hydraulic canal prototype with fractional order dynamics. ISA Transactions. 2018; 82 ():130-144.

Chicago/Turabian Style

Vicente Feliu-Batlle; Daniel Feliu-Talegón; Andres San-Millan; Raul Rivas-Perez. 2018. "Wiener-Hopf optimal control of a hydraulic canal prototype with fractional order dynamics." ISA Transactions 82, no. : 130-144.

Journal article
Published: 03 September 2018 in IEEE Transactions on Industrial Electronics
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Parameter uncertainty is a key challenge in the real-time control of nanopositioners employed in Scanning Probe Microscopy. Changes in the sample to be scanned, introduces changes in system resonances; requiring instantaneous online tuning of controller parameters to ensure stable, optimal scanning performance. This paper presents a method based on the frequency-domain algebraic derivative approach for the accurate online identification of the nanopositioner's parameters. The parameter estimates are produced within a fraction of one period of the resonant mode frequency, allowing almost instantaneous tuning of controller parameters. Experimental results show that the proposed method can be utilized to automatically tune an Integral Resonant Control (IRC) scheme, that combines both damping and tracking actions, and consequently deliver positioning performance far superior to that achieved solely due to the scheme's inherent robustness properties. It is further shown that the achieved performance compares favourably with an optimally designed control scheme of the same type.

ACS Style

Andres San-Millan; Sumeet S. Aphale; Vicente Feliu; Andres San-Millan Rodriguez; Vicente Feliu-Batlle. A Fast Algebraic Estimator for System Parameter Estimation and Online Controller Tuning—A Nanopositioning Application. IEEE Transactions on Industrial Electronics 2018, 66, 4534 -4543.

AMA Style

Andres San-Millan, Sumeet S. Aphale, Vicente Feliu, Andres San-Millan Rodriguez, Vicente Feliu-Batlle. A Fast Algebraic Estimator for System Parameter Estimation and Online Controller Tuning—A Nanopositioning Application. IEEE Transactions on Industrial Electronics. 2018; 66 (6):4534-4543.

Chicago/Turabian Style

Andres San-Millan; Sumeet S. Aphale; Vicente Feliu; Andres San-Millan Rodriguez; Vicente Feliu-Batlle. 2018. "A Fast Algebraic Estimator for System Parameter Estimation and Online Controller Tuning—A Nanopositioning Application." IEEE Transactions on Industrial Electronics 66, no. 6: 4534-4543.

Conference paper
Published: 01 May 2018 in 2018 IEEE International Conference on Robotics and Automation (ICRA)
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In this paper, we present an experimental study concerning the gravity compensation of flexible link arms based on linear springs. In the field of flexible link robotics, the gravity compensation based on counterweights has been successfully applied in the past, but little effort has been made to examine the potential benefits and difficulties of using spring-based compensation mechanisms. This paper focuses on the modeling and identification of a single link flexible arm compensated with a spring based mechanism. As modeling approach, we followed the lumped-mass methodology to develop a model capable of reproducing the first vibrational frequency of the flexible link arm. Keeping in mind the forces that interact with the flexible link, a combination of sensors is suggested in order to measure and estimate the most important variables of the system. Subsequently, a very simple and reliable identification method based on the time and frequency response of the system is proposed. Finally, the results of the modeling and identification are validated on our experimental platform.

ACS Style

Juan Carlos Cambera; Jose Abel Chocoteco; Vicente Feliu-Batlle. Modeling and Identification of a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism. 2018 IEEE International Conference on Robotics and Automation (ICRA) 2018, 7704 -7710.

AMA Style

Juan Carlos Cambera, Jose Abel Chocoteco, Vicente Feliu-Batlle. Modeling and Identification of a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism. 2018 IEEE International Conference on Robotics and Automation (ICRA). 2018; ():7704-7710.

Chicago/Turabian Style

Juan Carlos Cambera; Jose Abel Chocoteco; Vicente Feliu-Batlle. 2018. "Modeling and Identification of a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism." 2018 IEEE International Conference on Robotics and Automation (ICRA) , no. : 7704-7710.

Journal article
Published: 01 January 2018 in Measurement
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ACS Style

R. Cortez-Vega; I. Chairez; A. Luviano-Juárez; Vicente Feliu-Batlle. A hybrid dynamic model of shape memory alloy spring actuators. Measurement 2018, 114, 340 -353.

AMA Style

R. Cortez-Vega, I. Chairez, A. Luviano-Juárez, Vicente Feliu-Batlle. A hybrid dynamic model of shape memory alloy spring actuators. Measurement. 2018; 114 ():340-353.

Chicago/Turabian Style

R. Cortez-Vega; I. Chairez; A. Luviano-Juárez; Vicente Feliu-Batlle. 2018. "A hybrid dynamic model of shape memory alloy spring actuators." Measurement 114, no. : 340-353.

Journal article
Published: 13 November 2017 in Sensors
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Recent advances in mobile robotic technologies have enabled significant progress to be made in the development of Stair-Climbing Mobility Systems (SCMSs) for people with mobility impairments and limitations. These devices are mainly characterized by their ability to negotiate those architectural barriers associated with climbing stairs (curbs, ramps, etc.). The development of advanced trajectory generators with which to surpass such architectural barriers is one of the most important aspects of SCMSs that has not yet been appropriately exploited. These advanced trajectory generators have a considerable influence on the time invested in the stair climbing process and on passenger comfort and, consequently, provide people with physical disabilities with greater independence and a higher quality of life. In this paper, we propose a new nonlinear trajectory generator for an SCMS. This generator balances the stair-climbing time and the user’s comfort and includes the most important constraints inherent to the system behavior: the geometry of the architectural barrier, the reconfigurable nature of the SCMS (discontinuous states), SCMS state-transition diagrams, comfort restrictions and physical limitations as regards the actuators, speed and acceleration. The SCMS was tested on a real two-step staircase using different time-comfort combinations and different climbing strategies to verify the effectiveness and the robustness of the proposed approach.

ACS Style

Jose Abel Chocoteco; Rafael Morales; Vicente Feliu-Batlle. Enhancing the Trajectory Generation of a Stair-Climbing Mobility System. Sensors 2017, 17, 2608 .

AMA Style

Jose Abel Chocoteco, Rafael Morales, Vicente Feliu-Batlle. Enhancing the Trajectory Generation of a Stair-Climbing Mobility System. Sensors. 2017; 17 (11):2608.

Chicago/Turabian Style

Jose Abel Chocoteco; Rafael Morales; Vicente Feliu-Batlle. 2017. "Enhancing the Trajectory Generation of a Stair-Climbing Mobility System." Sensors 17, no. 11: 2608.

Journal article
Published: 03 August 2017 in Entropy
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In this paper a two-input, two-output (TITO) fractional order mathematical model of a laboratory prototype of a hydraulic canal is proposed. This canal is made up of two pools that have a strong interaction between them. The inputs of the TITO model are the pump flow and the opening of an intermediate gate, and the two outputs are the water levels in the two pools. Based on the experiments developed in a laboratory prototype the parameters of the mathematical models have been identified. Then, considering the TITO model, a first control loop of the pump is closed to reproduce real-world conditions in which the water level of the first pool is not dependent on the opening of the upstream gate, thus leading to an equivalent single input, single output (SISO) system. The comparison of the resulting system with the classical first order systems typically utilized to model hydraulic canals shows that the proposed model has significantly lower error: about 50%, and, therefore, higher accuracy in capturing the canal dynamics. This model has also been utilized to optimize the design of the controller of the pump of the canal, thus achieving a faster response to step commands and thus minimizing the interaction between the two pools of the experimental platform.

ACS Style

Andres San-Millan; Daniel Feliu-Talegón; Vicente Feliu-Batlle; Raul Rivas-Perez. On the Modelling and Control of a Laboratory Prototype of a Hydraulic Canal Based on a TITO Fractional-Order Model. Entropy 2017, 19, 401 .

AMA Style

Andres San-Millan, Daniel Feliu-Talegón, Vicente Feliu-Batlle, Raul Rivas-Perez. On the Modelling and Control of a Laboratory Prototype of a Hydraulic Canal Based on a TITO Fractional-Order Model. Entropy. 2017; 19 (8):401.

Chicago/Turabian Style

Andres San-Millan; Daniel Feliu-Talegón; Vicente Feliu-Batlle; Raul Rivas-Perez. 2017. "On the Modelling and Control of a Laboratory Prototype of a Hydraulic Canal Based on a TITO Fractional-Order Model." Entropy 19, no. 8: 401.

Journal article
Published: 17 July 2017 in IEEE Transactions on Power Electronics
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This paper presents a two degrees of freedom (2DOF) control scheme for voltage compensation in a dynamic voltage restorer (DVR). It commences with the model of the DVR power circuit, which is the starting point for the control design procedure. The control scheme is based on a 2DOF structure implemented in a stationary reference frame (α-β), with two nested controllers used to obtain a passband behavior of the closed-loop transfer function, and is capable of achieving both a balanced and an unbalanced voltage-sag compensation. The 2DOF control has certain advantages with regard to traditional control methods, such as the possibility of ensuring that all the poles of the closed-loop transfer function are chosen without the need for observers and reducing the number of variables to be measured. The use of the well-known double control-loop schemes that employ feedback current controllers to reduce the resonance of the plant is, therefore, unnecessary. A simple control methodology permits the dynamic behavior of the system to be controlled and completely defines the location of the poles. Furthermore, extensive simulations and experimental results obtained using a 5-kW DVR laboratory prototype show the good performance of the proposed control strategy.

ACS Style

Alfonso Parreño Torres; Pedro Roncero-Sanchez; Vicente Feliu-Batlle. A Two Degrees of Freedom Resonant Control Scheme for Voltage-Sag Compensation in Dynamic Voltage Restorers. IEEE Transactions on Power Electronics 2017, 33, 4852 -4867.

AMA Style

Alfonso Parreño Torres, Pedro Roncero-Sanchez, Vicente Feliu-Batlle. A Two Degrees of Freedom Resonant Control Scheme for Voltage-Sag Compensation in Dynamic Voltage Restorers. IEEE Transactions on Power Electronics. 2017; 33 (6):4852-4867.

Chicago/Turabian Style

Alfonso Parreño Torres; Pedro Roncero-Sanchez; Vicente Feliu-Batlle. 2017. "A Two Degrees of Freedom Resonant Control Scheme for Voltage-Sag Compensation in Dynamic Voltage Restorers." IEEE Transactions on Power Electronics 33, no. 6: 4852-4867.