Browsing Ingeniería de Control y Automatización by Author "Reger, Johann"
Now showing items 1-8 of 8
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Autonomous obstacle avoidance and positioning control of mobile robots using fuzzy neural networks
(Pontificia Universidad Católica del PerúPE, 2018-10-17)Navigation and obstacle avoidance are important tasks in the research field of au- tonomous mobile robots. The challenge tackled in this work is the navigation of a 4- wheeled car-type robot to a desired parking position ... -
Contributions to ida-pbc with adaptive control for underactuated mechanical systems
(Pontificia Universidad Católica del PerúPE, 2018-10-17)This master thesis is devoted to developing an adaptive control scheme for the well- known Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The main objective of this adaptive scheme ... -
Energy-Based Control for the Cart-Pole System in Implicit Port-Hamiltonian Representation
(Pontificia Universidad Católica del PerúPE, 2020-03-19)This master thesis is devoted to the design, analysis, and experimental validation of an energy-based control strategy for the well-known benchmark cart-pole system in implicit Port-Hamiltonian (PH) representation. The ... -
Mixed H2/H∞ control for infinite dimensional systems
(Pontificia Universidad Católica del PerúPE, 2017-08-28)The class of infinite dimensional systems often occurs when dealing with distributed parameter models consisting of partial differential equations. Although forming a comprehensive description, they mainly become manageable ... -
Model-based fault diagnosis via structural analysis of a reverse osmosis plant
(Pontificia Universidad Católica del PerúPE, 2021-05-11)Water desalination is one approach to force water scarcity. One of the processes used for desalination is reverse osmosis. Like other systems, a reverse osmosis plant is susceptible to faults. A fault can lead to a loss ... -
Observability studies of a turbocharger systems
(Pontificia Universidad Católica del PerúPE, 2016-06-02)The use of diesel engine turbochargers is increasing today, as it represents an option that o ers high e ciency and low fuel consumption. To design the control system in order to reduce the level of exhaust emissions ... -
Optimal control for polynomial systems using the sum of squares approach
(Pontificia Universidad Católica del PerúPE, 2018-10-16)The optimal control in linear systems is a widely known problem that leads to the solution of one or two equations of Ricatti. However, in non-linear systems is required to obtain the solution of the Hamilton-Jacobi-Bellman ... -
Robust estimation of vertical wheel forces via modulation-based sensor fusion
(Pontificia Universidad Católica del PerúPE, 2019-11-05)Since its introduction by Shinbrot, numerous variations of parameter identification based on the Modulating Function Technique (MFT) have been developed. Recently researches have achieved to estimate also states through ...
