Persona: Aranda Escolástico, Ernesto
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earandae@issi.uned.es
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0000-0003-0801-9286
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Aranda Escolástico
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Ernesto
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Publicación Asynchronous periodic event-triggered control with dynamical controllers(Elsevier, 2018-04-20) Aranda Escolástico, Ernesto; Rodríguez, Carlos; Guinaldo Losada, María; Guzmán, José Luis; Dormido Canto, SebastiánIn this work, we study a networked control system under a periodic eventtriggered control strategy. In addition, the input and the output of the system are sampled with different rates, which enables to obtain a compromise between performance and waste of communication resources. Stability analysis and L2-gain analysis are carried out through Lyapunov-Krasovskii techniques. Simulation results of a quadruple-tank process show the benefits of the approach.Publicación Design of periodic event-triggered control for polynomial systems: A delay system approach(Elsevier, 2017-10-17) Aranda Escolástico, Ernesto; Abdelrahim, M.; Guinaldo Losada, María; Dormido Canto, Sebastián; Heemels, W.P.M.H.Event-triggered control is a control strategy which allows the savings of communication resources in networked control systems. In this paper, we are interested in periodic eventtriggering mechanisms in the sense that the triggering condition is only verified at predefined periodic sampling instants, which automatically ensures that Zeno behavior does not occur. We consider the case where both the output measurement and the control input are transmitted asynchronously using two independent triggering conditions. The developed result is dedicated to a class of nonlinear systems, where both the plant model and the feedback law can be described by polynomial functions. The overall problem is modeled and analyzed in the framework of time-delay systems, which allows to derive sum-of-squares (SOS) conditions to guarantee the global asymptotic stability in terms of the sampling period and the parameters of the triggering conditions. The approach is illustrated on a nonlinear numerical example.Publicación Using Extended Logical Primitives for Efficient BDD Building(MDPI, 2020) Fernández Amoros, David José; Bra Gutiérrez, Sergio; Aranda Escolástico, Ernesto; Heradio Gil, RubénBinary Decision Diagrams (BDDs) have been used to represent logic models in a variety of research contexts, such as software product lines, circuit testing, and plasma confinement, among others. Although BDDs have proven to be very useful, the main problem with this technique is that synthesizing BDDs can be a frustratingly slow or even unsuccessful process, due to its heuristic nature. We present an extension of propositional logic to tackle one recurring phenomenon in logic modeling, namely groups of variables related by an exclusive-or relationship, and also consider two other extensions: one in which at least n variables in a group are true and another one for in which at most n variables are true. We add XOR, atLeast-n and atMost-n primitives to logic formulas in order to reduce the size of the input and also present algorithms to efficiently incorporate these constructions into the building of BDDs. We prove, among other results, that the number of nodes created during the process for XOR groups is reduced from quadratic to linear for the affected clauses. the XOR primitive is tested against eight logical models, two from industry and six from Kconfig-based open-source projects. Results range from no negative effects in models without XOR relations to performance gains well into two orders of magnitude on models with an abundance of this kind of relationship.Publicación Distributed event-triggered flocking control of Lagrangian systems(IEEE, 2021-12-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, MaríaIn this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbours. In particular, the proposed controller is distributed, since it only depends on the available information of each agent on their own reference frame. In addition, we derive sufficient conditions to avoid Zeno behaviour. Numerical simulations are provided to show the effectiveness of the proposed control law.Publicación Passivity-Based Distributed Event-Triggered Flocking Control of Port-Hamiltonian Systems(IEEE, 2025-05-20) Aranda Escolástico, Ernesto; Abdelrahim, Mahmoud; Fernández-Amorós, David; Guinaldo Losada, María; Colombo, Leonardo; Ministerio de Ciencia e InnovaciónThis letter addresses the problem of flocking motion in the context of port-Hamiltonian systems. The port-Hamiltonian framework offers advantages in modeling networks, dissipation, and heterogeneous agents. In this regard, designing flocking controllers in port-Hamiltonian form significantly increases their practical applications. Additionally, event-triggered control has proven effective in reducing bandwidth consumption. However, challenges remain in combining flocking requirements with energy-dissipating terms. Therefore, we propose a novel event-triggered flocking controller suitable for port-Hamiltonian systems. The method is validated through numerical simulations of a group of hexarotors.Publicación Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays(ELSEVIER, 2021) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, María; https://orcid.org/0000-0001-6493-6113We study the problem of periodic event-triggered targeted formation control for multi-agent Lagrangian systems. We assume that the equations of motion of each agent are derived from a Lagrangian function. Besides, each agent has information about a predefined convex set as a targeted set. The goal of the agents is to achieve the desired formation in the targeted sets, while the information is asynchronously shared by a periodic event-triggering specification, and there is also a time-delay in their communication. A novel distributed control law is proposed for the agents to reach the goal while their velocities are driven to zero. Applications and simulations are provided to validate the theoretical results.Publicación Revisiting the simplified IMC tuning rules for low-order controllers: Novel 2DoF feedback controller(The Institution of Engineering and Technology, 2020) Rodríguez, Carlos; Aranda Escolástico, Ernesto; Guzmán, José Luis; Berenguel, Manuel; Hägglund, ToreThis paper revisites the direct synthesis tuning method of continuous-time low-order controllers, and specially PID controllers, for control of time-delayed single-input single-output processes. A setpoint prefilter is included to improve the servo response and integrating load disturbances are accounted for. Robustness is addressed by the feedback controller to obtain the desired maximum sensitivity value. Similar results in step disturbance compensation are obtained with simpler analytical tuning rules when compared to recently reported methods. However, the proposed procedure enables to compensate integrating load disturbances, which are not handled in the other methods.Publicación Event–Based Feedforward Control of Linear Systems with input Time–Delay(Sciendo, 2019-09-28) Rodríguez, Carlos; Aranda Escolástico, Ernesto; Guinaldo Losada, María; Guzmán, José Luis; Dormido Canto, SebastiánThis paper proposes a new method for the analysis of continuous and periodic event-based state-feedback plus static feedforward controllers that regulate linear time invariant systems with time delays. Measurable disturbances are used in both control law and triggering condition to provide better disturbance attenuation. Asymptotic stability and L2-gain disturbance rejection problems are addressed by means of Lyapunov-Krasovskii functionals leading to performance conditions that are expressed in terms of linear matrix inequalities. The proposed controller obtains better disturbance rejection and a reduction in the number of transmissions with respect to other robust event-triggered controllers in the literature.Publicación Novel aperiodic sampling and control strategies: application to underactuated systems(Universidad Nacional de Educación a Distancia (España). Escuela Internacional de Doctorado. Programa de Doctorado en Ingeniería de Sistemas y Control, 2018-09-21) Aranda Escolástico, Ernesto; Dormido Bencomo, Sebastián; Guinaldo Losada, MaríaThe work in this thesis explores the possibilities of aperiodic sampling and control. Using the advances of the last decades in the field of networked systems, the main objective is to obtain methods to use the sampling period of the different measurements of the system to improve the performance or to reduce the transmission of information. With this idea, different eventtriggered control and multi-rate control schemes are proposed. In addition, this thesis aims to provide a practical usage of the strategies and, hence, different simulation and experimental results are developed. In the event-triggered control scenario, different periodic event-triggered strategies are proposed to deal asynchronous sampling, time-varying delays, disturbance rejection, etc. in linear systems. Besides, the practical application of the strategies commonly implies to deal with nonlinear systems. For this reason, some parts are dedicated to the extensions of the proposed strategies to some classes of nonlinear systems. Concretely, polynomial systems and inverted pendulum-type systems are studied. In the multi-rate scenario, the objective is tomaximize the performance of the plant considering that the information received from the sensor is collected at a lower frequency than the actuator’s rate and, hence, several inputs can be applied to the plant in each output sampling period. With this idea, some optimization methods are proposed and different strategies for their practical application are discussed. The methods are applied to an air levitation system with the main goal of obtaining an experimental validation. With theMatlab library for process control simulations, we close the loop providing tools to carry out the simulations necessary to validate the aforementioned theoretical frameworks. Finally, the objective of the last paper is to study alternative aperiodic control strategies in the framework of underactuated systems.Publicación Event-based control in industry practice: paving the way towards resource-efficient Industrial IoT(IEEE, 2023-07-03) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Mískowicz, Marek; Dormido Canto, Sebastián; UNED; Agencia Estatal de Investigación; Centro Nacional de CienciasEvent-based control represents a paradigm shift in the development of theory and practice of digital control systems. Due to the integration of continuous-time dynamics with digital computing, the event based control frameworks are aligned with the idea of Cyber-Physical Systems and become natural strategies for the development of resource-efficient Industrial Internet-of-Things. The paper summarizes fundamental concepts with a discussion of recent advancements in the use of event-based paradigms from a broad technical perspective. Finally, we analyze the most recent publications in the relevant area and highlight open problems together with future research trends.