Persona:
Guinaldo Losada, María

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mguinaldo@dia.uned.es
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0000-0002-7043-6673
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Guinaldo Losada
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2013 - 2019152020 - 202511
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Mostrando 1 - 10 de 26
  • Miniatura
    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, Sebastián
    In 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.
  • Miniatura
    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.
  • Miniatura
    Publicación
    Distributed event-triggered flocking control of Lagrangian systems
    (IEEE, 2021-12-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, María
    In 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.
  • Miniatura
    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 Innovación
    This 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.
  • Miniatura
    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/0000-0001-6493-6113
    We 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.
  • Miniatura
    Publicación
    Distributed reconfiguration of distance-based formations with virtual surface constraints
    (IEEE, 2024) Guinaldo Losada, María; Sánchez Moreno, José; S. Zaragoza; Mañas Álvarez, Francisco José
    This paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.
  • Miniatura
    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, Sebastián
    This 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.
  • Miniatura
    Publicación
    Protección de objetivos móviles mediante un enjambre de drones
    (Servicio de Publicaciones de la Universidade da Coruña (A Coruña) y el Comité Español de Automática (Barcelona), 2025-09-01) Zaragoza, Salvador; Guinaldo Losada, María; Sánchez Moreno, José
    Se propone una solución C-UAS (Counter-Unmanned Air Systems) alternativa y complementaria a las existentes: el uso de un enjambre de drones defensores. Estos drones adoptan una formación de escudo semiesférico para negar el acceso a UAS hostiles al objetivo protegido. La clave de esta estrategia radica en el diseño de una ley de control distribuida que permite que los drones defensores puedan seguir trayectorias, mantener la posición y orientarse en el espacio preservando en todo momento la forma del escudo en función de la ubicación y velocidad del enjambre hostil y el objetivo a defender. Además, la estrategia propuesta es escalable y adaptable a diferentes tamaños de áreas protegidas, desde pequeñas instalaciones hasta grandes regiones geográficas.
  • Miniatura
    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 Ciencias
    Event-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.
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    Publicación
    Event-based Control: A Bibliometric Analysis of Twenty Years of Research
    (IEEE, 2020-03-04) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Heradio Gil, Rubén; Chacón, Jesús; Vargas Oyarzún, Héctor; Sánchez, José; Sánchez Moreno, José; Dormido Canto, Sebastián
    The potential benefits of networked control systems are tremendous, as they can be easily upgraded by just including new components (i.e., sensors, actuators, or controllers), avoiding any further modifications to their structure. A critical approach to unleash such potential benefits is event-based control, where the system output turns to be sampled on demand, instead of being sampled constantly at rigid periods of time. This paper analyzes from a bibliometric point of view the literature published for the last twenty years on event-based control, identifying the most relevant articles, authors, institutions, and journals. Moreover, the principal topics, motivations, and problems faced by the researchers are discussed, identifying distinct challenges and opportunities for future research.