Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Robust observer-based controllers for a tilted-motors hexacopter under external perturbations(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-06) Márquez Hernández, Adán Daniel; Castañeda Cuevas, Herman; emimmayorquin; Abaunza González, Hernán; School of Engineering and Sciences; Campus Monterrey; Alvaro Mendoza, Carlos EnriqueUnmanned aerial vehicles such as multicopters have recently been used for more complicated, dangerous, and demanding applications such as payload transportation, assistance in natural disasters, or firefighting emergencies. In the context of research and technology development, these vehicles are required to fly in harsh environments, perform complex maneuvers, and track trajectories. Due to their vertical take-off and landing capabilities, these vehicles are attractive for such applications. However, they face limitations when flying in highly perturbed environments, which can deviate the vehicle or even destabilize it and lead to loss of control. In addition, the full state required for control design is not always available and may contain measurement noise due to sensors with limited accuracy or operation in denied environments. Likewise, for attitude representation, Euler angles or rotation matrices present the well-known disadvantages of gimbal lock and discontinuities. Therefore, this thesis presents the design of a unit quaternion based differentiator, that estimate the derivative of the unit quaternion to retrieve a velocity, in addition it does not use a mathematical model of the system; as well as a quaternion based extended state observer, which allows recovering unknown states and the total external disturbances acting on the rotorcraft. Thus, observer-based controllers following an adaptive sliding mode control scheme are also proposed, which ensures finite-time convergence and robustness against bounded external disturbances and model uncertainties, while reducing the chattering effect through non-overestimation of the control gain. Moreover, computer simulations are developed and tested usingMATLAB, Simulink, and Simscape Multibody environments. Ultimately, the observer-based controllers are deployed on the flight computer of a real hexacopter platform. The results demonstrate the viability of the control scheme to track desired trajectories and the feasibility of the quaternion observer to estimate unmeasurable states.
- Robust visual servoing using adaptive sliding mode control and quaternions for a quadrotor UAV tracking a dynamic target(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2023) Olivas Martínez, Gustavo; CASTAÑEDA CUEVAS, HERMAN; 268976; Castañeda Cuevas, Herman; emiggomez, emipsanchez; Abaunza González, Hernán; Algorri Guzmán, María Elena; Escuela de Ingeniería y Ciencias; Campus MonterreyQuadrotor unmanned aircraft vehicles are being used nowadays more than ever in dangerous and complicated environments that include on-sea structure inspections, density-forest analy- sis, search-rescue operations, and precision agriculture activities, among many others. Given its extended use in multiple scenarios, the need for proper control and robustness against complex environments is highlighted, resulting in a reluctant adoption of quadrotors for fully autonomous operations. This is especially true in applications where local positioning is re- quired such as target tracking operations, object picking, indoor navigation, between others. Most of the time these operations are executed using an onboard camera, as such, keeping the objective inside the eld of view is a major problem when external perturbations affect the aircraft. To propose a solution to this problem, this thesis presents a robust image-based visual servoing -control- design for a quadrotor unmanned aerial vehicle performing visual target-tracking operations in the presence of turbulent winds. Visual data, extracted by the analysis of critical image features, is processed to control the positioning and heading of the aerial vehicle. The image acquisition algorithm considers a virtual camera approach, which produces an image insensitive to the roll and pitch movements. The previous image operations and the quadrotor modeling are performed using the quaternion rotational repre- sentation, which avoids many of the well-known Euler angle singularities. Additionally, a novel adaptive non-singular fast terminal sliding mode strategy is introduced to minimize the visual servoing error. Unlike other sliding mode methods, the proposed approach reduces the complexity of the system due to the reduction of control parameters, while providing practical nite-time convergence, robustness against bounded external disturbances as well as model uncertainties, non-overestimation of the control gains, and chattering attenuation. Furthermore, the stability of the system in a closed loop is guaranteed through the Lyapunov stability analysis. Finally, the proposed control algorithm is extensively tested using the Gazebo/ROS simulator which provides a close-to-real-life insight into the performance of the system comparing it to the same scenario using the Euler angles representation.
- Adaptive sliding mode control for an autonomous surface vehicle subject to wind, waves, and currents(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022) González García, Alejandro; CASTAÑEDA CUEVAS, HERMAN; 268976; Castañeda Cuevas, Herman; emijzarate; Garza Castañón, Luis Eduardo; Vargas Martínez, Adriana; School of Engineering and Sciences; Campus MonterreyAutonomous surface vehicles operate on aquatic surfaces such as lakes, rivers, and oceans, with the potential to assist numerous activities in different industries. For instance, operations from disaster management, environmental monitoring, oil spill mitigation, and urban mobility may benefit from this autonomous technology. Fully-autonomous capabilities are required to enable operations in unstructured environments without human intervention. Then, control systems are essential for autonomous behavior development. Furthermore, trajectory tracking is one of the most challenging control problems, particularly for underactuated vehicles. Moreover, the presence of environmental phenomena such as wind, waves, and currents increases the complexity of the problem. In addition, most unmanned surface vehicles are small in size and are more susceptible to the effects of their unpredictable environment. Consequently, robust controllers able to counteract such disturbances are relevant and are an issue tackled by this research work. Thus, this thesis addresses two control strategies based on adaptive sliding mode for robust trajectory tracking of underactuated unmanned surface vehicles subject to external disturbances and uncertainties. Both strategies can follow predefined time-varying trajectories in the presence of perturbations. The so-called hand position point is applied in both controllers to avoid a singularity common in underactuated surface vehicle control. Both schemes are robust against bounded perturbations with unknown bounds and attenuate the chattering effect without overestimating the control gains. The first proposed approach is a cascaded control scheme based on an adaptive integral terminal sliding mode. The integral terminal sliding surface improves the transient behavior, and it can be tuned to approximate the maximum convergence time. The second proposed approach is a direct control scheme based on adaptive nonsingular terminal sliding mode. The direct control scheme reduces the number of tuning parameters and simplifies the implementation since only one control law is necessary. The proposed approaches achieve practical finite-time convergence of the tracking error variables via the terminal sliding surfaces. Furthermore, the practical finite-time stability of the proposed guidance and control laws are proven based on finite-time and Lyapunov stability theories. Numerical simulations, using mathematical models from wind, waves, and water currents disturbances, analyze the advantages and characteristics of the proposed algorithms, whereas field experiments demonstrate the control performance in a physical platform subject to environmental disturbances and an external payload. The payload generates uncertainty by modifying the mass, moment of inertia, and hydrodynamic coefficients. Finally, the proposed control schemes are compared with existent and current techniques.
- Adaptive sliding mode formation control for a MAV Swarm System(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2020-06) Gonzalez Linares, Victor Manuel; CASTAÑEDA CUEVAS, HERMAN; 268976; Castañeda Cuevas, Herman; emipsanchez; Gordillo Moscoso, José Luis; Rodríguez, Jonathan; School of Engineering and Sciences; Campus MonterreySwarm and multi-agent systems are inspired by the collective behavior of different life forms, like the flocking of migratory birds, the foraging of multiple insect species and even the slime mold aggregation. Applications using swarm robotics like surveillance and transportation usually require of robotic agents with a high degree of mobility, and quadrotor Unmanned Aerial Vehicles are good candidates due to their useful features like their ability to hover, vertical take off and landing. Since the amount of the robots in the system may vary from a couple to a hundred of agents, their size may have a representative impact to the cost and the performance of a task. Thus, quadrotors in the category of Micro Aerial Vehicles are an attractive option in the emerging field of swarm robotics. In multiple applications of swarm robotics, the agents are required to keep a desired position respect to a given reference. The desired positions can be defined by multiple approaches, where leader-follower, behavior based and virtual structure are some of the most common methods. In most of the applications, the desired formation must be maintained in every moment while the system is performing a task or, if different formations are required over time, the system must be able to switch formations and reach the new desired references. Moreover, disturbances and uncertainties in the system can compromise the success of the task if the formation control method is not able to deal with such conditions. In this dissertation, an adaptive sliding mode formation control for a quadrotor Micro Aerial Vehicle swarm system is designed. Due to its robust properties against disturbances and unmodeled dynamics, sliding mode is chosen as the control developed for the formation. Furthermore, since the control has adaptive gains, its has the advantage of managing the control effort as it is required. The formation is defined using the leader-follower approach and a geometrical description, allowing to define relative distance vectors to set the desired figure pattern. From this geometrical approach, the dynamics of the formation are obtained based on the formation error. The first stage develops the formation dynamics for a 2D figure, then, the work is extended to a 3D formation. From the error dynamics obtained from both, 2D and 3D models, the adaptive sliding mode control, considering a disturbance term, is designed. Since the agents for the system are quadrotor MAVs, the dynamics are presented along with a trajectory tracking control. Simulations are performed using Matlab and Simulink in order to validate the whole proposal. The first simulation shows the performance of the formation control achieving a 2D triangular pattern, while the second simulation shows an arrow like 2D pattern and then, it switches to a 3D crystalline shape. Both simulations include a disturbance with the objective to illustrate the performance of the proposed formation control. The last simulation shows a MAV agent tracking a trajectory obtained from the formation control. The results of the MAV simulation validate the feasibility of quadrotor MAV's as agents of the system under the proposed control.
- Adaptive sliding mode containment control for a quadrotor MAV swarm system under perturbations(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2020-06) Katt Pineda, Carlos Alberto; KATT PINEDA, CARLOS ALBERTO; 892394; Castañeda Cuevas, Herman; ilquio, emipsanchez; Gordillo Moscoso, José Luis; Rodríguez, Jonathan; Escuela de Ingeniería y Ciencias; Campus MonterreyThis work addresses an adaptive containment control for a MAV swarm system, subject to perturbations. The graph theory formulation is used to establish the roles of leaders and followers as well as their interaction, and then, an adaptive sliding mode controller is proposed to keep the containment in presence of external disturbances on their desired relative positions with respect to the leaders while tracking a time-variant trajectory. Two cases were considered, a 2D implementation serves as a proof of concept for the Adaptive Sliding Mode Containment Controller and it is compared with a PID controller to show its advantages. Additionally, in the 3D case, a quadrotor micro areal vehicle model is implemented to have a response as similar as possible to a physical environment in the simulation to test the effectiveness of the proposed controller in this situation. The advantage of this control method relies on its robustness while driving its adaptive gain as uncertainties/perturbations appear. Simulations results demonstrate an adaptive sliding mode controller can keep the containment of the group of agents while following a desired trajectory in the presence of bounded disturbances. Furthermore, the feasibility and advantage of the proposal are illustrated.