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123 results on '"Nuno, Emmanuel"'

1. Physics-Based Output-Feedback Consensus-Formation Control of Networked Autonomous Vehicles

Author

Loría, Antonio, Nuño, Emmanuel, Panteley, Elena, Restrepo, Esteban, Allgöwer, Frank, Series Editor, Morari, Manfred, Series Editor, Fleming, P., Advisory Editor, Kokotovic, P., Advisory Editor, Kurzhanski, A. B., Advisory Editor, Kwakernaak, H., Advisory Editor, Rantzer, A., Advisory Editor, Tsitsiklis, J. N., Advisory Editor, Postoyan, Romain, editor, Frasca, Paolo, editor, Panteley, Elena, editor, and Zaccarian, Luca, editor

Published
2024
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4. Distributed Observers for LTI Systems with Finite Convergence Time: A Parameter Estimation-based Approach

Author

Ortega, Romeo, Nuño, Emmanuel, and Bobtsov, Alexei

Subjects
Electrical Engineering and Systems Science - Systems and Control, Mathematics - Dynamical Systems
Abstract

A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is reformulated as a parameter estimation problem. In contrast with existing results our solution achieves convergence in finite-time, without injection of high gain, and imposes very weak assumptions on the communication graph---namely the existence of a Hamiltonian walk. The scheme is shown to be robust vis-\'a-vis external disturbances and communication delays.

Published
2020

5. Parameter Estimation of Nonlinearly Parameterized Regressions without Overparameterization nor Persistent Excitation: Application to System Identification and Adaptive Control

Author

Ortega, Romeo, Gromov, Vladislav, Nuño, Emmanuel, Pyrkin, Anton, and Romero, Jose Guadalupe

Subjects
Mathematics - Optimization and Control, Mathematics - Dynamical Systems
Abstract

In this paper we propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions--continuous or discrete time--and apply it for system identification and adaptive control. We restrict our attention to parameterizations that can be factorized as the product of two functions, a measurable one and a nonlinear function of the parameters to be estimated. Although in this case it is possible to define an extended vector of unknown parameters to get a linear regression, it is well-known that overparameterization suffers from some severe shortcomings. Another feature of the proposed estimator is that parameter convergence is ensured without a persistency of excitation assumption. It is assumed that, after a coordinate change, some of the elements of the transformed function satisfy a monotonicity condition. The proposed estimators are applied to design identifiers and adaptive controllers for nonlinearly parameterized systems. In continuous-time we consider a general class of nonlinear systems and those described by Euler-Lagrange models, while in discrete-time we apply the method to the challenging problems of direct and indirect adaptive pole-placement. The effectiveness of our approach is illustrated with several classical examples, which are traditionally tackled using overparameterization and assuming persistency of excitation.

Published
2019

17. Consensus of Euler–Lagrange Agents With Internal Model Disturbance Rejection and Interconnection Delays

Author

Nuno, Emmanuel, Sarras, Ioannis, Yin, Hao, and Jayawardhana, Bayu

Abstract

We propose a distributed control method to achieve consensus of heterogeneous Euler–Lagrange (EL) systems with bounded time-varying communication delays while simultaneously rejecting periodic external disturbances. Our proposed controller has a simple-to-implement structure of proportional–integral--derivative scheme that employs the internal model approach to reject the disturbance and that it is model-independent (when cancelling the gravity effects). We consider that the network of EL-systems is interconnected through an undirected weighted graph that is static and we assume that the information exchange between any connected nodes is subjected to bounded variable time-delays. In this scenario we provide a sufficient condition for the proportional and the derivative gains of the controller to ensure that the EL-systems globally and asymptotically converge to a consensus position. The efficacy of the proposed method is shown in a numerical simulation using a network of ten robotic manipulators.

Published
2024
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18. Global Consensus-Based Formation Control of Nonholonomic Mobile Robots With Time-Varying Delays and Without Velocity Measurements

Author

Romero, Jose Guadalupe, Nuno, Emmanuel, Restrepo, Esteban, and Sarras, Ioannis

Abstract

In this article, we propose a solution to the full-consensus-based formation problem for torque-controlled nonholonomic mobile robots under time-varying communication delays and without velocity measurements. Under the assumptions of static and undirected communication topologies, and smooth and bounded delays, we propose a distributed smooth, time-varying control law which achieves the goal of acquiring a global formation pattern in a common consensus point for both position and orientation. The controller is a combination of a simple proportional-plus-damping (PD) scheme and a simple globally exponentially convergent velocity observer. Consensus is reached independently of all initial conditions. Realistic simulations in the Gazebo-robot operating system environment illustrate the effectiveness of the proposed algorithm and the robustness with respect to measurement noise, nonsmooth delays, and uncertain dynamics.

Published
2024
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