DR. ANAND SÁNCHEZ ORTA

@article{munoz2017fractional,

title = {Fractional integral sliding modes for robust tracking of nonlinear systems},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

year  = {2017},

date = {2017-01-01},

journal = {Nonlinear Dynamics},

volume = {87},

number = {2},

pages = {895--901},

publisher = {Springer},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{munoz2017fractionalb,

title = {Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand},

year  = {2017},

date = {2017-01-01},

journal = {International Journal of Control, Automation and Systems},

pages = {1--8},

publisher = {Springer},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ASJC:ASJC1370,

title = {Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

url = {http://dx.doi.org/10.1002/asjc.1370},

doi = {10.1002/asjc.1370},

issn = {1934-6093},

year  = {2017},

date = {2017-01-01},

journal = {Asian Journal of Control},

volume = {19},

number = {1},

pages = {279--288},

note = {asjc.1370},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Oliva-Palomo2016,

title = {Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor},

author = {Oliva-Palomo, F. and Sanchez-Orta, Anand and Alazki, Hussain},

year  = {2016},

date = {2016-07-15},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Izaguirre-Espinosa2016,

title = {Attitude control of quadrotors based on fractional sliding modes: theory and experiments},

author = {Izaguirre-Espinosa, Carlos and Mu\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and Castillo, Pedro},

year  = {2016},

date = {2016-01-01},

journal = {IET Control Theory \& Applications},

volume = {10},

number = {7},

pages = {825--832},

publisher = {IET},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Aldo-Jonathan2016,

title = {Uniformly continuous differintegral sliding mode control of nonlinear systems subject to H\"{o}lder disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

year  = {2016},

date = {2016-01-01},

journal = {Automatica},

volume = {66},

pages = {179--184},

publisher = {Elsevier},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Izaguirre-Espinosa2016,

title = {Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation},

author = {Izaguirre-Espinosa, Carlos and Mu\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and G Sanahuja },

url = {http://www.sciencedirect.com/science/article/pii/S0967066116300867},

doi = {http://dx.doi.org/10.1016/j.conengprac.2016.04.016},

issn = {0967-0661},

year  = {2016},

date = {2016-01-01},

journal = {Control Engineering Practice},

volume = {53},

pages = {47 - 56},

abstract = {Quadrotors are Unmanned Aerial Systems (UAS), whose nonlinearities, uncertainties, and unavoidable aerodynamic disturbances stand for a difficult control problem. Additionally, the highly nonlinear coupling between the position and the orientation dynamics exacerbates the underactuation problem when the objective is the position tracking. In this paper, aiming at designing a robust position controller without resolving underactuation, a novel “reactive orientation control” is proposed. The orientation controller is model-free and it is build upon differintegral fractional operators to react to a continuous and bounded additive term that stands for an affine exogenous position controller. Such term indeed becomes an attitude disturbance that is purposely injected to displace the quadrotor towards the desired position of the underactuated coordinates. The closed-loop analysis shows that the norm of the transfer function between the disturbance and the position tracking error is minimized for a stable and robust position regime. Simulations and experimental results are given to discuss the feasibility of the proposed scheme.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{MUNOZVAZQUEZ2015118,

title = {Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

url = {http://www.sciencedirect.com/science/article/pii/S2405896315026440},

doi = {http://dx.doi.org/10.1016/j.ifacol.2015.12.020},

issn = {2405-8963},

year  = {2015},

date = {2015-01-01},

journal = {IFAC-PapersOnLine},

volume = {48},

number = {19},

pages = {118 - 123},

note = {11th IFAC Symposium on Robot Control SYROCO 2015},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{SANCHEZFRAIRE2015154b,

title = {On the Brain Computer Robot Interface (BCRI) to Control Robots},

author = {Sanchez-Fraire, U. and Parra-Vega, Vicente and Martinez-Peon, D. and Sepulveda-Cervantes, G. and Sanchez-Orta, Anand and Mu\~{n}oz-Vazquez, Aldo Jonathan},

url = {http://www.sciencedirect.com/science/article/pii/S2405896315026506},

doi = {http://dx.doi.org/10.1016/j.ifacol.2015.12.026},

issn = {2405-8963},

year  = {2015},

date = {2015-01-01},

journal = {IFAC-PapersOnLine},

volume = {48},

number = {19},

pages = {154 - 159},

note = {11th IFAC Symposium on Robot Control SYROCO 2015},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Mu\~{n}oz-V\'{a}zquez2015,

title = {Continuous fractional sliding mode-like control for exact rejection of non-differentiable H\"{o}lder disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and S\'{a}nchez-Orta, Anand},

url = {https://academic.oup.com/imamci/article/34/2/597/2885232/Continuous-fractional-sliding-mode-like-control},

doi = {https://doi.org/10.1093/imamci/dnv064},

issn = {0265-0754},

year  = {2015},

date = {2015-00-00},

journal = {IMA Journal of Mathematic al Control and Information},

volume = {34},

abstract = {Exploiting algebraic and topological properties of differintegral operators as well as a proposed principle of dynamic memory resetting, a uniform continuous sliding mode controller for a general class of integer order affine non-linear systems is proposed. The controller rejects a wide class of disturbances, enforcing in finite-time a sliding regime without chattering. Such disturbance is of H\"{o}lder type that is not necessarily differentiable in the usual (integer order) sense. The control signal is uniformly continuous in contrast to the classical (integer order) discontinuous scheme that has been proposed for both fractional and integer order systems. The proposed principle of dynamic memory resetting allows demonstrating robustness as well as: (i) finite-time convergence of the sliding manifold, (ii) asymptotic convergence of tracking errors, and (iii) exact disturbance observation. The validity of the proposed scheme is discussed in a representative numerical study.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Sanchez-Orta2014,

title = {Position\textendashYaw Tracking of Quadrotors},

author = {Sanchez-Orta, Anand and Parra-Vega, Vicente and Izaguirre-Espinosa, Carlos and Garcia, Octavio},

url = {http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2088643#Abstract},

doi = {10.1115/1.4029464},

issn = {002-0434},

year  = {2014},

date = {2014-12-19},

issuetitle = {Position-Yaw Tracking of Quadrotors},

journal = {Journal of Dynamic Systems, Measurement},

volume = {137},

abstract = {A yaw angle, different from zero, introduces highly nonlinear couplings in the rotational and translational quadrotor dynamics, implying undesirable motions. This argument has motivated that the position control problem of quadrotors is studied generally regulating yaw at zero. However, zeroing yaw limits the maneuverability of underactuated quadrotors because yaw is one of the four actuated motions. In this paper, the simultaneous tracking of position and time-varying heading is proposed, based on an integral sliding mode control with a quaternion-based sliding surface. An exponential tracking with chattering-free is obtained without requiring any knowledge of the dynamic model or its parameters for implementation. Since a linear invariant orientation error manifold is enforced for all time, a time-varying gain is introduced for a well-posed finite time convergence, which is useful not only to realize the virtual position control scheme, due to underactuation, but also to guarantee a desired contact in a given point at a given desired contact time for the yaw motion. Illustrative applications are explored in a simulation study which shows the viability and versatility of position\textendashyaw tracking in the surveillance of a field-of-view (FoV) target, aerial screw driver, and aerial grasping.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Ramirez-Rodriguez2014,

title = {Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors},

author = {Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand and Garcia-Salazar, Octavio },

url = {http://dx.doi.org/10.1007/s10846-013-9909-4},

doi = {10.1007/s10846-013-9909-4},

issn = {1573-0409},

year  = {2014},

date = {2014-01-01},

journal = {Journal of Intelligent \& Robotic Systems},

volume = {73},

number = {1},

pages = {51--66},

abstract = {Modern non-inertial robots are usually underactuated, such as fix or rotary wing Unmanned Aerial Vehicles (UAVs), underwater or nautical robots, to name a few. Those systems are subject to complex aerodynamic or hydrodynamic forces which make the dynamic model more difficult, and typically are subject to bounded smooth time-varying disturbances. In these systems, it is preferred a formal control approach whose closed-loop system can predict an acceptable performance since deviations may produce instability and may lead to catastrophic results. Backstepping provides an intuitive solution since it solves underactuation iteratively through slaving the actuated subsystem so as to provide a virtual controller in order to stabilize the underactuated subsystem. However it requires a full knowledge of the plant and derivatives of the state, which it is prone to instability for any uncertainty; and although robust sliding mode has been proposed, discontinuities may be harmful for air- or water-borne nonlinear plants. In this paper, a novel robust backstepping-based controller that induces integral sliding modes is proposed for the Newton--Euler underactuated dynamic model of a quadrotor subject to smooth bounded disturbances, including wind gust and sideslip aerodynamics, as well as dissipative drag in position and orientation dynamics. The chattering-free sliding mode compensates for persistent or intermittent, and possible unmatched state dependant disturbances with reduced information of the dynamic model. Representative simulations are presented and discussed.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Munoz-Vazquez2014,

title = {A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

url = {http://dx.doi.org/10.1007/s10846-013-9892-9},

doi = {10.1007/s10846-013-9892-9},

issn = {1573-0409},

year  = {2014},

date = {2014-01-01},

journal = {Journal of Intelligent \& Robotic Systems},

volume = {73},

number = {1},

pages = {373--385},

abstract = {Velocity field (VF) control has proved effective for kinematic robots, aiming essentially at providing desired velocities for navigation along the field, and for obstacle avoidance in cluttered environments. When robot dynamics are involved, it is usually considered either that dynamics are known and that robot is fully actuated, thus it is not clear how to deal with VF control (VFC) for unknown underactuated dynamics, such as for a quadrotor. Moreover, passive VF (PVF) stands for an attractive methodology for quadrotors because of it yields time-invariant nominal spatial field for smooth approaching and easy manoeuvring. In this paper, we propose a constructive method to design a PVF-based controller with a chattering-free integral sliding modes for local exponential position tracking. The salient feature of our proposal is the passive nature of the field as well as the controller is model-free for the complete standard quasi-Lagrangian dynamic model of the quadrotor. The controller does not require the derivative nor any assumption on boundedness on the integral of the VF, yet the closed-loop withstands robustness against parametric and model uncertainties. Simulations are discussed, and remarks address the viability of the proposed approach.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}