{"id":76,"date":"2017-09-10T05:46:36","date_gmt":"2017-09-10T05:46:36","guid":{"rendered":"https:\/\/ryma.cinvestav.mx\/asanchez\/?page_id=76"},"modified":"2017-09-11T18:53:43","modified_gmt":"2017-09-11T18:53:43","slug":"publicaciones","status":"publish","type":"page","link":"https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/","title":{"rendered":"Publicaciones"},"content":{"rendered":"<p>[et_pb_section bb_built=\u00bb1&#8243; fullwidth=\u00bbon\u00bb specialty=\u00bboff\u00bb background_image=\u00bbhttps:\/\/ryma.cinvestav.mx\/asanchez\/wp-content\/uploads\/sites\/14\/2017\/09\/IMAGEN-CAMPA\u00d1A1.jpg\u00bb _builder_version=\u00bb3.0.72&#8243; background_color_gradient_start=\u00bbrgba(0,0,0,0.56)\u00bb background_color_gradient_end=\u00bb#ffffff\u00bb background_color_gradient_direction=\u00bb122deg\u00bb background_color_gradient_direction_radial=\u00bbleft\u00bb background_color_gradient_start_position=\u00bb9%\u00bb locked=\u00bbon\u00bb global_module=\u00bb411&#8243;][et_pb_fullwidth_header admin_label=\u00bbNombre del Investigador\u00bb title=\u00bbDR. ANAND S\u00c1NCHEZ ORTA\u00bb subhead=\u00bbProfesor Investigador\u00bb background_layout=\u00bbdark\u00bb text_orientation=\u00bbleft\u00bb header_fullscreen=\u00bboff\u00bb header_scroll_down=\u00bboff\u00bb content_orientation=\u00bbcenter\u00bb image_orientation=\u00bbcenter\u00bb title_font=\u00bb|on|||\u00bb subhead_font=\u00bb|on|||\u00bb custom_button_one=\u00bboff\u00bb button_one_letter_spacing=\u00bb0&#8243; button_one_icon_placement=\u00bbright\u00bb button_one_letter_spacing_hover=\u00bb0&#8243; custom_button_two=\u00bboff\u00bb button_two_letter_spacing=\u00bb0&#8243; button_two_icon_placement=\u00bbright\u00bb button_two_letter_spacing_hover=\u00bb0&#8243; subhead_font_size=\u00bb20px\u00bb _builder_version=\u00bb3.0.72&#8243; background_overlay_color=\u00bbrgba(0,0,0,0.3)\u00bb parent_locked=\u00bbon\u00bb saved_tabs=\u00bball\u00bb \/][et_pb_fullwidth_menu menu_id=\u00bb6&#8243; background_layout=\u00bblight\u00bb text_orientation=\u00bbleft\u00bb submenu_direction=\u00bbdownwards\u00bb fullwidth_menu=\u00bboff\u00bb active_link_color=\u00bbrgba(131,0,233,0.81)\u00bb menu_font=\u00bb|on|||\u00bb _builder_version=\u00bb3.0.72&#8243; background_color_gradient_start=\u00bb#009f93&#8243; background_color_gradient_end=\u00bbrgba(0,0,0,0.27)\u00bb background_color_gradient_start_position=\u00bb20%\u00bb background_color=\u00bb#d3d3d3&#8243; parent_locked=\u00bbon\u00bb \/][\/et_pb_section][et_pb_section bb_built=\u00bb1&#8243; _builder_version=\u00bb3.0.72&#8243; custom_css_main_element=\u00bbbox-shadow: inset 0px 3px 2px rgba(50, 50, 50, 0.75);\u00bb locked=\u00bbon\u00bb][et_pb_row parent_locked=\u00bbon\u00bb background_position=\u00bbtop_left\u00bb background_repeat=\u00bbrepeat\u00bb background_size=\u00bbinitial\u00bb][et_pb_column type=\u00bb4_4&#8243;][et_pb_text _builder_version=\u00bb3.0.72&#8243; background_layout=\u00bblight\u00bb text_orientation=\u00bbleft\u00bb border_style=\u00bbsolid\u00bb parent_locked=\u00bbon\u00bb]<\/p>\n<hr \/>\n<div class='et-box et-shadow'>\n\t\t\t\t\t<div class='et-box-content'><h2><strong>PUBLICACIONES<\/strong><\/h2><\/div><\/div>\n<p>Para ver las publicaciones de todo Rob\u00f3tica y Manufactura Avanzada, ver:\u00a0 <strong><a href=\"https:\/\/ryma.cinvestav.mx\/investigacion\/publicaciones\/\">Publicaciones RYMA<\/a><\/strong><\/p>\n<p><strong><div class=\"teachpress_pub_list\"><form name=\"tppublistform\" method=\"get\"><a name=\"tppubs\" id=\"tppubs\"><\/a><div class=\"teachpress_filter\"><select class=\"default\" name=\"yr\" id=\"yr\" tabindex=\"2\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/?')\">\r\n                   <option value=\"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=#tppubs\">Todos los a\u00f1os<\/option>\r\n                   <option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2020#tppubs\" >2020<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2019#tppubs\" >2019<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2018#tppubs\" >2018<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2017#tppubs\" >2017<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2016#tppubs\" >2016<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2015#tppubs\" >2015<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2014#tppubs\" >2014<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2013#tppubs\" >2013<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2012#tppubs\" >2012<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2011#tppubs\" >2011<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2010#tppubs\" >2010<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2009#tppubs\" >2009<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2008#tppubs\" >2008<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2007#tppubs\" >2007<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2006#tppubs\" >2006<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2005#tppubs\" >2005<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2004#tppubs\" >2004<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2003#tppubs\" >2003<\/option>\r\n                <\/select><select class=\"default\" name=\"type\" id=\"type\" tabindex=\"3\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/?')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=#tppubs\">Todas las tipolog\u00edas<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=article#tppubs\" >Art\u00edculos de revista<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=conference#tppubs\" >Conferencias<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=inbook#tppubs\" >Cap\u00edtulos de libros<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=inproceedings#tppubs\" >Proceedings Articles<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=proceedings#tppubs\" >Actas de congresos<\/option>\r\n                <\/select><select class=\"default\" name=\"usr\" id=\"usr\" tabindex=\"6\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/?')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;type=&amp;auth=&amp;usr=#tppubs\">Todos los usuarios<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;type=&amp;auth=&amp;usr=12#tppubs\" >mcastelan<\/option>\r\n                <\/select><\/div><\/form><div class=\"teachpress_publication_list\"><h3 class=\"tp_h3\" id=\"tp_h3_2017\">2017<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\">Fractional integral sliding modes for robust tracking of nonlinear systems <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Nonlinear Dynamics, <\/span><span class=\"tp_pub_additional_volume\">vol. 87, <\/span><span class=\"tp_pub_additional_number\">no 2, <\/span><span class=\"tp_pub_additional_pages\">pp. 895\u2013901, <\/span><span class=\"tp_pub_additional_year\">2017<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_179\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('179','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_179\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{munoz2017fractional,<br \/>\r\ntitle = {Fractional integral sliding modes for robust tracking of nonlinear systems},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {Nonlinear Dynamics},<br \/>\r\nvolume = {87},<br \/>\r\nnumber = {2},<br \/>\r\npages = {895--901},<br \/>\r\npublisher = {Springer},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('179','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Ramirez-Rodriguez, Heriberto;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\">Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">International Journal of Control, Automation and Systems, <\/span><span class=\"tp_pub_additional_pages\">pp. 1\u20138, <\/span><span class=\"tp_pub_additional_year\">2017<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_187\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('187','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_187\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{munoz2017fractionalb,<br \/>\r\ntitle = {Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {International Journal of Control, Automation and Systems},<br \/>\r\npages = {1--8},<br \/>\r\npublisher = {Springer},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('187','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('201','tp_links')\" style=\"cursor:pointer;\">Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Asian Journal of Control, <\/span><span class=\"tp_pub_additional_volume\">vol. 19, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 279\u2013288, <\/span><span class=\"tp_pub_additional_year\">2017<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1934-6093<\/span><span class=\"tp_pub_additional_note\">, (asjc.1370)<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_201\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('201','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_201\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('201','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_201\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{ASJC:ASJC1370,<br \/>\r\ntitle = {Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1002\/asjc.1370},<br \/>\r\ndoi = {10.1002\/asjc.1370},<br \/>\r\nissn = {1934-6093},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {Asian Journal of Control},<br \/>\r\nvolume = {19},<br \/>\r\nnumber = {1},<br \/>\r\npages = {279--288},<br \/>\r\nnote = {asjc.1370},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('201','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_201\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx.doi.org\/10.1002\/asjc.1370\" title=\"http:\/\/dx.doi.org\/10.1002\/asjc.1370\" target=\"_blank\">http:\/\/dx.doi.org\/10.1002\/asjc.1370<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1002\/asjc.1370\" title=\"DOI de seguimiento:10.1002\/asjc.1370\" target=\"_blank\">doi:10.1002\/asjc.1370<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('201','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2016\">2016<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Oliva-Palomo, F.;  Sanchez-Orta, Anand;  Alazki, Hussain<\/p><p class=\"tp_pub_title\">Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_196\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('196','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_196\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Oliva-Palomo2016,<br \/>\r\ntitle = {Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor},<br \/>\r\nauthor = {Oliva-Palomo, F. and Sanchez-Orta, Anand and Alazki, Hussain},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-07-15},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('196','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Izaguirre-Espinosa, Carlos;  Mu\u00f1oz-Vazquez, Aldo Jonathan;  Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Castillo, Pedro<\/p><p class=\"tp_pub_title\">Attitude control of quadrotors based on fractional sliding modes: theory and experiments <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IET Control Theory &amp; Applications, <\/span><span class=\"tp_pub_additional_volume\">vol. 10, <\/span><span class=\"tp_pub_additional_number\">no 7, <\/span><span class=\"tp_pub_additional_pages\">pp. 825\u2013832, <\/span><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_183\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('183','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_183\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Izaguirre-Espinosa2016,<br \/>\r\ntitle = {Attitude control of quadrotors based on fractional sliding modes: theory and experiments},<br \/>\r\nauthor = {Izaguirre-Espinosa, Carlos and Mu\\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and Castillo, Pedro},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {IET Control Theory \\& Applications},<br \/>\r\nvolume = {10},<br \/>\r\nnumber = {7},<br \/>\r\npages = {825--832},<br \/>\r\npublisher = {IET},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('183','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\">Uniformly continuous differintegral sliding mode control of nonlinear systems subject to H\u00f6lder disturbances <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Automatica, <\/span><span class=\"tp_pub_additional_volume\">vol. 66, <\/span><span class=\"tp_pub_additional_pages\">pp. 179\u2013184, <\/span><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_188\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('188','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_188\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Aldo-Jonathan2016,<br \/>\r\ntitle = {Uniformly continuous differintegral sliding mode control of nonlinear systems subject to H\\\"{o}lder disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Automatica},<br \/>\r\nvolume = {66},<br \/>\r\npages = {179--184},<br \/>\r\npublisher = {Elsevier},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('188','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Izaguirre-Espinosa, Carlos;  Mu\u00f1oz-Vazquez, Aldo Jonathan;  Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Sanahuja, G<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('148','tp_links')\" style=\"cursor:pointer;\">Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Control Engineering Practice, <\/span><span class=\"tp_pub_additional_volume\">vol. 53, <\/span><span class=\"tp_pub_additional_pages\">pp. 47 - 56, <\/span><span class=\"tp_pub_additional_year\">2016<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0967-0661<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_148\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('148','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_148\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('148','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_148\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('148','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_148\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Izaguirre-Espinosa2016,<br \/>\r\ntitle = {Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation},<br \/>\r\nauthor = {Izaguirre-Espinosa, Carlos and Mu\\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and G Sanahuja },<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016},<br \/>\r\nissn = {0967-0661},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Control Engineering Practice},<br \/>\r\nvolume = {53},<br \/>\r\npages = {47 - 56},<br \/>\r\nabstract = {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 \u201creactive orientation control\u201d 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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('148','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_148\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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 \u201creactive orientation control\u201d 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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('148','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_148\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('148','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2015\">2015<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('100','tp_links')\" style=\"cursor:pointer;\">Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IFAC-PapersOnLine, <\/span><span class=\"tp_pub_additional_volume\">vol. 48, <\/span><span class=\"tp_pub_additional_number\">no 19, <\/span><span class=\"tp_pub_additional_pages\">pp. 118 - 123, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 2405-8963<\/span><span class=\"tp_pub_additional_note\">, (11th IFAC Symposium on Robot Control SYROCO 2015)<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_100\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('100','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_100\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('100','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_100\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{MUNOZVAZQUEZ2015118,<br \/>\r\ntitle = {Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020},<br \/>\r\nissn = {2405-8963},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {IFAC-PapersOnLine},<br \/>\r\nvolume = {48},<br \/>\r\nnumber = {19},<br \/>\r\npages = {118 - 123},<br \/>\r\nnote = {11th IFAC Symposium on Robot Control SYROCO 2015},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('100','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_100\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('100','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Sanchez-Fraire, U.;  Parra-Vega, Vicente;  Martinez-Peon, D.;  Sepulveda-Cervantes, G.;  Sanchez-Orta, Anand;  Mu\u00f1oz-Vazquez, Aldo Jonathan<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('96','tp_links')\" style=\"cursor:pointer;\">On the Brain Computer Robot Interface (BCRI) to Control Robots<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IFAC-PapersOnLine, <\/span><span class=\"tp_pub_additional_volume\">vol. 48, <\/span><span class=\"tp_pub_additional_number\">no 19, <\/span><span class=\"tp_pub_additional_pages\">pp. 154 - 159, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 2405-8963<\/span><span class=\"tp_pub_additional_note\">, (11th IFAC Symposium on Robot Control SYROCO 2015)<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_96\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('96','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_96\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('96','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_96\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{SANCHEZFRAIRE2015154b,<br \/>\r\ntitle = {On the Brain Computer Robot Interface (BCRI) to Control Robots},<br \/>\r\nauthor = {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},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026},<br \/>\r\nissn = {2405-8963},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {IFAC-PapersOnLine},<br \/>\r\nvolume = {48},<br \/>\r\nnumber = {19},<br \/>\r\npages = {154 - 159},<br \/>\r\nnote = {11th IFAC Symposium on Robot Control SYROCO 2015},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('96','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_96\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('96','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  S\u00e1nchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('94','tp_links')\" style=\"cursor:pointer;\">Continuous fractional sliding mode-like control for exact rejection of non-differentiable H\u00f6lder disturbances<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IMA Journal of Mathematic al Control and Information, <\/span><span class=\"tp_pub_additional_volume\">vol. 34, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0265-0754<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_94\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('94','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_94\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('94','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_94\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('94','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_94\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Mu\\~{n}oz-V\\'{a}zquez2015,<br \/>\r\ntitle = {Continuous fractional sliding mode-like control for exact rejection of non-differentiable H\\\"{o}lder disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and S\\'{a}nchez-Orta, Anand},<br \/>\r\nurl = {https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-sliding-mode-like-control},<br \/>\r\ndoi = {https:\/\/doi.org\/10.1093\/imamci\/dnv064},<br \/>\r\nissn = {0265-0754},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-00-00},<br \/>\r\njournal = {IMA Journal of Mathematic al Control and Information},<br \/>\r\nvolume = {34},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('94','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_94\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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\u00f6lder 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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('94','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_94\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-sliding-mode-like-control\" title=\"https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-s[...]\" target=\"_blank\">https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-s[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/https:\/\/doi.org\/10.1093\/imamci\/dnv064\" title=\"DOI de seguimiento:https:\/\/doi.org\/10.1093\/imamci\/dnv064\" target=\"_blank\">doi:https:\/\/doi.org\/10.1093\/imamci\/dnv064<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('94','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_inproceedings\">Proceedings Articles<\/h3><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand;  Castillo, Pedro;  Lozano, R.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('102','tp_links')\" style=\"cursor:pointer;\">Generalized order integral sliding mode control for non-differentiable disturbance rejection: A comparative study<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">2015 54th IEEE Conference on Decision and Control (CDC), <\/span><span class=\"tp_pub_additional_pages\">pp. 4092-4097, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_102\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('102','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_102\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('102','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_102\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7402856,<br \/>\r\ntitle = {Generalized order integral sliding mode control for non-differentiable disturbance rejection: A comparative study},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand and Castillo, Pedro and Lozano, R.},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7402856\/},<br \/>\r\ndoi = {10.1109\/CDC.2015.7402856},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-12-01},<br \/>\r\nbooktitle = {2015 54th IEEE Conference on Decision and Control (CDC)},<br \/>\r\npages = {4092-4097},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('102','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_102\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7402856\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7402856\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7402856\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/CDC.2015.7402856\" title=\"DOI de seguimiento:10.1109\/CDC.2015.7402856\" target=\"_blank\">doi:10.1109\/CDC.2015.7402856<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('102','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Martinez, V.;  Garcia, Octavio;  Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Escobar, A.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('101','tp_links')\" style=\"cursor:pointer;\">Adaptive backstepping control for a convertible UAV<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), <\/span><span class=\"tp_pub_additional_pages\">pp. 298-307, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_101\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('101','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_101\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('101','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_101\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7441020,<br \/>\r\ntitle = {Adaptive backstepping control for a convertible UAV},<br \/>\r\nauthor = {Martinez, V. and Garcia, Octavio and Sanchez-Orta, Anand and Parra-Vega, Vicente and Escobar, A.},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7441020\/},<br \/>\r\ndoi = {10.1109\/RED-UAS.2015.7441020},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-11-01},<br \/>\r\nbooktitle = {2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)},<br \/>\r\npages = {298-307},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('101','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_101\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7441020\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7441020\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7441020\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/RED-UAS.2015.7441020\" title=\"DOI de seguimiento:10.1109\/RED-UAS.2015.7441020\" target=\"_blank\">doi:10.1109\/RED-UAS.2015.7441020<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('101','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Guerrero, F.;  Martinez, V.;  Garcia, Octavio;  Sanchez-Orta, Anand;  Espinoza, E. S.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('131','tp_links')\" style=\"cursor:pointer;\">Aerodynamic analysis and performance of a mini airplane UAV<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">2015 International Conference on Unmanned Aircraft Systems (ICUAS), <\/span><span class=\"tp_pub_additional_pages\">pp. 1112-1117, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_131\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('131','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_131\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('131','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_131\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7152403,<br \/>\r\ntitle = {Aerodynamic analysis and performance of a mini airplane UAV},<br \/>\r\nauthor = {Guerrero, F. and Martinez, V. and Garcia, Octavio and Sanchez-Orta, Anand and Espinoza, E. S.},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7152403\/},<br \/>\r\ndoi = {10.1109\/ICUAS.2015.7152403},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-06-01},<br \/>\r\nbooktitle = {2015 International Conference on Unmanned Aircraft Systems (ICUAS)},<br \/>\r\npages = {1112-1117},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('131','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_131\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7152403\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7152403\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7152403\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/ICUAS.2015.7152403\" title=\"DOI de seguimiento:10.1109\/ICUAS.2015.7152403\" target=\"_blank\">doi:10.1109\/ICUAS.2015.7152403<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('131','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Martinez-Peon, D.;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('97','tp_links')\" style=\"cursor:pointer;\">EEG-motor sequencing signals for online command of dynamic robots<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">The 3rd International Winter Conference on Brain-Computer Interface, <\/span><span class=\"tp_pub_additional_pages\">pp. 1-4, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_97\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('97','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_97\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('97','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_97\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7073043,<br \/>\r\ntitle = {EEG-motor sequencing signals for online command of dynamic robots},<br \/>\r\nauthor = {Martinez-Peon, D. and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7073043\/},<br \/>\r\ndoi = {10.1109\/IWW-BCI.2015.7073043},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\nbooktitle = {The 3rd International Winter Conference on Brain-Computer Interface},<br \/>\r\npages = {1-4},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('97','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_97\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7073043\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7073043\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7073043\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/IWW-BCI.2015.7073043\" title=\"DOI de seguimiento:10.1109\/IWW-BCI.2015.7073043\" target=\"_blank\">doi:10.1109\/IWW-BCI.2015.7073043<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('97','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2014\">2014<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Izaguirre-Espinosa, Carlos;  Garcia, Octavio<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('56','tp_links')\" style=\"cursor:pointer;\">Position\u2013Yaw Tracking of Quadrotors<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Journal of Dynamic Systems, Measurement, <\/span><span class=\"tp_pub_additional_volume\">vol. 137, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 002-0434<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_56\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('56','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_56\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('56','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_56\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('56','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_56\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Sanchez-Orta2014,<br \/>\r\ntitle = {Position\\textendashYaw Tracking of Quadrotors},<br \/>\r\nauthor = {Sanchez-Orta, Anand and Parra-Vega, Vicente and Izaguirre-Espinosa, Carlos and Garcia, Octavio},<br \/>\r\nurl = {http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088643#Abstract},<br \/>\r\ndoi = {10.1115\/1.4029464},<br \/>\r\nissn = {002-0434},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-12-19},<br \/>\r\nissuetitle = {Position-Yaw Tracking of Quadrotors},<br \/>\r\njournal = {Journal of Dynamic Systems, Measurement},<br \/>\r\nvolume = {137},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('56','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_56\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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\u2013yaw tracking in the surveillance of a field-of-view (FoV) target, aerial screw driver, and aerial grasping.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('56','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_56\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088643#Abstract\" title=\"http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088[...]\" target=\"_blank\">http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1115\/1.4029464\" title=\"DOI de seguimiento:10.1115\/1.4029464\" target=\"_blank\">doi:10.1115\/1.4029464<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('56','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Ramirez-Rodriguez, Heriberto;  Parra-Vega, Vicente;  Sanchez-Orta, Anand;  Garcia-Salazar, Octavio<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('55','tp_links')\" style=\"cursor:pointer;\">Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Journal of Intelligent &amp; Robotic Systems, <\/span><span class=\"tp_pub_additional_volume\">vol. 73, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 51\u201366, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1573-0409<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_55\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('55','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_55\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('55','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_55\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('55','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_55\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Ramirez-Rodriguez2014,<br \/>\r\ntitle = {Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors},<br \/>\r\nauthor = {Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand and Garcia-Salazar, Octavio },<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4},<br \/>\r\ndoi = {10.1007\/s10846-013-9909-4},<br \/>\r\nissn = {1573-0409},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\njournal = {Journal of Intelligent \\& Robotic Systems},<br \/>\r\nvolume = {73},<br \/>\r\nnumber = {1},<br \/>\r\npages = {51--66},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('55','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_55\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('55','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_55\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4\" title=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4\" target=\"_blank\">http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4\" title=\"DOI de seguimiento:10.1007\/s10846-013-9909-4\" target=\"_blank\">doi:10.1007\/s10846-013-9909-4<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('55','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('61','tp_links')\" style=\"cursor:pointer;\">A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Journal of Intelligent &amp; Robotic Systems, <\/span><span class=\"tp_pub_additional_volume\">vol. 73, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 373\u2013385, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1573-0409<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_61\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('61','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_61\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('61','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_61\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('61','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_61\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Munoz-Vazquez2014,<br \/>\r\ntitle = {A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9},<br \/>\r\ndoi = {10.1007\/s10846-013-9892-9},<br \/>\r\nissn = {1573-0409},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\njournal = {Journal of Intelligent \\& Robotic Systems},<br \/>\r\nvolume = {73},<br \/>\r\nnumber = {1},<br \/>\r\npages = {373--385},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('61','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_61\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('61','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_61\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9\" title=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9\" target=\"_blank\">http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9\" title=\"DOI de seguimiento:10.1007\/s10846-013-9892-9\" target=\"_blank\">doi:10.1007\/s10846-013-9892-9<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('61','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_conference\">Conferencias<\/h3><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('63','tp_links')\" style=\"cursor:pointer;\">Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes<\/a> <span class=\"tp_pub_type tp_  conference\">Conferencia<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes, <\/span><span class=\"tp_pub_additional_organization\">iee multi-conference on system and control <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1085-1992<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_63\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('63','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_63\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('63','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_63\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('63','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_63\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{Mu\\~{n}oz-V\\'{a}zquez2014b,<br \/>\r\ntitle = {Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\ndoi = {10.1109\/CCA.2014.6981425},<br \/>\r\nissn = {1085-1992},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes},<br \/>\r\npages = {717-722},<br \/>\r\norganization = {iee multi-conference on system and control},<br \/>\r\nabstract = {Abstract:<br \/>\r\nThe model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('63','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_63\" style=\"display:none;\"><div class=\"tp_abstract_entry\">Abstract:<br \/>\r\nThe model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('63','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_63\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/CCA.2014.6981425\" title=\"DOI de seguimiento:10.1109\/CCA.2014.6981425\" target=\"_blank\">doi:10.1109\/CCA.2014.6981425<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('63','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('62','tp_links')\" style=\"cursor:pointer;\">free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems<\/a> <span class=\"tp_pub_type tp_  conference\">Conferencia<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems, <\/span><span class=\"tp_pub_additional_organization\">ieee conference on decision and control <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0191-2216<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_62\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('62','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_62\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('62','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_62\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('62','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_62\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{Munoz-Vazquez2014b,<br \/>\r\ntitle = {free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7040478\/},<br \/>\r\ndoi = {DOI: 10.1109\/CDC.2014.7040478},<br \/>\r\nissn = {0191-2216},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems},<br \/>\r\npages = {6933-6938},<br \/>\r\norganization = {ieee conference on decision and control},<br \/>\r\nabstract = {Abstract:<br \/>\r\nEuler-Lagrange systems, such as robots, exhibit benign structural properties, including passivity, which allow us to design robust and efficient energy-shaping controllers. A great variety of passivity-based control schemes are available and recently model-based fractional order discontinuous sliding mode control has been proposed. In this paper, a fractional order absolutely continuous control scheme for Euler-Lagrange systems is proposed, without depending on the dynamic model, which enforces in finite-time a commensurable rational fractional order regime. Additionally, a frequency domain analysis is addressed, which is very useful for some applications. A numerical simulation assessment is presented, including the frequency domain response based on Bode plots. Final concluding remarks are discussed in view of the state of the art in fractional order controllers.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('62','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_62\" style=\"display:none;\"><div class=\"tp_abstract_entry\">Abstract:<br \/>\r\nEuler-Lagrange systems, such as robots, exhibit benign structural properties, including passivity, which allow us to design robust and efficient energy-shaping controllers. A great variety of passivity-based control schemes are available and recently model-based fractional order discontinuous sliding mode control has been proposed. In this paper, a fractional order absolutely continuous control scheme for Euler-Lagrange systems is proposed, without depending on the dynamic model, which enforces in finite-time a commensurable rational fractional order regime. Additionally, a frequency domain analysis is addressed, which is very useful for some applications. A numerical simulation assessment is presented, including the frequency domain response based on Bode plots. Final concluding remarks are discussed in view of the state of the art in fractional order controllers.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('62','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_62\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7040478\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7040478\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7040478\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/DOI: 10.1109\/CDC.2014.7040478\" title=\"DOI de seguimiento:DOI: 10.1109\/CDC.2014.7040478\" target=\"_blank\">doi:DOI: 10.1109\/CDC.2014.7040478<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('62','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_inproceedings\">Proceedings Articles<\/h3><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Martinez-Alvarado, Ricardo;  Ruiz-Sanchez, Francisco J.;  Sanchez-Orta, Anand;  Garcia-Salazar, Octavio<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('89','tp_links')\" style=\"cursor:pointer;\">Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque, <\/span><span class=\"tp_pub_additional_pages\">pp. 1-6, <\/span><span class=\"tp_pub_additional_organization\">iee international autumn meeting on power, electronics and computing <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_isbn\">ISBN: 978-1-4799-5683-8<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_89\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('89','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_89\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('89','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_89\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('89','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_89\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Martinez-Alvarado2014b,<br \/>\r\ntitle = {Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque},<br \/>\r\nauthor = {Martinez-Alvarado, Ricardo and Ruiz-Sanchez, Francisco J. and Sanchez-Orta, Anand and Garcia-Salazar, Octavio},<br \/>\r\nurl = {https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque},<br \/>\r\ndoi = {10.1109\/ROPEC.2014.7036341},<br \/>\r\nisbn = {978-1-4799-5683-8},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\nbooktitle = {Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque},<br \/>\r\npages = {1-6},<br \/>\r\norganization = {iee international autumn meeting on power, electronics and computing},<br \/>\r\nabstract = {In multi-rotor UAVs, a controlled Thrust is a main factor to achieve a safe and stable flight. Thrust is the result of a coordinated action of a set of symmetrically distributed thrusters whose single contribution is usually described as a square function of its rotor speed; however, aerodynamic forces induce a load torque on the rotor that disturb its expected speed response, thus its effective Thrust, affecting the whole performance of the aircraft. In this paper, we analyse and quantify the effects of the aerodynamic load torque induced on the spinning propeller of a BLDC thruster used in small scale Quadrotors and present some experimental validation. We describe the model of a 3-phase thruster with a two blade propeller of fixed pitch angle, we analyse its numerical simulation to determine the effects of the induced load torque on the dynamic response of the rotor, and we experimentally verify the results assuming ideal conditions of hover flight. Finally we illustrate the convenience of using feedback control to reduce the sensibility of thrusters face to non modelled dynamics applying a PD controller and we discuss about the importance of an accurate dynamic model of the thruster for control purposes. <br \/>\r\n<br \/>\r\nDynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque [accessed Jun 16, 2017].},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('89','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_89\" style=\"display:none;\"><div class=\"tp_abstract_entry\">In multi-rotor UAVs, a controlled Thrust is a main factor to achieve a safe and stable flight. Thrust is the result of a coordinated action of a set of symmetrically distributed thrusters whose single contribution is usually described as a square function of its rotor speed; however, aerodynamic forces induce a load torque on the rotor that disturb its expected speed response, thus its effective Thrust, affecting the whole performance of the aircraft. In this paper, we analyse and quantify the effects of the aerodynamic load torque induced on the spinning propeller of a BLDC thruster used in small scale Quadrotors and present some experimental validation. We describe the model of a 3-phase thruster with a two blade propeller of fixed pitch angle, we analyse its numerical simulation to determine the effects of the induced load torque on the dynamic response of the rotor, and we experimentally verify the results assuming ideal conditions of hover flight. Finally we illustrate the convenience of using feedback control to reduce the sensibility of thrusters face to non modelled dynamics applying a PD controller and we discuss about the importance of an accurate dynamic model of the thruster for control purposes. <br \/>\r\n<br \/>\r\nDynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque [accessed Jun 16, 2017].<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('89','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_89\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque\" title=\"https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thru[...]\" target=\"_blank\">https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thru[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/ROPEC.2014.7036341\" title=\"DOI de seguimiento:10.1109\/ROPEC.2014.7036341\" target=\"_blank\">doi:10.1109\/ROPEC.2014.7036341<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('89','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mart\u00ednez-Alvarado, Ricardo;  S\u00e1nchez-Orta, Anand;  Granda-Guti\u00e9rrez, E.;  Ruiz-Sanchez, Francisco J.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('88','tp_links')\" style=\"cursor:pointer;\">performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering, <\/span><span class=\"tp_pub_additional_pages\">pp. 131-136, <\/span><span class=\"tp_pub_additional_publisher\">congreso internacional en ingenieria electronica electro 2014, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1405-2172<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_88\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('88','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_88\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('88','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_88\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('88','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_88\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Mart\\'{i}nez-Alvarado2014,<br \/>\r\ntitle = {performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering},<br \/>\r\nauthor = {Mart\\'{i}nez-Alvarado, Ricardo and S\\'{a}nchez-Orta, Anand and Granda-Guti\\'{e}rrez, E. and Ruiz-Sanchez, Francisco J.},<br \/>\r\nurl = {https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE},<br \/>\r\nissn = {1405-2172},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering},<br \/>\r\nvolume = {36},<br \/>\r\npages = {131-136},<br \/>\r\npublisher = {congreso internacional en ingenieria electronica electro 2014},<br \/>\r\nabstract = {A flexible tool to dimensioning and optimizing the performance of a propeller-engine system for multi-rotor Unmanned Aerial Vehicles (UAVs) is proposed. The study is centered on an experimental platform designed to identify the dynamic behavior of the thruster which operates as main actuator in multi-rotor UAVs. The aim is to optimize the performance of the propulsion system with basis on its dynamic behavior. The dynamic of an UAV changes notably according to the performance of the thruster, which is composed by a propeller coupled to a Brushless Direct Current (BLDC) Motor. The dynamic response of the propulsion system is acquired from the experimental data, including the electric, mechanical and aerodynamic effects of the wing when the propeller is the load of the rotor. The experimental platform allows evaluating the performance of the system and determining the payload for a UAV, but also validates control laws to regulate the thruster action. <br \/>\r\n<br \/>\r\nPERFORMANCE EVALUATION OF PROPELLER-ENGINE SYSTEMS FOR UNMANNED AERIAL VEHICLES IN HOVERING MODE (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE [accessed Jun 16, 2017].},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('88','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_88\" style=\"display:none;\"><div class=\"tp_abstract_entry\">A flexible tool to dimensioning and optimizing the performance of a propeller-engine system for multi-rotor Unmanned Aerial Vehicles (UAVs) is proposed. The study is centered on an experimental platform designed to identify the dynamic behavior of the thruster which operates as main actuator in multi-rotor UAVs. The aim is to optimize the performance of the propulsion system with basis on its dynamic behavior. The dynamic of an UAV changes notably according to the performance of the thruster, which is composed by a propeller coupled to a Brushless Direct Current (BLDC) Motor. The dynamic response of the propulsion system is acquired from the experimental data, including the electric, mechanical and aerodynamic effects of the wing when the propeller is the load of the rotor. The experimental platform allows evaluating the performance of the system and determining the payload for a UAV, but also validates control laws to regulate the thruster action. <br \/>\r\n<br \/>\r\nPERFORMANCE EVALUATION OF PROPELLER-ENGINE SYSTEMS FOR UNMANNED AERIAL VEHICLES IN HOVERING MODE (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE [accessed Jun 16, 2017].<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('88','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_88\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE\" title=\"https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PRO[...]\" target=\"_blank\">https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PRO[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('88','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><\/div><\/div><\/strong><\/p>\n<p>[\/et_pb_text][\/et_pb_column][\/et_pb_row][\/et_pb_section][et_pb_section bb_built=\u00bb1&#8243; fullwidth=\u00bboff\u00bb specialty=\u00bboff\u00bb background_color=\u00bbrgba(0,0,0,0.32)\u00bb inner_shadow=\u00bbon\u00bb custom_css_main_element=\u00bbbox-shadow: inset 0px 3px 2px rgba(150, 150, 150, 0.85);\u00bb _builder_version=\u00bb3.0.72&#8243; locked=\u00bbon\u00bb global_module=\u00bb321&#8243;][et_pb_row global_parent=\u00bb321&#8243; make_fullwidth=\u00bboff\u00bb use_custom_width=\u00bboff\u00bb width_unit=\u00bbon\u00bb use_custom_gutter=\u00bboff\u00bb allow_player_pause=\u00bboff\u00bb parallax=\u00bboff\u00bb parallax_method=\u00bbon\u00bb make_equal=\u00bboff\u00bb parallax_1=\u00bboff\u00bb parallax_method_1=\u00bboff\u00bb custom_margin=\u00bb-40px|||\u00bb background_position=\u00bbtop_left\u00bb background_repeat=\u00bbrepeat\u00bb background_size=\u00bbinitial\u00bb parent_locked=\u00bbon\u00bb][et_pb_column type=\u00bb4_4&#8243;][et_pb_image admin_label=\u00bbLogoCINVESTAV del Pie de p\u00e1gina\u00bb global_parent=\u00bb321&#8243; src=\u00bbhttps:\/\/ryma.cinvestav.mx\/wp-content\/uploads\/2014\/08\/roboticaCinvestavOK_transparencia_white.png\u00bb alt=\u00bbRob\u00f3tica y Manufactura Avanzada, Cinvestav\u00bb show_in_lightbox=\u00bboff\u00bb url_new_window=\u00bboff\u00bb use_overlay=\u00bboff\u00bb animation=\u00bboff\u00bb sticky=\u00bbon\u00bb align=\u00bbcenter\u00bb max_width=\u00bb95px\u00bb max_width_last_edited=\u00bbon|desktop\u00bb force_fullwidth=\u00bboff\u00bb always_center_on_mobile=\u00bbon\u00bb border_style=\u00bbsolid\u00bb custom_margin=\u00bb||15px|\u00bb _builder_version=\u00bb3.0.72&#8243; parent_locked=\u00bbon\u00bb \/][et_pb_text global_parent=\u00bb321&#8243; _builder_version=\u00bb3.0.72&#8243; background_layout=\u00bbdark\u00bb text_orientation=\u00bbcenter\u00bb border_style=\u00bbsolid\u00bb custom_margin=\u00bb||-50px|\u00bb parent_locked=\u00bbon\u00bb]<\/p>\n<hr \/>\n<p style=\"text-align: center;\">Av. Industrial\u00a0Metalurgia\u00a0#1062,\u00a0Parque Ind. Ramos Arizpe,\u00a0Ramos Arizpe, Coah.\u00a0C.P. 25900, M\u00e9xico. \u00a0Tel. +52 (844) 438-9600<\/p>\n<p>[\/et_pb_text][\/et_pb_column][\/et_pb_row][\/et_pb_section]<\/p>\n","protected":false},"excerpt":{"rendered":"<p><div class='et-box et-shadow'>\n\t\t\t\t\t<div class='et-box-content'>PUBLICACIONES<\/div><\/div> Para ver las publicaciones de todo Rob\u00f3tica y Manufactura Avanzada, ver:\u00a0 Publicaciones RYMA <div class=\"teachpress_pub_list\"><form name=\"tppublistform\" method=\"get\"><a name=\"tppubs\" id=\"tppubs\"><\/a><div class=\"teachpress_filter\"><select class=\"default\" name=\"yr\" id=\"yr\" tabindex=\"2\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/?')\">\r\n                   <option value=\"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=#tppubs\">Todos los a\u00f1os<\/option>\r\n                   <option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2020#tppubs\" >2020<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2019#tppubs\" >2019<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2018#tppubs\" >2018<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2017#tppubs\" >2017<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2016#tppubs\" >2016<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2015#tppubs\" >2015<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2014#tppubs\" >2014<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2013#tppubs\" >2013<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2012#tppubs\" >2012<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2011#tppubs\" >2011<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2010#tppubs\" >2010<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2009#tppubs\" >2009<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2008#tppubs\" >2008<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2007#tppubs\" >2007<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2006#tppubs\" >2006<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2005#tppubs\" >2005<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2004#tppubs\" >2004<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2003#tppubs\" >2003<\/option>\r\n                <\/select><select class=\"default\" name=\"type\" id=\"type\" tabindex=\"3\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/?')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=#tppubs\">Todas las tipolog\u00edas<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=article#tppubs\" >Art\u00edculos de revista<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=conference#tppubs\" >Conferencias<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=inbook#tppubs\" >Cap\u00edtulos de libros<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=inproceedings#tppubs\" >Proceedings Articles<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=proceedings#tppubs\" >Actas de congresos<\/option>\r\n                <\/select><select class=\"default\" name=\"usr\" id=\"usr\" tabindex=\"6\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/?')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;type=&amp;auth=&amp;usr=#tppubs\">Todos los usuarios<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;type=&amp;auth=&amp;usr=12#tppubs\" >mcastelan<\/option>\r\n                <\/select><\/div><\/form><div class=\"teachpress_publication_list\"><h3 class=\"tp_h3\" id=\"tp_h3_2017\">2017<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\">Fractional integral sliding modes for robust tracking of nonlinear systems <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Nonlinear Dynamics, <\/span><span class=\"tp_pub_additional_volume\">vol. 87, <\/span><span class=\"tp_pub_additional_number\">no 2, <\/span><span class=\"tp_pub_additional_pages\">pp. 895\u2013901, <\/span><span class=\"tp_pub_additional_year\">2017<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_179\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('179','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_179\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{munoz2017fractional,<br \/>\r\ntitle = {Fractional integral sliding modes for robust tracking of nonlinear systems},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {Nonlinear Dynamics},<br \/>\r\nvolume = {87},<br \/>\r\nnumber = {2},<br \/>\r\npages = {895--901},<br \/>\r\npublisher = {Springer},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('179','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Ramirez-Rodriguez, Heriberto;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\">Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">International Journal of Control, Automation and Systems, <\/span><span class=\"tp_pub_additional_pages\">pp. 1\u20138, <\/span><span class=\"tp_pub_additional_year\">2017<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_187\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('187','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_187\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{munoz2017fractionalb,<br \/>\r\ntitle = {Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {International Journal of Control, Automation and Systems},<br \/>\r\npages = {1--8},<br \/>\r\npublisher = {Springer},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('187','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('201','tp_links')\" style=\"cursor:pointer;\">Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Asian Journal of Control, <\/span><span class=\"tp_pub_additional_volume\">vol. 19, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 279\u2013288, <\/span><span class=\"tp_pub_additional_year\">2017<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1934-6093<\/span><span class=\"tp_pub_additional_note\">, (asjc.1370)<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_201\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('201','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_201\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('201','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_201\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{ASJC:ASJC1370,<br \/>\r\ntitle = {Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1002\/asjc.1370},<br \/>\r\ndoi = {10.1002\/asjc.1370},<br \/>\r\nissn = {1934-6093},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {Asian Journal of Control},<br \/>\r\nvolume = {19},<br \/>\r\nnumber = {1},<br \/>\r\npages = {279--288},<br \/>\r\nnote = {asjc.1370},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('201','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_201\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx.doi.org\/10.1002\/asjc.1370\" title=\"http:\/\/dx.doi.org\/10.1002\/asjc.1370\" target=\"_blank\">http:\/\/dx.doi.org\/10.1002\/asjc.1370<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1002\/asjc.1370\" title=\"DOI de seguimiento:10.1002\/asjc.1370\" target=\"_blank\">doi:10.1002\/asjc.1370<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('201','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2016\">2016<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Oliva-Palomo, F.;  Sanchez-Orta, Anand;  Alazki, Hussain<\/p><p class=\"tp_pub_title\">Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_196\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('196','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_196\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Oliva-Palomo2016,<br \/>\r\ntitle = {Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor},<br \/>\r\nauthor = {Oliva-Palomo, F. and Sanchez-Orta, Anand and Alazki, Hussain},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-07-15},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('196','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Izaguirre-Espinosa, Carlos;  Mu\u00f1oz-Vazquez, Aldo Jonathan;  Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Castillo, Pedro<\/p><p class=\"tp_pub_title\">Attitude control of quadrotors based on fractional sliding modes: theory and experiments <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IET Control Theory &amp; Applications, <\/span><span class=\"tp_pub_additional_volume\">vol. 10, <\/span><span class=\"tp_pub_additional_number\">no 7, <\/span><span class=\"tp_pub_additional_pages\">pp. 825\u2013832, <\/span><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_183\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('183','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_183\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Izaguirre-Espinosa2016,<br \/>\r\ntitle = {Attitude control of quadrotors based on fractional sliding modes: theory and experiments},<br \/>\r\nauthor = {Izaguirre-Espinosa, Carlos and Mu\\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and Castillo, Pedro},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {IET Control Theory \\& Applications},<br \/>\r\nvolume = {10},<br \/>\r\nnumber = {7},<br \/>\r\npages = {825--832},<br \/>\r\npublisher = {IET},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('183','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\">Uniformly continuous differintegral sliding mode control of nonlinear systems subject to H\u00f6lder disturbances <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Automatica, <\/span><span class=\"tp_pub_additional_volume\">vol. 66, <\/span><span class=\"tp_pub_additional_pages\">pp. 179\u2013184, <\/span><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_188\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('188','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_188\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Aldo-Jonathan2016,<br \/>\r\ntitle = {Uniformly continuous differintegral sliding mode control of nonlinear systems subject to H\\\"{o}lder disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Automatica},<br \/>\r\nvolume = {66},<br \/>\r\npages = {179--184},<br \/>\r\npublisher = {Elsevier},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('188','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Izaguirre-Espinosa, Carlos;  Mu\u00f1oz-Vazquez, Aldo Jonathan;  Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Sanahuja, G<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('148','tp_links')\" style=\"cursor:pointer;\">Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Control Engineering Practice, <\/span><span class=\"tp_pub_additional_volume\">vol. 53, <\/span><span class=\"tp_pub_additional_pages\">pp. 47 - 56, <\/span><span class=\"tp_pub_additional_year\">2016<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0967-0661<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_148\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('148','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_148\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('148','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_148\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('148','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_148\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Izaguirre-Espinosa2016,<br \/>\r\ntitle = {Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation},<br \/>\r\nauthor = {Izaguirre-Espinosa, Carlos and Mu\\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and G Sanahuja },<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016},<br \/>\r\nissn = {0967-0661},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Control Engineering Practice},<br \/>\r\nvolume = {53},<br \/>\r\npages = {47 - 56},<br \/>\r\nabstract = {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 \u201creactive orientation control\u201d 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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('148','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_148\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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 \u201creactive orientation control\u201d 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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('148','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_148\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.conengprac.2016.04.016<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('148','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2015\">2015<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('100','tp_links')\" style=\"cursor:pointer;\">Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IFAC-PapersOnLine, <\/span><span class=\"tp_pub_additional_volume\">vol. 48, <\/span><span class=\"tp_pub_additional_number\">no 19, <\/span><span class=\"tp_pub_additional_pages\">pp. 118 - 123, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 2405-8963<\/span><span class=\"tp_pub_additional_note\">, (11th IFAC Symposium on Robot Control SYROCO 2015)<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_100\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('100','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_100\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('100','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_100\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{MUNOZVAZQUEZ2015118,<br \/>\r\ntitle = {Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020},<br \/>\r\nissn = {2405-8963},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {IFAC-PapersOnLine},<br \/>\r\nvolume = {48},<br \/>\r\nnumber = {19},<br \/>\r\npages = {118 - 123},<br \/>\r\nnote = {11th IFAC Symposium on Robot Control SYROCO 2015},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('100','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_100\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026440<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.020<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('100','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Sanchez-Fraire, U.;  Parra-Vega, Vicente;  Martinez-Peon, D.;  Sepulveda-Cervantes, G.;  Sanchez-Orta, Anand;  Mu\u00f1oz-Vazquez, Aldo Jonathan<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('96','tp_links')\" style=\"cursor:pointer;\">On the Brain Computer Robot Interface (BCRI) to Control Robots<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IFAC-PapersOnLine, <\/span><span class=\"tp_pub_additional_volume\">vol. 48, <\/span><span class=\"tp_pub_additional_number\">no 19, <\/span><span class=\"tp_pub_additional_pages\">pp. 154 - 159, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 2405-8963<\/span><span class=\"tp_pub_additional_note\">, (11th IFAC Symposium on Robot Control SYROCO 2015)<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_96\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('96','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_96\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('96','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_96\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{SANCHEZFRAIRE2015154b,<br \/>\r\ntitle = {On the Brain Computer Robot Interface (BCRI) to Control Robots},<br \/>\r\nauthor = {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},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026},<br \/>\r\nissn = {2405-8963},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {IFAC-PapersOnLine},<br \/>\r\nvolume = {48},<br \/>\r\nnumber = {19},<br \/>\r\npages = {154 - 159},<br \/>\r\nnote = {11th IFAC Symposium on Robot Control SYROCO 2015},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('96','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_96\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896315026506<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.ifacol.2015.12.026<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('96','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  S\u00e1nchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('94','tp_links')\" style=\"cursor:pointer;\">Continuous fractional sliding mode-like control for exact rejection of non-differentiable H\u00f6lder disturbances<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">IMA Journal of Mathematic al Control and Information, <\/span><span class=\"tp_pub_additional_volume\">vol. 34, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0265-0754<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_94\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('94','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_94\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('94','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_94\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('94','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_94\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Mu\\~{n}oz-V\\'{a}zquez2015,<br \/>\r\ntitle = {Continuous fractional sliding mode-like control for exact rejection of non-differentiable H\\\"{o}lder disturbances},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and S\\'{a}nchez-Orta, Anand},<br \/>\r\nurl = {https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-sliding-mode-like-control},<br \/>\r\ndoi = {https:\/\/doi.org\/10.1093\/imamci\/dnv064},<br \/>\r\nissn = {0265-0754},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-00-00},<br \/>\r\njournal = {IMA Journal of Mathematic al Control and Information},<br \/>\r\nvolume = {34},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('94','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_94\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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\u00f6lder 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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('94','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_94\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-sliding-mode-like-control\" title=\"https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-s[...]\" target=\"_blank\">https:\/\/academic.oup.com\/imamci\/article\/34\/2\/597\/2885232\/Continuous-fractional-s[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/https:\/\/doi.org\/10.1093\/imamci\/dnv064\" title=\"DOI de seguimiento:https:\/\/doi.org\/10.1093\/imamci\/dnv064\" target=\"_blank\">doi:https:\/\/doi.org\/10.1093\/imamci\/dnv064<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('94','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_inproceedings\">Proceedings Articles<\/h3><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand;  Castillo, Pedro;  Lozano, R.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('102','tp_links')\" style=\"cursor:pointer;\">Generalized order integral sliding mode control for non-differentiable disturbance rejection: A comparative study<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">2015 54th IEEE Conference on Decision and Control (CDC), <\/span><span class=\"tp_pub_additional_pages\">pp. 4092-4097, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_102\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('102','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_102\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('102','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_102\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7402856,<br \/>\r\ntitle = {Generalized order integral sliding mode control for non-differentiable disturbance rejection: A comparative study},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand and Castillo, Pedro and Lozano, R.},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7402856\/},<br \/>\r\ndoi = {10.1109\/CDC.2015.7402856},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-12-01},<br \/>\r\nbooktitle = {2015 54th IEEE Conference on Decision and Control (CDC)},<br \/>\r\npages = {4092-4097},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('102','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_102\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7402856\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7402856\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7402856\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/CDC.2015.7402856\" title=\"DOI de seguimiento:10.1109\/CDC.2015.7402856\" target=\"_blank\">doi:10.1109\/CDC.2015.7402856<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('102','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Martinez, V.;  Garcia, Octavio;  Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Escobar, A.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('101','tp_links')\" style=\"cursor:pointer;\">Adaptive backstepping control for a convertible UAV<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), <\/span><span class=\"tp_pub_additional_pages\">pp. 298-307, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_101\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('101','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_101\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('101','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_101\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7441020,<br \/>\r\ntitle = {Adaptive backstepping control for a convertible UAV},<br \/>\r\nauthor = {Martinez, V. and Garcia, Octavio and Sanchez-Orta, Anand and Parra-Vega, Vicente and Escobar, A.},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7441020\/},<br \/>\r\ndoi = {10.1109\/RED-UAS.2015.7441020},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-11-01},<br \/>\r\nbooktitle = {2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)},<br \/>\r\npages = {298-307},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('101','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_101\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7441020\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7441020\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7441020\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/RED-UAS.2015.7441020\" title=\"DOI de seguimiento:10.1109\/RED-UAS.2015.7441020\" target=\"_blank\">doi:10.1109\/RED-UAS.2015.7441020<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('101','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Guerrero, F.;  Martinez, V.;  Garcia, Octavio;  Sanchez-Orta, Anand;  Espinoza, E. S.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('131','tp_links')\" style=\"cursor:pointer;\">Aerodynamic analysis and performance of a mini airplane UAV<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">2015 International Conference on Unmanned Aircraft Systems (ICUAS), <\/span><span class=\"tp_pub_additional_pages\">pp. 1112-1117, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_131\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('131','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_131\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('131','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_131\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7152403,<br \/>\r\ntitle = {Aerodynamic analysis and performance of a mini airplane UAV},<br \/>\r\nauthor = {Guerrero, F. and Martinez, V. and Garcia, Octavio and Sanchez-Orta, Anand and Espinoza, E. S.},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7152403\/},<br \/>\r\ndoi = {10.1109\/ICUAS.2015.7152403},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-06-01},<br \/>\r\nbooktitle = {2015 International Conference on Unmanned Aircraft Systems (ICUAS)},<br \/>\r\npages = {1112-1117},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('131','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_131\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7152403\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7152403\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7152403\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/ICUAS.2015.7152403\" title=\"DOI de seguimiento:10.1109\/ICUAS.2015.7152403\" target=\"_blank\">doi:10.1109\/ICUAS.2015.7152403<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('131','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Martinez-Peon, D.;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('97','tp_links')\" style=\"cursor:pointer;\">EEG-motor sequencing signals for online command of dynamic robots<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">The 3rd International Winter Conference on Brain-Computer Interface, <\/span><span class=\"tp_pub_additional_pages\">pp. 1-4, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_97\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('97','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_97\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('97','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_97\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{7073043,<br \/>\r\ntitle = {EEG-motor sequencing signals for online command of dynamic robots},<br \/>\r\nauthor = {Martinez-Peon, D. and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7073043\/},<br \/>\r\ndoi = {10.1109\/IWW-BCI.2015.7073043},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\nbooktitle = {The 3rd International Winter Conference on Brain-Computer Interface},<br \/>\r\npages = {1-4},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('97','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_97\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7073043\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7073043\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7073043\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/IWW-BCI.2015.7073043\" title=\"DOI de seguimiento:10.1109\/IWW-BCI.2015.7073043\" target=\"_blank\">doi:10.1109\/IWW-BCI.2015.7073043<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('97','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2014\">2014<\/h3><h3 class=\"tp_h3\" id=\"tp_h3_article\">Art\u00edculos de revista<\/h3><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Sanchez-Orta, Anand;  Parra-Vega, Vicente;  Izaguirre-Espinosa, Carlos;  Garcia, Octavio<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('56','tp_links')\" style=\"cursor:pointer;\">Position\u2013Yaw Tracking of Quadrotors<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Journal of Dynamic Systems, Measurement, <\/span><span class=\"tp_pub_additional_volume\">vol. 137, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 002-0434<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_56\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('56','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_56\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('56','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_56\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('56','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_56\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Sanchez-Orta2014,<br \/>\r\ntitle = {Position\\textendashYaw Tracking of Quadrotors},<br \/>\r\nauthor = {Sanchez-Orta, Anand and Parra-Vega, Vicente and Izaguirre-Espinosa, Carlos and Garcia, Octavio},<br \/>\r\nurl = {http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088643#Abstract},<br \/>\r\ndoi = {10.1115\/1.4029464},<br \/>\r\nissn = {002-0434},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-12-19},<br \/>\r\nissuetitle = {Position-Yaw Tracking of Quadrotors},<br \/>\r\njournal = {Journal of Dynamic Systems, Measurement},<br \/>\r\nvolume = {137},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('56','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_56\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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\u2013yaw tracking in the surveillance of a field-of-view (FoV) target, aerial screw driver, and aerial grasping.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('56','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_56\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088643#Abstract\" title=\"http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088[...]\" target=\"_blank\">http:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=2088[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1115\/1.4029464\" title=\"DOI de seguimiento:10.1115\/1.4029464\" target=\"_blank\">doi:10.1115\/1.4029464<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('56','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Ramirez-Rodriguez, Heriberto;  Parra-Vega, Vicente;  Sanchez-Orta, Anand;  Garcia-Salazar, Octavio<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('55','tp_links')\" style=\"cursor:pointer;\">Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Journal of Intelligent &amp; Robotic Systems, <\/span><span class=\"tp_pub_additional_volume\">vol. 73, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 51\u201366, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1573-0409<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_55\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('55','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_55\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('55','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_55\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('55','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_55\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Ramirez-Rodriguez2014,<br \/>\r\ntitle = {Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors},<br \/>\r\nauthor = {Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand and Garcia-Salazar, Octavio },<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4},<br \/>\r\ndoi = {10.1007\/s10846-013-9909-4},<br \/>\r\nissn = {1573-0409},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\njournal = {Journal of Intelligent \\& Robotic Systems},<br \/>\r\nvolume = {73},<br \/>\r\nnumber = {1},<br \/>\r\npages = {51--66},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('55','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_55\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('55','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_55\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4\" title=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4\" target=\"_blank\">http:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1007\/s10846-013-9909-4\" title=\"DOI de seguimiento:10.1007\/s10846-013-9909-4\" target=\"_blank\">doi:10.1007\/s10846-013-9909-4<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('55','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('61','tp_links')\" style=\"cursor:pointer;\">A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes<\/a> <span class=\"tp_pub_type tp_  article\">Art\u00edculo de revista<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_journal\">Journal of Intelligent &amp; Robotic Systems, <\/span><span class=\"tp_pub_additional_volume\">vol. 73, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 373\u2013385, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1573-0409<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_61\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('61','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_61\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('61','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_61\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('61','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_61\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Munoz-Vazquez2014,<br \/>\r\ntitle = {A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9},<br \/>\r\ndoi = {10.1007\/s10846-013-9892-9},<br \/>\r\nissn = {1573-0409},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\njournal = {Journal of Intelligent \\& Robotic Systems},<br \/>\r\nvolume = {73},<br \/>\r\nnumber = {1},<br \/>\r\npages = {373--385},<br \/>\r\nabstract = {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.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('61','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_61\" style=\"display:none;\"><div class=\"tp_abstract_entry\">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.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('61','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_61\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9\" title=\"http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9\" target=\"_blank\">http:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1007\/s10846-013-9892-9\" title=\"DOI de seguimiento:10.1007\/s10846-013-9892-9\" target=\"_blank\">doi:10.1007\/s10846-013-9892-9<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('61','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_conference\">Conferencias<\/h3><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('63','tp_links')\" style=\"cursor:pointer;\">Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes<\/a> <span class=\"tp_pub_type tp_  conference\">Conferencia<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes, <\/span><span class=\"tp_pub_additional_organization\">iee multi-conference on system and control <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1085-1992<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_63\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('63','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_63\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('63','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_63\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('63','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_63\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{Mu\\~{n}oz-V\\'{a}zquez2014b,<br \/>\r\ntitle = {Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\ndoi = {10.1109\/CCA.2014.6981425},<br \/>\r\nissn = {1085-1992},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes},<br \/>\r\npages = {717-722},<br \/>\r\norganization = {iee multi-conference on system and control},<br \/>\r\nabstract = {Abstract:<br \/>\r\nThe model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('63','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_63\" style=\"display:none;\"><div class=\"tp_abstract_entry\">Abstract:<br \/>\r\nThe model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('63','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_63\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/CCA.2014.6981425\" title=\"DOI de seguimiento:10.1109\/CCA.2014.6981425\" target=\"_blank\">doi:10.1109\/CCA.2014.6981425<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('63','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mu\u00f1oz-Vazquez, Aldo Jonathan;  Parra-Vega, Vicente;  Sanchez-Orta, Anand<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('62','tp_links')\" style=\"cursor:pointer;\">free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems<\/a> <span class=\"tp_pub_type tp_  conference\">Conferencia<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems, <\/span><span class=\"tp_pub_additional_organization\">ieee conference on decision and control <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0191-2216<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_62\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('62','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_62\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('62','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_62\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('62','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_62\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{Munoz-Vazquez2014b,<br \/>\r\ntitle = {free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems},<br \/>\r\nauthor = {Mu\\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},<br \/>\r\nurl = {http:\/\/ieeexplore.ieee.org\/document\/7040478\/},<br \/>\r\ndoi = {DOI: 10.1109\/CDC.2014.7040478},<br \/>\r\nissn = {0191-2216},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {free-model fractional-order absolutely continuous sliding mode, control for euler-lagrange systems},<br \/>\r\npages = {6933-6938},<br \/>\r\norganization = {ieee conference on decision and control},<br \/>\r\nabstract = {Abstract:<br \/>\r\nEuler-Lagrange systems, such as robots, exhibit benign structural properties, including passivity, which allow us to design robust and efficient energy-shaping controllers. A great variety of passivity-based control schemes are available and recently model-based fractional order discontinuous sliding mode control has been proposed. In this paper, a fractional order absolutely continuous control scheme for Euler-Lagrange systems is proposed, without depending on the dynamic model, which enforces in finite-time a commensurable rational fractional order regime. Additionally, a frequency domain analysis is addressed, which is very useful for some applications. A numerical simulation assessment is presented, including the frequency domain response based on Bode plots. Final concluding remarks are discussed in view of the state of the art in fractional order controllers.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('62','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_62\" style=\"display:none;\"><div class=\"tp_abstract_entry\">Abstract:<br \/>\r\nEuler-Lagrange systems, such as robots, exhibit benign structural properties, including passivity, which allow us to design robust and efficient energy-shaping controllers. A great variety of passivity-based control schemes are available and recently model-based fractional order discontinuous sliding mode control has been proposed. In this paper, a fractional order absolutely continuous control scheme for Euler-Lagrange systems is proposed, without depending on the dynamic model, which enforces in finite-time a commensurable rational fractional order regime. Additionally, a frequency domain analysis is addressed, which is very useful for some applications. A numerical simulation assessment is presented, including the frequency domain response based on Bode plots. Final concluding remarks are discussed in view of the state of the art in fractional order controllers.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('62','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_62\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/ieeexplore.ieee.org\/document\/7040478\/\" title=\"http:\/\/ieeexplore.ieee.org\/document\/7040478\/\" target=\"_blank\">http:\/\/ieeexplore.ieee.org\/document\/7040478\/<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/DOI: 10.1109\/CDC.2014.7040478\" title=\"DOI de seguimiento:DOI: 10.1109\/CDC.2014.7040478\" target=\"_blank\">doi:DOI: 10.1109\/CDC.2014.7040478<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('62','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_inproceedings\">Proceedings Articles<\/h3><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Martinez-Alvarado, Ricardo;  Ruiz-Sanchez, Francisco J.;  Sanchez-Orta, Anand;  Garcia-Salazar, Octavio<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('89','tp_links')\" style=\"cursor:pointer;\">Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque, <\/span><span class=\"tp_pub_additional_pages\">pp. 1-6, <\/span><span class=\"tp_pub_additional_organization\">iee international autumn meeting on power, electronics and computing <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_isbn\">ISBN: 978-1-4799-5683-8<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_89\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('89','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_89\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('89','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_89\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('89','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_89\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Martinez-Alvarado2014b,<br \/>\r\ntitle = {Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque},<br \/>\r\nauthor = {Martinez-Alvarado, Ricardo and Ruiz-Sanchez, Francisco J. and Sanchez-Orta, Anand and Garcia-Salazar, Octavio},<br \/>\r\nurl = {https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque},<br \/>\r\ndoi = {10.1109\/ROPEC.2014.7036341},<br \/>\r\nisbn = {978-1-4799-5683-8},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\nbooktitle = {Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque},<br \/>\r\npages = {1-6},<br \/>\r\norganization = {iee international autumn meeting on power, electronics and computing},<br \/>\r\nabstract = {In multi-rotor UAVs, a controlled Thrust is a main factor to achieve a safe and stable flight. Thrust is the result of a coordinated action of a set of symmetrically distributed thrusters whose single contribution is usually described as a square function of its rotor speed; however, aerodynamic forces induce a load torque on the rotor that disturb its expected speed response, thus its effective Thrust, affecting the whole performance of the aircraft. In this paper, we analyse and quantify the effects of the aerodynamic load torque induced on the spinning propeller of a BLDC thruster used in small scale Quadrotors and present some experimental validation. We describe the model of a 3-phase thruster with a two blade propeller of fixed pitch angle, we analyse its numerical simulation to determine the effects of the induced load torque on the dynamic response of the rotor, and we experimentally verify the results assuming ideal conditions of hover flight. Finally we illustrate the convenience of using feedback control to reduce the sensibility of thrusters face to non modelled dynamics applying a PD controller and we discuss about the importance of an accurate dynamic model of the thruster for control purposes. <br \/>\r\n<br \/>\r\nDynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque [accessed Jun 16, 2017].},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('89','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_89\" style=\"display:none;\"><div class=\"tp_abstract_entry\">In multi-rotor UAVs, a controlled Thrust is a main factor to achieve a safe and stable flight. Thrust is the result of a coordinated action of a set of symmetrically distributed thrusters whose single contribution is usually described as a square function of its rotor speed; however, aerodynamic forces induce a load torque on the rotor that disturb its expected speed response, thus its effective Thrust, affecting the whole performance of the aircraft. In this paper, we analyse and quantify the effects of the aerodynamic load torque induced on the spinning propeller of a BLDC thruster used in small scale Quadrotors and present some experimental validation. We describe the model of a 3-phase thruster with a two blade propeller of fixed pitch angle, we analyse its numerical simulation to determine the effects of the induced load torque on the dynamic response of the rotor, and we experimentally verify the results assuming ideal conditions of hover flight. Finally we illustrate the convenience of using feedback control to reduce the sensibility of thrusters face to non modelled dynamics applying a PD controller and we discuss about the importance of an accurate dynamic model of the thruster for control purposes. <br \/>\r\n<br \/>\r\nDynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque [accessed Jun 16, 2017].<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('89','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_89\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque\" title=\"https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thru[...]\" target=\"_blank\">https:\/\/www.researchgate.net\/publication\/276958535_Dynamic_Response_of_BLDC-Thru[...]<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1109\/ROPEC.2014.7036341\" title=\"DOI de seguimiento:10.1109\/ROPEC.2014.7036341\" target=\"_blank\">doi:10.1109\/ROPEC.2014.7036341<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('89','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_inproceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Mart\u00ednez-Alvarado, Ricardo;  S\u00e1nchez-Orta, Anand;  Granda-Guti\u00e9rrez, E.;  Ruiz-Sanchez, Francisco J.<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('88','tp_links')\" style=\"cursor:pointer;\">performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering<\/a> <span class=\"tp_pub_type tp_  inproceedings\">Proceedings Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">En: <\/span><span class=\"tp_pub_additional_booktitle\">performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering, <\/span><span class=\"tp_pub_additional_pages\">pp. 131-136, <\/span><span class=\"tp_pub_additional_publisher\">congreso internacional en ingenieria electronica electro 2014, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1405-2172<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_88\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('88','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_88\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('88','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_88\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('88','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_88\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Mart\\'{i}nez-Alvarado2014,<br \/>\r\ntitle = {performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering},<br \/>\r\nauthor = {Mart\\'{i}nez-Alvarado, Ricardo and S\\'{a}nchez-Orta, Anand and Granda-Guti\\'{e}rrez, E. and Ruiz-Sanchez, Francisco J.},<br \/>\r\nurl = {https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE},<br \/>\r\nissn = {1405-2172},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {performance evaluation of propeller-engine systems for unmanned aerial vehicles in hovering},<br \/>\r\nvolume = {36},<br \/>\r\npages = {131-136},<br \/>\r\npublisher = {congreso internacional en ingenieria electronica electro 2014},<br \/>\r\nabstract = {A flexible tool to dimensioning and optimizing the performance of a propeller-engine system for multi-rotor Unmanned Aerial Vehicles (UAVs) is proposed. The study is centered on an experimental platform designed to identify the dynamic behavior of the thruster which operates as main actuator in multi-rotor UAVs. The aim is to optimize the performance of the propulsion system with basis on its dynamic behavior. The dynamic of an UAV changes notably according to the performance of the thruster, which is composed by a propeller coupled to a Brushless Direct Current (BLDC) Motor. The dynamic response of the propulsion system is acquired from the experimental data, including the electric, mechanical and aerodynamic effects of the wing when the propeller is the load of the rotor. The experimental platform allows evaluating the performance of the system and determining the payload for a UAV, but also validates control laws to regulate the thruster action. <br \/>\r\n<br \/>\r\nPERFORMANCE EVALUATION OF PROPELLER-ENGINE SYSTEMS FOR UNMANNED AERIAL VEHICLES IN HOVERING MODE (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE [accessed Jun 16, 2017].},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {inproceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('88','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_88\" style=\"display:none;\"><div class=\"tp_abstract_entry\">A flexible tool to dimensioning and optimizing the performance of a propeller-engine system for multi-rotor Unmanned Aerial Vehicles (UAVs) is proposed. The study is centered on an experimental platform designed to identify the dynamic behavior of the thruster which operates as main actuator in multi-rotor UAVs. The aim is to optimize the performance of the propulsion system with basis on its dynamic behavior. The dynamic of an UAV changes notably according to the performance of the thruster, which is composed by a propeller coupled to a Brushless Direct Current (BLDC) Motor. The dynamic response of the propulsion system is acquired from the experimental data, including the electric, mechanical and aerodynamic effects of the wing when the propeller is the load of the rotor. The experimental platform allows evaluating the performance of the system and determining the payload for a UAV, but also validates control laws to regulate the thruster action. <br \/>\r\n<br \/>\r\nPERFORMANCE EVALUATION OF PROPELLER-ENGINE SYSTEMS FOR UNMANNED AERIAL VEHICLES IN HOVERING MODE (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE [accessed Jun 16, 2017].<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('88','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_88\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PROPELLER-ENGINE_SYSTEMS_FOR_UNMANNED_AERIAL_VEHICLES_IN_HOVERING_MODE\" title=\"https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PRO[...]\" target=\"_blank\">https:\/\/www.researchgate.net\/publication\/267094930_PERFORMANCE_EVALUATION_OF_PRO[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('88','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><\/div><\/div> Av. Industrial\u00a0Metalurgia\u00a0#1062,\u00a0Parque Ind. Ramos Arizpe,\u00a0Ramos Arizpe, Coah.\u00a0C.P. 25900, M\u00e9xico. \u00a0Tel. +52 (844) 438-9600<\/p>\n","protected":false},"author":21,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"on","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"class_list":["post-76","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Publicaciones - Prof. Dr. Anand Sanchez-Orta<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/ryma.cinvestav.mx\/asanchez\/publicaciones\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Publicaciones - Prof. Dr. Anand Sanchez-Orta\" \/>\n<meta property=\"og:description\" content=\"Para ver las publicaciones de todo Rob\u00f3tica y Manufactura Avanzada, ver:\u00a0 Publicaciones RYMA Av. 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