{"id":76,"date":"2017-09-10T05:46:36","date_gmt":"2017-09-10T05:46:36","guid":{"rendered":"https:\/\/ryma.cinvestav.mx\/ctree\/?page_id=76"},"modified":"2017-09-11T17:25:35","modified_gmt":"2017-09-11T17:25:35","slug":"publicaciones","status":"publish","type":"page","link":"https:\/\/ryma.cinvestav.mx\/ctree\/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\/ctree\/wp-content\/uploads\/sites\/10\/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. CHIDENTREE TREESATAYAPUN\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 \/][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=\u00bboff\u00bb][et_pb_row parent_locked=\u00bboff\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=\u00bboff\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\/ctree\/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\/ctree\/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\/ctree\/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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Varying-sliding condition adaptive controller for a class of unknown discrete-time systems with data-driven model <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 Modelling, Identification and Control, <\/span><span class=\"tp_pub_additional_volume\">vol. 27, <\/span><span class=\"tp_pub_additional_number\">no 3, <\/span><span class=\"tp_pub_additional_pages\">pp. 210\u2013218, <\/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_176\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('176','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_176\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{treesatayapun2017varying,<br \/>\r\ntitle = {Varying-sliding condition adaptive controller for a class of unknown discrete-time systems with data-driven model},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {International Journal of Modelling, Identification and Control},<br \/>\r\nvolume = {27},<br \/>\r\nnumber = {3},<br \/>\r\npages = {210--218},<br \/>\r\npublisher = {Inderscience Publishers (IEL)},<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('176','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\"> Carreon, Augusto;  Baltazar, Arturo;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Development of a model-free force controller for soft contact of an ultrasonic test probe <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\">The International Journal of Advanced Manufacturing Technology, <\/span><span class=\"tp_pub_additional_volume\">vol. 90, <\/span><span class=\"tp_pub_additional_number\">no 9-12, <\/span><span class=\"tp_pub_additional_pages\">pp. 2839\u20132847, <\/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_189\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('189','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_189\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{carreon2017development,<br \/>\r\ntitle = {Development of a model-free force controller for soft contact of an ultrasonic test probe},<br \/>\r\nauthor = {Carreon, Augusto and Baltazar, Arturo and Treesatayapun, Chidentree},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {The International Journal of Advanced Manufacturing Technology},<br \/>\r\nvolume = {90},<br \/>\r\nnumber = {9-12},<br \/>\r\npages = {2839--2847},<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('189','tp_bibtex')\">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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Estimated plant's sensitivity based on data-driving observer for a class of nonlinear discrete-time control 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_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_170\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('170','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_170\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2016,<br \/>\r\ntitle = {Estimated plant's sensitivity based on data-driving observer for a class of nonlinear discrete-time control systems},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-06-06},<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('170','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Stabilized adaptive controller based on direct IF-THEN knowledge of electronic systems for PWM <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_171\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('171','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_171\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2016b,<br \/>\r\ntitle = {Stabilized adaptive controller based on direct IF-THEN knowledge of electronic systems for PWM},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-06-06},<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('171','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Adaptive iterative learning control based on IF--THEN rules and data-driven scheme for a class of nonlinear discrete-time 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\">Soft Computing, <\/span><span class=\"tp_pub_additional_pages\">pp. 1\u201311, <\/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_190\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('190','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_190\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{treesatayapun2016adaptive,<br \/>\r\ntitle = {Adaptive iterative learning control based on IF--THEN rules and data-driven scheme for a class of nonlinear discrete-time systems},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Soft Computing},<br \/>\r\npages = {1--11},<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('190','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Discrete-Time Adaptive Controller Based on Estimated Pseudopartial Derivative and Reaching Sliding Condition <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, and Control, <\/span><span class=\"tp_pub_additional_volume\">vol. 138, <\/span><span class=\"tp_pub_additional_number\">no 10, <\/span><span class=\"tp_pub_additional_pages\">pp. 101002, <\/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_200\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('200','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_200\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{treesatayapun2016discrete,<br \/>\r\ntitle = {Discrete-Time Adaptive Controller Based on Estimated Pseudopartial Derivative and Reaching Sliding Condition},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Journal of Dynamic Systems, Measurement, and Control},<br \/>\r\nvolume = {138},<br \/>\r\nnumber = {10},<br \/>\r\npages = {101002},<br \/>\r\npublisher = {American Society of Mechanical Engineers},<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('200','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_proceedings\">Actas de congresos<\/h3><div class=\"tp_publication tp_publication_proceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Treesatayapun, Chidentree;  Baltazar, Arturo<\/p><p class=\"tp_pub_title\">Adaptive controller based on Sigmoid-RBF for contact force testing machine <span class=\"tp_pub_type tp_  proceedings\">Actas de congresos<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_198\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('198','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_198\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@proceedings{Treesatayapun2016b,<br \/>\r\ntitle = {Adaptive controller based on Sigmoid-RBF for contact force testing machine},<br \/>\r\nauthor = {Treesatayapun, Chidentree and Baltazar, Arturo},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-09-14},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {proceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('198','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_proceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Gallegos, E.;  Baltazar, Arturo;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Neuro Fuzzy Force Control for Soft Dry Contact Hertzian Ultrasonic Probe <span class=\"tp_pub_type tp_  proceedings\">Actas de congresos<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_199\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('199','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_199\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@proceedings{Gallegos2016,<br \/>\r\ntitle = {Neuro Fuzzy Force Control for Soft Dry Contact Hertzian Ultrasonic Probe},<br \/>\r\nauthor = {Gallegos, E. and Baltazar, Arturo and Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-09-14},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {proceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('199','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_proceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Fernandez, K.;  Baltazar, Arturo;  Aranda, Jorge;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">A Study of Sensor Array Aperture for Damage Localization in a Plate-Like Structure Using Ultrasonic Guided Waves <span class=\"tp_pub_type tp_  proceedings\">Actas de congresos<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_197\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('197','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_197\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@proceedings{Fernandez2016,<br \/>\r\ntitle = {A Study of Sensor Array Aperture for Damage Localization in a Plate-Like Structure Using Ultrasonic Guided Waves},<br \/>\r\nauthor = {Fernandez, K. and Baltazar, Arturo and Aranda, Jorge and Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-09-14},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {proceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('197','tp_bibtex')\">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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('121','tp_links')\" style=\"cursor:pointer;\">Data Input-output Adaptive Controller Based on IF-THEN Rules for a Class of Non-affine Discrete-time Systems: The Robotic Plant<\/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\">J. Intell. Fuzzy Syst., <\/span><span class=\"tp_pub_additional_volume\">vol. 28, <\/span><span class=\"tp_pub_additional_number\">no 2, <\/span><span class=\"tp_pub_additional_pages\">pp. 661\u2013668, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1064-1246<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_121\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('121','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_121\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('121','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_121\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun:2015:DIA:2729770.2729786,<br \/>\r\ntitle = {Data Input-output Adaptive Controller Based on IF-THEN Rules for a Class of Non-affine Discrete-time Systems: The Robotic Plant},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.3233\/IFS-141347},<br \/>\r\ndoi = {10.3233\/IFS-141347},<br \/>\r\nissn = {1064-1246},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {J. Intell. Fuzzy Syst.},<br \/>\r\nvolume = {28},<br \/>\r\nnumber = {2},<br \/>\r\npages = {661--668},<br \/>\r\npublisher = {IOS Press},<br \/>\r\naddress = {Amsterdam, The Netherlands, The Netherlands},<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('121','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_121\" 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\/10.3233\/IFS-141347\" title=\"http:\/\/dx.doi.org\/10.3233\/IFS-141347\" target=\"_blank\">http:\/\/dx.doi.org\/10.3233\/IFS-141347<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.3233\/IFS-141347\" title=\"DOI de seguimiento:10.3233\/IFS-141347\" target=\"_blank\">doi:10.3233\/IFS-141347<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('121','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('122','tp_links')\" style=\"cursor:pointer;\">A data-driven adaptive controller for a class of unknown nonlinear discrete-time systems with estimated PPD<\/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\">Engineering Science and Technology, an International Journal, <\/span><span class=\"tp_pub_additional_volume\">vol. 18, <\/span><span class=\"tp_pub_additional_number\">no 2, <\/span><span class=\"tp_pub_additional_pages\">pp. 218 - 228, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 2215-0986<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_122\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('122','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_122\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('122','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_122\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2015,<br \/>\r\ntitle = {A data-driven adaptive controller for a class of unknown nonlinear discrete-time systems with estimated PPD},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2215098615000051},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.jestch.2014.12.004},<br \/>\r\nissn = {2215-0986},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {Engineering Science and Technology, an International Journal},<br \/>\r\nvolume = {18},<br \/>\r\nnumber = {2},<br \/>\r\npages = {218 - 228},<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('122','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_122\" 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\/S2215098615000051\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2215098615000051\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2215098615000051<\/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.jestch.2014.12.004\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.jestch.2014.12.004\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.jestch.2014.12.004<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('122','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\"> Gallegos, E.;  Baltazar, Arturo;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Data Driven Force Control for Soft Dry Contact Hertzian Ultrasonic Probe <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_publisher\">42nd Annual Review of Progress in Quantitative Nondestruct ive Evaluation Conference, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_123\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('123','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_123\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Gallegos2015,<br \/>\r\ntitle = {Data Driven Force Control for Soft Dry Contact Hertzian Ultrasonic Probe},<br \/>\r\nauthor = {Gallegos, E. and Baltazar, Arturo and Treesatayapun, Chidentree<br \/>\r\n},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-00-00},<br \/>\r\npublisher = {42nd Annual Review of Progress in Quantitative Nondestruct ive Evaluation Conference},<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('123','tp_bibtex')\">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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('84','tp_links')\" style=\"cursor:pointer;\">Adaptive control based on IF-THEN rules for grasping force regulation with unknown contact mechanism<\/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\">Robotics and Computer-Integrated Manufacturing, <\/span><span class=\"tp_pub_additional_volume\">vol. 30, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 11 - 18, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0736-5845<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_84\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('84','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_84\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('84','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_84\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{TREESATAYAPUN201411b,<br \/>\r\ntitle = {Adaptive control based on IF-THEN rules for grasping force regulation with unknown contact mechanism},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0736584513000483},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.rcim.2013.07.001},<br \/>\r\nissn = {0736-5845},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\njournal = {Robotics and Computer-Integrated Manufacturing},<br \/>\r\nvolume = {30},<br \/>\r\nnumber = {1},<br \/>\r\npages = {11 - 18},<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('84','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_84\" 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\/S0736584513000483\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0736584513000483\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0736584513000483<\/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.rcim.2013.07.001\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.rcim.2013.07.001\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.rcim.2013.07.001<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('84','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('80','tp_links')\" style=\"cursor:pointer;\">Balancing control energy and tracking error for fuzzy rule emulated adaptive controller<\/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_volume\">vol. 40, <\/span><span class=\"tp_pub_additional_number\">no 4, <\/span><span class=\"tp_pub_additional_pages\">pp. 639\u2013648, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1573-7497<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_80\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('80','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_80\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('80','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_80\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('80','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_80\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2014,<br \/>\r\ntitle = {Balancing control energy and tracking error for fuzzy rule emulated adaptive controller},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x},<br \/>\r\ndoi = {10.1007\/s10489-013-0493-x},<br \/>\r\nissn = {1573-7497},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\nvolume = {40},<br \/>\r\nnumber = {4},<br \/>\r\npages = {639--648},<br \/>\r\nabstract = {In this article, an adaptive controller, which can minimize both tracking error and control energy, is introduced by fuzzy rule emulated network (FREN) for a class of non-affine discrete time systems. The controlled plant can be assumed as fully unknown system dynamic. Only the estimated boundary of pseudo partial derivative (PPD) is required for an on-line learning phase. The update law is derived to guarantee the convergence of tuned parameters. Lyapunov techniques are utilized to demonstrate the performance of a closed-loop system regarding the integration of the infinite cost function. The computer simulation and electronic circuit system validate the effectiveness of the proposed control 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('80','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_80\" style=\"display:none;\"><div class=\"tp_abstract_entry\">In this article, an adaptive controller, which can minimize both tracking error and control energy, is introduced by fuzzy rule emulated network (FREN) for a class of non-affine discrete time systems. The controlled plant can be assumed as fully unknown system dynamic. Only the estimated boundary of pseudo partial derivative (PPD) is required for an on-line learning phase. The update law is derived to guarantee the convergence of tuned parameters. Lyapunov techniques are utilized to demonstrate the performance of a closed-loop system regarding the integration of the infinite cost function. The computer simulation and electronic circuit system validate the effectiveness of the proposed control scheme.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('80','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_80\" 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\/s10489-013-0493-x\" title=\"http:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x\" target=\"_blank\">http:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x\" title=\"DOI de seguimiento:10.1007\/s10489-013-0493-x\" target=\"_blank\">doi:10.1007\/s10489-013-0493-x<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('80','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\"> Carreon, Augusto;  Treesatayapun, Chidentree;  Baltazar, Arturo<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('85','tp_links')\" style=\"cursor:pointer;\">Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties<\/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\">Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties, <\/span><span class=\"tp_pub_additional_publisher\">Flexible Automation and Intelligent Manufacturi ng (FAIM), <\/span><span class=\"tp_pub_additional_year\">2014<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_85\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('85','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_85\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('85','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_85\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('85','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_85\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Carreon2014,<br \/>\r\ntitle = {Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties},<br \/>\r\nauthor = {Carreon, Augusto and Treesatayapun, Chidentree and Baltazar, Arturo},<br \/>\r\nurl = {https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties},<br \/>\r\npublisher = {Flexible Automation and Intelligent Manufacturi ng (FAIM)},<br \/>\r\nabstract = {in this  article,  a novel force control system for soft contact with an object of unknown  mechanical  properties  is proposed by using an ultrasonic sensor implemented in a 3 DOF manipulator robotic system. The emphasis is on the development of a control system to allow soft contact with an object of nonlinear elastic contact properties. In this work a Multi-input Fuzzy Rules Emulate Network (MiFREN) scheme controller with adaptation is developed to regulate the contact force. We propose the use of an ultrasonic sensor in conjunction with a signal conditioning for force based on a parallel-distributed-model as well as the Hertzian model, and considering the transmission and reflection  of  ultrasonic  wave  properties. The  IF-THEN  rules  for  the  MiFREN  control  are  defined  taking  into account the human knowledge of a physical system and a stability analysis is developed by the Lyapunov method. The experimental results  demonstrate that the system is able to find a stable first contact force and moreover the proposed controller is capable of controlling the contact force for both regulation and tracking tasks. <br \/>\r\n<br \/>\r\nImplementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties [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('85','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_85\" style=\"display:none;\"><div class=\"tp_abstract_entry\">in this  article,  a novel force control system for soft contact with an object of unknown  mechanical  properties  is proposed by using an ultrasonic sensor implemented in a 3 DOF manipulator robotic system. The emphasis is on the development of a control system to allow soft contact with an object of nonlinear elastic contact properties. In this work a Multi-input Fuzzy Rules Emulate Network (MiFREN) scheme controller with adaptation is developed to regulate the contact force. We propose the use of an ultrasonic sensor in conjunction with a signal conditioning for force based on a parallel-distributed-model as well as the Hertzian model, and considering the transmission and reflection  of  ultrasonic  wave  properties. The  IF-THEN  rules  for  the  MiFREN  control  are  defined  taking  into account the human knowledge of a physical system and a stability analysis is developed by the Lyapunov method. The experimental results  demonstrate that the system is able to find a stable first contact force and moreover the proposed controller is capable of controlling the contact force for both regulation and tracking tasks. <br \/>\r\n<br \/>\r\nImplementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties [accessed Jun 16, 2017].<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('85','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_85\" 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\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties\" title=\"https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_con[...]\" target=\"_blank\">https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_con[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('85','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. 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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\/ctree\/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 = 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\"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\/ctree\/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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Varying-sliding condition adaptive controller for a class of unknown discrete-time systems with data-driven model <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 Modelling, Identification and Control, <\/span><span class=\"tp_pub_additional_volume\">vol. 27, <\/span><span class=\"tp_pub_additional_number\">no 3, <\/span><span class=\"tp_pub_additional_pages\">pp. 210\u2013218, <\/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_176\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('176','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_176\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{treesatayapun2017varying,<br \/>\r\ntitle = {Varying-sliding condition adaptive controller for a class of unknown discrete-time systems with data-driven model},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {International Journal of Modelling, Identification and Control},<br \/>\r\nvolume = {27},<br \/>\r\nnumber = {3},<br \/>\r\npages = {210--218},<br \/>\r\npublisher = {Inderscience Publishers (IEL)},<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('176','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\"> Carreon, Augusto;  Baltazar, Arturo;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Development of a model-free force controller for soft contact of an ultrasonic test probe <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\">The International Journal of Advanced Manufacturing Technology, <\/span><span class=\"tp_pub_additional_volume\">vol. 90, <\/span><span class=\"tp_pub_additional_number\">no 9-12, <\/span><span class=\"tp_pub_additional_pages\">pp. 2839\u20132847, <\/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_189\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('189','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_189\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{carreon2017development,<br \/>\r\ntitle = {Development of a model-free force controller for soft contact of an ultrasonic test probe},<br \/>\r\nauthor = {Carreon, Augusto and Baltazar, Arturo and Treesatayapun, Chidentree},<br \/>\r\nyear  = {2017},<br \/>\r\ndate = {2017-01-01},<br \/>\r\njournal = {The International Journal of Advanced Manufacturing Technology},<br \/>\r\nvolume = {90},<br \/>\r\nnumber = {9-12},<br \/>\r\npages = {2839--2847},<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('189','tp_bibtex')\">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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Estimated plant's sensitivity based on data-driving observer for a class of nonlinear discrete-time control 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_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_170\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('170','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_170\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2016,<br \/>\r\ntitle = {Estimated plant's sensitivity based on data-driving observer for a class of nonlinear discrete-time control systems},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-06-06},<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('170','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Stabilized adaptive controller based on direct IF-THEN knowledge of electronic systems for PWM <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_171\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('171','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_171\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2016b,<br \/>\r\ntitle = {Stabilized adaptive controller based on direct IF-THEN knowledge of electronic systems for PWM},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-06-06},<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('171','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Adaptive iterative learning control based on IF--THEN rules and data-driven scheme for a class of nonlinear discrete-time 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\">Soft Computing, <\/span><span class=\"tp_pub_additional_pages\">pp. 1\u201311, <\/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_190\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('190','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_190\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{treesatayapun2016adaptive,<br \/>\r\ntitle = {Adaptive iterative learning control based on IF--THEN rules and data-driven scheme for a class of nonlinear discrete-time systems},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Soft Computing},<br \/>\r\npages = {1--11},<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('190','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Discrete-Time Adaptive Controller Based on Estimated Pseudopartial Derivative and Reaching Sliding Condition <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, and Control, <\/span><span class=\"tp_pub_additional_volume\">vol. 138, <\/span><span class=\"tp_pub_additional_number\">no 10, <\/span><span class=\"tp_pub_additional_pages\">pp. 101002, <\/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_200\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('200','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_200\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{treesatayapun2016discrete,<br \/>\r\ntitle = {Discrete-Time Adaptive Controller Based on Estimated Pseudopartial Derivative and Reaching Sliding Condition},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-01-01},<br \/>\r\njournal = {Journal of Dynamic Systems, Measurement, and Control},<br \/>\r\nvolume = {138},<br \/>\r\nnumber = {10},<br \/>\r\npages = {101002},<br \/>\r\npublisher = {American Society of Mechanical Engineers},<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('200','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_proceedings\">Actas de congresos<\/h3><div class=\"tp_publication tp_publication_proceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Treesatayapun, Chidentree;  Baltazar, Arturo<\/p><p class=\"tp_pub_title\">Adaptive controller based on Sigmoid-RBF for contact force testing machine <span class=\"tp_pub_type tp_  proceedings\">Actas de congresos<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_198\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('198','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_198\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@proceedings{Treesatayapun2016b,<br \/>\r\ntitle = {Adaptive controller based on Sigmoid-RBF for contact force testing machine},<br \/>\r\nauthor = {Treesatayapun, Chidentree and Baltazar, Arturo},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-09-14},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {proceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('198','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_proceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Gallegos, E.;  Baltazar, Arturo;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Neuro Fuzzy Force Control for Soft Dry Contact Hertzian Ultrasonic Probe <span class=\"tp_pub_type tp_  proceedings\">Actas de congresos<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_199\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('199','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_199\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@proceedings{Gallegos2016,<br \/>\r\ntitle = {Neuro Fuzzy Force Control for Soft Dry Contact Hertzian Ultrasonic Probe},<br \/>\r\nauthor = {Gallegos, E. and Baltazar, Arturo and Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-09-14},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {proceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('199','tp_bibtex')\">Cerrar<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_proceedings\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Fernandez, K.;  Baltazar, Arturo;  Aranda, Jorge;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">A Study of Sensor Array Aperture for Damage Localization in a Plate-Like Structure Using Ultrasonic Guided Waves <span class=\"tp_pub_type tp_  proceedings\">Actas de congresos<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_year\">2016<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_197\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('197','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_197\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@proceedings{Fernandez2016,<br \/>\r\ntitle = {A Study of Sensor Array Aperture for Damage Localization in a Plate-Like Structure Using Ultrasonic Guided Waves},<br \/>\r\nauthor = {Fernandez, K. and Baltazar, Arturo and Aranda, Jorge and Treesatayapun, Chidentree},<br \/>\r\nyear  = {2016},<br \/>\r\ndate = {2016-09-14},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {proceedings}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('197','tp_bibtex')\">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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('121','tp_links')\" style=\"cursor:pointer;\">Data Input-output Adaptive Controller Based on IF-THEN Rules for a Class of Non-affine Discrete-time Systems: The Robotic Plant<\/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\">J. Intell. Fuzzy Syst., <\/span><span class=\"tp_pub_additional_volume\">vol. 28, <\/span><span class=\"tp_pub_additional_number\">no 2, <\/span><span class=\"tp_pub_additional_pages\">pp. 661\u2013668, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1064-1246<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_121\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('121','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_121\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('121','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_121\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun:2015:DIA:2729770.2729786,<br \/>\r\ntitle = {Data Input-output Adaptive Controller Based on IF-THEN Rules for a Class of Non-affine Discrete-time Systems: The Robotic Plant},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.3233\/IFS-141347},<br \/>\r\ndoi = {10.3233\/IFS-141347},<br \/>\r\nissn = {1064-1246},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {J. Intell. Fuzzy Syst.},<br \/>\r\nvolume = {28},<br \/>\r\nnumber = {2},<br \/>\r\npages = {661--668},<br \/>\r\npublisher = {IOS Press},<br \/>\r\naddress = {Amsterdam, The Netherlands, The Netherlands},<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('121','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_121\" 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\/10.3233\/IFS-141347\" title=\"http:\/\/dx.doi.org\/10.3233\/IFS-141347\" target=\"_blank\">http:\/\/dx.doi.org\/10.3233\/IFS-141347<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.3233\/IFS-141347\" title=\"DOI de seguimiento:10.3233\/IFS-141347\" target=\"_blank\">doi:10.3233\/IFS-141347<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('121','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('122','tp_links')\" style=\"cursor:pointer;\">A data-driven adaptive controller for a class of unknown nonlinear discrete-time systems with estimated PPD<\/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\">Engineering Science and Technology, an International Journal, <\/span><span class=\"tp_pub_additional_volume\">vol. 18, <\/span><span class=\"tp_pub_additional_number\">no 2, <\/span><span class=\"tp_pub_additional_pages\">pp. 218 - 228, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 2215-0986<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_122\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('122','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_122\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('122','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_122\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2015,<br \/>\r\ntitle = {A data-driven adaptive controller for a class of unknown nonlinear discrete-time systems with estimated PPD},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2215098615000051},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.jestch.2014.12.004},<br \/>\r\nissn = {2215-0986},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-01-01},<br \/>\r\njournal = {Engineering Science and Technology, an International Journal},<br \/>\r\nvolume = {18},<br \/>\r\nnumber = {2},<br \/>\r\npages = {218 - 228},<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('122','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_122\" 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\/S2215098615000051\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2215098615000051\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2215098615000051<\/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.jestch.2014.12.004\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.jestch.2014.12.004\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.jestch.2014.12.004<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('122','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\"> Gallegos, E.;  Baltazar, Arturo;  Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\">Data Driven Force Control for Soft Dry Contact Hertzian Ultrasonic Probe <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_publisher\">42nd Annual Review of Progress in Quantitative Nondestruct ive Evaluation Conference, <\/span><span class=\"tp_pub_additional_year\">2015<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_123\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('123','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_123\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Gallegos2015,<br \/>\r\ntitle = {Data Driven Force Control for Soft Dry Contact Hertzian Ultrasonic Probe},<br \/>\r\nauthor = {Gallegos, E. and Baltazar, Arturo and Treesatayapun, Chidentree<br \/>\r\n},<br \/>\r\nyear  = {2015},<br \/>\r\ndate = {2015-00-00},<br \/>\r\npublisher = {42nd Annual Review of Progress in Quantitative Nondestruct ive Evaluation Conference},<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('123','tp_bibtex')\">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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('84','tp_links')\" style=\"cursor:pointer;\">Adaptive control based on IF-THEN rules for grasping force regulation with unknown contact mechanism<\/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\">Robotics and Computer-Integrated Manufacturing, <\/span><span class=\"tp_pub_additional_volume\">vol. 30, <\/span><span class=\"tp_pub_additional_number\">no 1, <\/span><span class=\"tp_pub_additional_pages\">pp. 11 - 18, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 0736-5845<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_resource_link\"><a id=\"tp_links_sh_84\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('84','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_84\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('84','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_84\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{TREESATAYAPUN201411b,<br \/>\r\ntitle = {Adaptive control based on IF-THEN rules for grasping force regulation with unknown contact mechanism},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0736584513000483},<br \/>\r\ndoi = {http:\/\/dx.doi.org\/10.1016\/j.rcim.2013.07.001},<br \/>\r\nissn = {0736-5845},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\njournal = {Robotics and Computer-Integrated Manufacturing},<br \/>\r\nvolume = {30},<br \/>\r\nnumber = {1},<br \/>\r\npages = {11 - 18},<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('84','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_84\" 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\/S0736584513000483\" title=\"http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0736584513000483\" target=\"_blank\">http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0736584513000483<\/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.rcim.2013.07.001\" title=\"DOI de seguimiento:http:\/\/dx.doi.org\/10.1016\/j.rcim.2013.07.001\" target=\"_blank\">doi:http:\/\/dx.doi.org\/10.1016\/j.rcim.2013.07.001<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('84','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\"> Treesatayapun, Chidentree<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('80','tp_links')\" style=\"cursor:pointer;\">Balancing control energy and tracking error for fuzzy rule emulated adaptive controller<\/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_volume\">vol. 40, <\/span><span class=\"tp_pub_additional_number\">no 4, <\/span><span class=\"tp_pub_additional_pages\">pp. 639\u2013648, <\/span><span class=\"tp_pub_additional_year\">2014<\/span>, <span class=\"tp_pub_additional_issn\">ISSN: 1573-7497<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_80\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('80','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_80\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('80','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_80\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('80','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_80\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Treesatayapun2014,<br \/>\r\ntitle = {Balancing control energy and tracking error for fuzzy rule emulated adaptive controller},<br \/>\r\nauthor = {Treesatayapun, Chidentree},<br \/>\r\nurl = {http:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x},<br \/>\r\ndoi = {10.1007\/s10489-013-0493-x},<br \/>\r\nissn = {1573-7497},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-01-01},<br \/>\r\nvolume = {40},<br \/>\r\nnumber = {4},<br \/>\r\npages = {639--648},<br \/>\r\nabstract = {In this article, an adaptive controller, which can minimize both tracking error and control energy, is introduced by fuzzy rule emulated network (FREN) for a class of non-affine discrete time systems. The controlled plant can be assumed as fully unknown system dynamic. Only the estimated boundary of pseudo partial derivative (PPD) is required for an on-line learning phase. The update law is derived to guarantee the convergence of tuned parameters. Lyapunov techniques are utilized to demonstrate the performance of a closed-loop system regarding the integration of the infinite cost function. The computer simulation and electronic circuit system validate the effectiveness of the proposed control 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('80','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_80\" style=\"display:none;\"><div class=\"tp_abstract_entry\">In this article, an adaptive controller, which can minimize both tracking error and control energy, is introduced by fuzzy rule emulated network (FREN) for a class of non-affine discrete time systems. The controlled plant can be assumed as fully unknown system dynamic. Only the estimated boundary of pseudo partial derivative (PPD) is required for an on-line learning phase. The update law is derived to guarantee the convergence of tuned parameters. Lyapunov techniques are utilized to demonstrate the performance of a closed-loop system regarding the integration of the infinite cost function. The computer simulation and electronic circuit system validate the effectiveness of the proposed control scheme.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('80','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_80\" 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\/s10489-013-0493-x\" title=\"http:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x\" target=\"_blank\">http:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1007\/s10489-013-0493-x\" title=\"DOI de seguimiento:10.1007\/s10489-013-0493-x\" target=\"_blank\">doi:10.1007\/s10489-013-0493-x<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('80','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\"> Carreon, Augusto;  Treesatayapun, Chidentree;  Baltazar, Arturo<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('85','tp_links')\" style=\"cursor:pointer;\">Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties<\/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\">Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties, <\/span><span class=\"tp_pub_additional_publisher\">Flexible Automation and Intelligent Manufacturi ng (FAIM), <\/span><span class=\"tp_pub_additional_year\">2014<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_85\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('85','tp_abstract')\" title=\"Mostrar resumen\" style=\"cursor:pointer;\">Resumen<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_85\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('85','tp_links')\" title=\"Mostrar enlaces y recursos\" style=\"cursor:pointer;\">Enlaces<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_85\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('85','tp_bibtex')\" title=\"Mostrar entrada BibTeX \" style=\"cursor:pointer;\">BibTeX<\/a><\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_85\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@inproceedings{Carreon2014,<br \/>\r\ntitle = {Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties},<br \/>\r\nauthor = {Carreon, Augusto and Treesatayapun, Chidentree and Baltazar, Arturo},<br \/>\r\nurl = {https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties},<br \/>\r\nyear  = {2014},<br \/>\r\ndate = {2014-00-00},<br \/>\r\nbooktitle = {Implementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties},<br \/>\r\npublisher = {Flexible Automation and Intelligent Manufacturi ng (FAIM)},<br \/>\r\nabstract = {in this  article,  a novel force control system for soft contact with an object of unknown  mechanical  properties  is proposed by using an ultrasonic sensor implemented in a 3 DOF manipulator robotic system. The emphasis is on the development of a control system to allow soft contact with an object of nonlinear elastic contact properties. In this work a Multi-input Fuzzy Rules Emulate Network (MiFREN) scheme controller with adaptation is developed to regulate the contact force. We propose the use of an ultrasonic sensor in conjunction with a signal conditioning for force based on a parallel-distributed-model as well as the Hertzian model, and considering the transmission and reflection  of  ultrasonic  wave  properties. The  IF-THEN  rules  for  the  MiFREN  control  are  defined  taking  into account the human knowledge of a physical system and a stability analysis is developed by the Lyapunov method. The experimental results  demonstrate that the system is able to find a stable first contact force and moreover the proposed controller is capable of controlling the contact force for both regulation and tracking tasks. <br \/>\r\n<br \/>\r\nImplementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties [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('85','tp_bibtex')\">Cerrar<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_85\" style=\"display:none;\"><div class=\"tp_abstract_entry\">in this  article,  a novel force control system for soft contact with an object of unknown  mechanical  properties  is proposed by using an ultrasonic sensor implemented in a 3 DOF manipulator robotic system. The emphasis is on the development of a control system to allow soft contact with an object of nonlinear elastic contact properties. In this work a Multi-input Fuzzy Rules Emulate Network (MiFREN) scheme controller with adaptation is developed to regulate the contact force. We propose the use of an ultrasonic sensor in conjunction with a signal conditioning for force based on a parallel-distributed-model as well as the Hertzian model, and considering the transmission and reflection  of  ultrasonic  wave  properties. The  IF-THEN  rules  for  the  MiFREN  control  are  defined  taking  into account the human knowledge of a physical system and a stability analysis is developed by the Lyapunov method. The experimental results  demonstrate that the system is able to find a stable first contact force and moreover the proposed controller is capable of controlling the contact force for both regulation and tracking tasks. <br \/>\r\n<br \/>\r\nImplementation of a force controller based on fuzzy rule emulate networks for soft contact with an object with unknown mechanical properties (PDF Download Available). Available from: https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties [accessed Jun 16, 2017].<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('85','tp_abstract')\">Cerrar<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_85\" 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\/300916120_Implementation_of_a_force_controller_based_on_fuzzy_rule_emulate_networks_for_soft_contact_with_an_object_with_unknown_mechanical_properties\" title=\"https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_con[...]\" target=\"_blank\">https:\/\/www.researchgate.net\/publication\/300916120_Implementation_of_a_force_con[...]<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('85','tp_links')\">Cerrar<\/a><\/p><\/div><\/div><\/div><\/div><\/div> Av. 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