Valderrabano-Gonzalez, Antonio
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Preferred name
Valderrabano-Gonzalez, Antonio
Official Name
Valderrabano González, Antonio
Alternative Name
avalder
Main Affiliation
ORCID
Scopus Author ID
51864763800
Researcher ID
O-2648-2013

Research Output

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Publication

Output feedback control for robust tracking of position trajectories for DC electric motors

2014 , Francisco Beltran-Carbajal , Antonio Favela-Contreras , Valderrabano-Gonzalez, Antonio , Rosas-caro, Julio

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An Active Vehicle Suspension Control Approach with Electromagnetic and Hydraulic Actuators

2019 , Francisco Beltran-Carbajal , Valderrabano-Gonzalez, Antonio , Antonio Favela-Contreras , Jose Luis Hernandez-Avila , Irvin Lopez-Garcia , Ruben Tapia-Olvera

An active vibration control approach from an online estimation perspective of unavailable feedback signals for a quarter-vehicle suspension system is introduced. The application of a new signal differentiation technique for the online estimation of disturbance trajectories due to irregular road surfaces and velocity state variables is described. It is assumed that position measurements are only available for active disturbance suppression control implementation. Real-time signal differentiation is independent of detailed mathematical models of specific dynamic systems and control force generation mechanisms. Active control forces can be supplied by electromagnetic or hydraulic actuators. Analytical and simulation results prove the effective and fast dynamic performance of the online signal estimation as well as a satisfactory active disturbance attenuation on a quarter-vehicle active suspension system.

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On Active Vibration Absorption in Motion Control of a Quadrotor UAV

2022 , Francisco Beltran-Carbajal , Hugo Yañez-Badillo , Ruben Tapia-Olvera , Antonio Favela-Contreras , Valderrabano-Gonzalez, Antonio , Irvin Lopez-Garcia

Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vibration suppression of the dynamic vibration absorbers into desired motion trajectory tracking control algorithms for a four-rotor unmanned aerial vehicle (UAV) is introduced. Nevertheless, additional physical control devices for mechanical vibration absorption are unnecessary in the proposed motion profile reference tracking control design perspective. A new dynamic control design approach for efficient tracking of desired motion profiles as well as for simultaneous active harmonic vibration absorption for a quadrotor helicopter is then proposed. In contrast to other control design methods, the presented motion tracking control scheme is based on the synthesis of multiple virtual (nonphysical) dynamic vibration absorbers. The mathematical structure of these physical mechanical devices, known as dynamic vibration absorbers, is properly exploited and extended for control synthesis for underactuated multiple-input multiple-output four-rotor nonlinear aerial dynamic systems. In this fashion, additional capabilities of active suppression of vibrating forces and torques can be achieved in specified motion directions on four-rotor helicopters. Moreover, since the dynamic vibration absorbers are designed to be virtual, these can be directly tuned for diverse operating conditions. In the present study, it is thus demonstrated that the mathematical structure of physical mechanical vibration absorbers can be extended for the design of active vibration control schemes for desired motion trajectory tracking tasks on four-rotor aerial vehicles subjected to adverse harmonic disturbances. The effectiveness of the presented novel design perspective of virtual dynamic vibration absorption schemes is proved by analytical and numerical results. Several operating case studies to stress the advantages to extend the undesirable vibration attenuation capabilities of the dynamic vibration absorbers into trajectory tracking control algorithms for nonlinear four-rotor helicopter systems are presented.

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A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System

2020 , Hugo Yañez-Badillo , Francisco Beltran-Carbajal , Ruben Tapia-Olvera , Valderrabano-Gonzalez, Antonio , Antonio Favela-Contreras , Rosas-caro, Julio , Pierangelo Masarati

This paper deals with the reference trajectory tracking problem and simultaneous active disturbance suppression on a class of controlled aerial mechanical systems by processing measurable output signals. A novel dynamic control method for desired motion reference trajectory tracking for quadrotor helicopters is introduced. Measurements of position output signals for efficient and robust tracking of motion profiles specified for the unmanned aerial vehicle are only required. Thus, differentiation of signals and real-time estimation of disturbances affecting the multi-input multioutput, underactuated nonlinear dynamic system are unnecessary. The presented active control approach can be directly extended for a class of vibrating mechanical systems. Analytical, experimental, and numerical results are presented to prove the satisfactory performance of the proposed trajectory tracking control approach for considerably perturbed operating scenarios.

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