Vicente Feliu
University of Castilla–La Mancha
EngineeringControl engineeringPosition (vector)TorqueArtificial intelligenceNonlinear systemActuatorControl systemVibrationRobust controlMathematicsFeed forwardComputer scienceSimulationInner loopControl theoryControl theoryTransfer functionRobotRobustness (computer science)
202Publications
32H-index
5,968Citations
Publications 184
Newest
#1Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
#2Sumeet S. Aphale (Aberd.: University of Aberdeen)H-Index: 14
Last. Vicente Feliu (UCLM: University of Castilla–La Mancha)H-Index: 32
view all 3 authors...
Parameter uncertainty is a key challenge in the real-time control of nanopositioners employed in scanning probe microscopy. Changes in the sample to be scanned introduces changes in system resonances, requiring instantaneous online tuning of controller parameters to ensure stable, optimal scanning performance. This paper presents a method based on the frequency-domain algebraic derivative approach for the accurate online identification of the nanopositioner's parameters. The parameter estimates ...
2 CitationsSource
Aug 27, 2017 in AsiaSim (Asian Simulation Conference)
#1Rahul Jagdish Moon (Aberd.: University of Aberdeen)H-Index: 1
#2Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
Last. Sumeet S. Aphale (Aberd.: University of Aberdeen)H-Index: 14
view all 5 authors...
Positive Position Feedback (PPF) is a widely used control technique for damping the lightly damped resonant modes of various dynamic systems. Though PPF controller is easy to implement any rigorous mathematical optimization is not possible due to the controller structure. Therefore, almost all PPF designs reported in literature use a trial-and-error approach to push the closed-loop system poles adequately into the left-half plane to achieve adequate damping. In this paper, a full parametric stud...
2 CitationsSource
#1J. Chocoteco (UCLM: University of Castilla–La Mancha)H-Index: 5
#2Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 16
Last. L. Sánchez (UCLM: University of Castilla–La Mancha)H-Index: 1
view all 4 authors...
This paper describes trajectory planning for a stair-climbing mobility system (SCMS). The planning is based on the results obtained from an estimation of the dimensions of the stairs. The strategy used to estimate the stairs' dimensions considers scanning the surface of the stairs using two laser distance sensors, which are attached to the chassis of the system. This strategy can be also used to calculate the distance from the system to the staircase. The strategy contemplates a process with whi...
12 CitationsSource
#1Douglas Russell (Aberd.: University of Aberdeen)H-Index: 5
#2Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
Last. Sumeet S. Aphale (Aberd.: University of Aberdeen)H-Index: 14
view all 4 authors...
The Butterworth filter is known to have maximally flat response. Incidentally, the same response is desired in precise positioning systems. This paper presents a method for obtaining a closed-loop Butterworth filter pattern using common control schemes for positioning applications, i.e. Integral Resonant Control (IRC), Integral Force Feedback (IFF), Positive Position Feedback (PPF), and Positive Velocity and Position Feedback (PVPF). Simulations show a significant increase in bandwidth over trad...
7 CitationsSource
#1Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
#2Sumeet S. Aphale (Aberd.: University of Aberdeen)H-Index: 14
Last. Vicente Feliu (UCLM: University of Castilla–La Mancha)H-Index: 32
view all 3 authors...
Piezoelectrically actuated nanopositioning systems (tube or platform type) are widely employed in applications where fine mechanical displacements with resolution down to atomic scale are required. This paper presents the design, analysis, and validation of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom (2DOF) PID controller. The proposed controller is established based on a linear continuous input-output nominal model, and presents a simple structure compo...
1 CitationsSource
#1J. Chocoteco (UCLM: University of Castilla–La Mancha)H-Index: 5
#2Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 16
Last. Vicente Feliu (UCLM: University of Castilla–La Mancha)H-Index: 32
view all 3 authors...
Abstract This paper presents a new study on the obstacle-climbing ability of Stair-Climbing Mobility Systems (SCMSs), taking into account the effects related to the presence of geometric disturbances on the obstacles. In this research, we use an SCMS that combines two different locomotion mechanisms to climb up and down stairs: one based on wheels and the other based on Sliding Supports. The combination of these mechanisms allows stairs of different sizes, and even stairs with geometric disturba...
9 CitationsSource
Jun 16, 2015 in MED (Mediterranean Conference on Control and Automation)
#1Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
#2Vicente Feliu (UCLM: University of Castilla–La Mancha)H-Index: 32
Last. Alfonso Garcia (UMA: University of Málaga)H-Index: 1
view all 3 authors...
A new control scheme composed of two independent stages utilised to achieve precise positioning of single-link flexible manipulators is presented herein. Traditional techniques for the control of single-link flexible manipulators utilise only one actuator and two types of sensor measurement (e.g the angular position of the motor and acceleration or strain measurements) to move the manipulator and in order to damp the residual vibrations produced in the displacement of the manipulator. However, i...
6 CitationsSource
#1Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
#2Douglas Russell (Aberd.: University of Aberdeen)H-Index: 5
Last. Sumeet S. Aphale (Aberd.: University of Aberdeen)H-Index: 14
view all 4 authors...
This paper presents a controller design to compensate the effects of time delay in a flexure-based piezoelectric stack driven nanopositioner. The effects of the time delay in flexure nanopositioners is illustrated and identified by means of experimentally obtaining the frequency response of the system. Moreover, a theoretical model which takes into account the dependence between the sampling time and the delay introduced is proposed. The proposed control design methodology not only accommodates ...
18 CitationsSource
#1Andres San-Millan (UCLM: University of Castilla–La Mancha)H-Index: 7
#2Vicente Feliu (UCLM: University of Castilla–La Mancha)H-Index: 32
Vibrations are present in many mechanical structures and machines, and are often associated with their elastic parts. Characterizing these vibrations, i.e., obtaining their frequencies, amplitudes and phases, is of most interest in many applications ranging from the maintenance of civil structures to motion control. This paper presents a method for the online and reliable identification of the defining parameters of two unknown sinusoidal signals through the use of their measured sum in the pres...
12 CitationsSource
#1J. Chocoteco (UCLM: University of Castilla–La Mancha)H-Index: 5
#2Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 16
Last. Hebertt Sira-Ramírez (CINVESTAV)H-Index: 61
view all 4 authors...
This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown time-varying disturbance, both the combined effects of all ...
5 CitationsSource