Examinando por Autor "Velez, C.M."

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    Combining fuzzy and PID control for an unmanned helicopter
    (IEEE Communications Society, 2005-01-01) Sanchez, E.N.; Becerra, H.M.; Velez, C.M.; Sanchez, E.N.; Becerra, H.M.; Velez, C.M.; Universidad EAFIT. Departamento de Ciencias; Modelado Matemático
    This paper reports the synthesis of a controller for the X-Cell mini-helicopter. It is developed on basis of the most realistic mathematical model actually availble ([1]). A combined control structure is proposed: Mamdani controllers keep set points for an altitude/attitude controller. These controllers are designed in the simplest rule base. Altitude/attitude controller is constituted for conventional SISO PID controllers for z-position and roll, pitch and yaw angles. This control scheme mimics the action of an expert pilot. The proposed scheme is tested via simulations; it presents a good performance for hover flight, and control position in slow speed. © 2005 IEEE.
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    The singular optimal control of switched systems
    (Nova Science Publishers, Inc., 2017-01-01) Azhmyakov, V.; Velez, C.M.
    This chapter studies a singular case of Optimal Control Problems(OCPs) governed by a class of switched control systems. We proposea new mathematical formalism for this type of switched dynamic systemsand study OCPs with a quadratic cost functionals. The original sophisticatedoptimization problem is next replaced by an auxiliary "weaklyrelaxed" OCP. Our main result includes a formal proof of the local convexityproperty of the obtained auxiliary OCP. The convex structure ofthe OCP implies a possibility to apply a variety of powerful and relativelysimple optimization schemes to the sophisticated singular OCP involvingswitched dynamics. The conceptual numerical approach we finallydevelop includes an optimal switching times selection ("timing") and asimultaneous optimal switched modes sequence scheduling ("sequencing"). © 2017 Nova Science Publishers, Inc. All rights reserved.