Herman Castañeda

Tecnológico de Monterrey

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Trends

Author Order

Document Type

Co-Authors

Alejandro González-García

KU Leuven

J. De León-Morales

Universidad Autónoma de Nuevo León

Hesheng Wang

Shanghai Jiao Tong University

Armando Miranda-Moya

Tecnológico de Monterrey

J. L. Gordillo

Tecnológico de Monterrey

Oscar Salas‐Peña

École Centrale de Nantes

Jonathan Rodriguez

Université Claude Bernard Lyon 1

P. Castillo

Université de Technologie de Compiègne

Jorge M. Arizaga

Tecnológico de Monterrey

Camilo Lozoya

Tecnológico de Monterrey

Cooperative Institutions

Tecnológico de Monterrey

Centre National de la Recherche Scientifique

École Centrale de Nantes

Shanghai Jiao Tong University

Heuristics and Diagnostics for Complex Systems

Universitat Jaume I

Center for Research and Advanced Studies of the National Polytechnic Institute

Université Nantes Angers Le Mans

Universidad Autónoma Metropolitana

Pemex (Mexico)

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Field

Seguimiento de trayectoria de un AUV para la inspección de jaulas de red utilizando control por modos deslizantes

Salvador López Barajajas Pedro J. Sanz R. Marı́n Alejandro Solís Juan Echagüe

A medida que la industria de la acuicultura sigue expandiéndose, la necesidad de métodos de inspección eficientes y precisos para estructuras submarinas se vuelve cada vez más crucial. El control de modos deslizantes es un método de control no lineal que ha demostrado una gran robustez frente a perturbaciones e incertidumbres en el modelo. Esto se ha probado en varios estudios donde esta técnica se ha aplicado en robótica móvil, incluyendo vehículos terrestres, drones aéreos y vehículos submarinos. Este artículo presenta el diseño e implementación de un controlador adaptativo por modos deslizantes para el seguimiento de trayectorias de un vehículo submarino autónomo (AUV) para la inspección de jaulas de red. Los resultados de la simulación destacan la efectividad del controlador guiar al AUV a lo largo de trayectorias predefinidas. El estudio enfatiza el potencial del control por modos deslizantes para mejorar la capacidad del AUV de navegar con precisión en entornos complejos susceptibles a perturbaciones como las corrientes oceánicas

10.17979/ja-cea.2024.45.10789

Cite

Citations (0)

Novel adaptive law for super-twisting controller: USV tracking control under disturbances

ISA Transactions (2023)

Enrique Alvaro-Mendoza Alejandro González-García Herman Castañeda J. De León-Morales

Robustness

Payload (computing)

Lyapunov stability

10.1016/j.isatra.2023.04.024

Cite

Citations (8)

Lagrange modeling and navigation based on quaternion for controlling a micro AUV under perturbations

Robotics and Autonomous Systems (2019)

Jonathan Rodriguez Herman Castañeda J. L. Gordillo

Robustness

10.1016/j.robot.2019.103408

Cite

Citations (25)

Extended observer based on adaptive second order sliding mode control for a fixed wing UAV

ISA Transactions (2016)

Herman Castañeda Oscar Salas‐Peña J. De León-Morales

Airspeed

Observer (physics)

Fixed wing

Mode (computer interface)

10.1016/j.isatra.2016.09.013

Cite

Citations (91)

Robust flight control for a fixed-wing unmanned aerial vehicle using adaptive super-twisting approach

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering (2013)

Herman Castañeda Oscar Salas‐Peña J. De León-Morales

In this paper, the design of attitude and airspeed controls for a fixed-wing unmanned aerial vehicle by means of an Adaptive Super Twisting Algorithm approach is addressed. In order to implement these controllers and taking into account the difficulties for measuring some of its states, necessary information about inertial attitude and airspeed is estimated using Super-Twisting Observers. This control scheme increases robustness since it is not necessary to know the bound of the perturbations affecting the system or the exact values from the parameters of the system. Furthermore, due to the finite-time converge of the observer, the stability of the closed-loop system is guaranteed. Simulation results illustrate the performance of the proposed scheme under unmodelled dynamics, noisy measurements and external disturbances.

Airspeed

Fixed wing

Robustness

Aileron

Observer (physics)

10.1177/0954410013516253

Cite

Citations (12)

Adaptive sliding mode control with nonlinear MPC-based obstacle avoidance using LiDAR for an autonomous surface vehicle under disturbances

Ocean Engineering (2024)

Ivana Collado-Gonzalez Alejandro González-García Rodolfo Cuan-Urquizo Carlos Sotelo David Sotelo

Obstacle avoidance

Unmanned surface vehicle

Model Predictive Control

Mode (computer interface)

Nonlinear model

10.1016/j.oceaneng.2024.118998

Cite

Citations (0)

Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle

Electronics (2019)

Herman Castañeda J. L. Gordillo

The design of an embedded flight controller for a quadrotor micro air vehicle, which is subject to uncertainties and perturbations, is addressed. In order to obtain robustness against bounded uncertainties and disturbances, an adaptive sliding mode controller is proposed. The control adaptive gains allow using only necessary control to satisfy the task, reducing the chattering effect and at the same time reject external perturbations. Furthermore, a stability analysis of the closed-loop system is given. Finally, simulations and experimental results carried out on a commercial micro air vehicle demonstrate the feasibility and advantages of the proposed flight controller.

Robustness

Micro air vehicle

10.3390/electronics8070793

Cite

Citations (16)

Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind

Drones (2023)

Armando Miranda-Moya Herman Castañeda Hesheng Wang

This paper presents a fixed-time extended state observer-based adaptive sliding mode controller evaluated in a quadrotor unmanned aerial vehicle subject to severe turbulent wind while executing a desired trajectory. Since both the state and model of the system are assumed to be partially known, the observer, whose convergence is independent from the initial states of the system, estimates the full state, model uncertainties, and the effects of turbulent wind in fixed time. Such information is then compensated via feedback control conducted by a class of adaptive sliding mode controller, which is robust to perturbations and reduces the chattering effect by non-overestimating its adaptive gain. Furthermore, the stability of the closed-loop system is analyzed by means of the Lyapunov theory. Finally, simulation results validate the feasibility and advantages of the proposed strategy, where the observer enhances performance. For further demonstration, a comparison with an existent approach is provided.

Observer (physics)

Lyapunov stability

Mode (computer interface)

10.3390/drones7120700

Cite

Citations (5)

Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties

International Journal of Control Automation and Systems (2021)

Jorge M. Arizaga J. R. Noriega L. A. García-Delgado Herman Castañeda

Flight Dynamics

Helicopter rotor

10.1007/s12555-019-1801-6