@conference {garelli2012spc,
title = {{A Sliding-Mode Path Conditioning Algorithm To Fulfill End-Effector Constraints In Robotic Systems}},
booktitle = {Semana del Control Automatico},
year = {2012},
pages = {1{\textendash}2},
address = {Buenos Aires, Argentina},
author = {Garelli, F. and Gracia, L. and A. Sala}
}
@conference {pitarch2012sda,
title = {{ Spherical Domain Of Attraction Estimation For Nonlinear Systems}},
booktitle = {Proc. of 1st Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT)},
year = {2012},
pages = {108{\textendash}114},
publisher = {IFAC/Elsevier},
organization = {IFAC/Elsevier},
address = {Wurzburg, Germany},
abstract = {This work proposes an algorithm to obtain a predefined-shape zone as large as possible, belonging to the local domain of attraction of a nonlinear system. In order to do it, fuzzy polynomial models will be used which analysis can be done by convex optimization (sum of squares). Most fuzzy control papers check LMI or SOS stability conditions for Takagi-Sugeno fuzzy models and, if feasibility is reached, forget to study the obtained region and its relationship with the original nonlinear problem. Having into account the shape of the membership functions in a particular region of interest, less conservative stability and stabilization conditions can be easily set up for doing iterations with the fuzzy modelling region in order to maximize the proved basin of attraction.},
isbn = {978-3-902661-97-5},
author = {J.L. Pitarch and A. Sala and Arino, C.V.}
}
@article {97,
title = {A supervisory loop approach to fulfill workspace constraints in redundant robots},
journal = {Robotics and Autonomous Systems},
volume = {60},
year = {2012},
month = {2012/01//},
pages = {1 - 15},
abstract = {An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1)~it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2)~it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3)~it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.},
keywords = {Collision avoidance, Redundancy resolution, Sliding mode},
isbn = {0921-8890},
url = {http://www.sciencedirect.com/science/article/pii/S0921889011001308},
author = {Gracia,Luis and A. Sala and F Garelli}
}
@article {gracia2012sla,
title = {{A Supervisory Loop Approach To Fulfill Workspace Constraints In Redundant Robots}},
journal = {Robotics And Autonomous Systems},
volume = {60},
year = {2012},
pages = {1{\textendash}15},
publisher = {Elsevier North-Holland},
abstract = {An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.},
issn = {0921-8890},
author = {Gracia, L. and A. Sala and Garelli, F.}
}
@article {103,
title = {Sampled-data gain scheduling of continuous LTV plants},
journal = {Automatica},
volume = {45},
year = {2009},
month = {2009/10//},
pages = {2451 - 2453},
isbn = {00051098},
url = {http://linkinghub.elsevier.com/retrieve/pii/S0005109809003148},
author = {McKernan,Adrian and A. Sala and Ari{\~n}o,C. and Irwin,George W.}
}