Claudio Rosales

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This paper proposes a multi-objective strategy, based on the null space control theory in order to guide formation composed by aerial and terrestrial robots. A mathematical representation for a triangular heterogeneous formation is presented considering the constraints imposed by the UGVs into the formation variables. The stability of the controller is(More)
In this paper it is proposed a dynamic model of a differential drive mobile robot based on the port-Hamiltonian approach. The model inputs are reference velocities, as in most commercial robots. The model arises from a positioning controller at desired velocities, which is asymptotically stable.
In a 32 months period, 31 patients having esophageal varices, 29 of which were with an acute episode of digestive hemorrhage coming from those varices, had undergone fiberendoscopic sclerotherapy. The hemorrhage stopped in 24 patients (82,7%), 17 (58,6%) of which are over one year without bleeding. Complications were minimal, not having major complication(More)
Resumen— En este trabajo se presenta el diseño de un controlador para un helicóptero de cuatro roto-res, de manera que éste pueda seguir una trayectoria previamente establecida. Para ello se utiliza como descripción el modelo dinámico del mismo obtenido mediante las ecuaciones de Euler-Lagrange. De esta aproximación se obtiene las acciones de control para(More)
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