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.
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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