Sergio Salazar
YOU?
Author Swipe
View article: Depth-Based Safe Landing for Unmanned Aerial Vehicles in GPS-Denied Environment
Depth-Based Safe Landing for Unmanned Aerial Vehicles in GPS-Denied Environment Open
This paper presents a safe landing methodology for Unmanned Aerial Vehicles (UAVs) when the GPS-based navigation system fails or is denied or unavailable. The approach relies on the estimation of a flat landing area when landing is require…
View article: Virtual Environment for Rehabilitation of Upper Distal Limb Using a Haptic Device with Adaptive Impedance Control and Neural Compensation: A Preliminary Proposal
Virtual Environment for Rehabilitation of Upper Distal Limb Using a Haptic Device with Adaptive Impedance Control and Neural Compensation: A Preliminary Proposal Open
This research presents a preliminary proposal for a rehabilitation exercise aimed at patients with muscle weakness in the distal upper limb. A virtual environment was developed, where the user engages in a rehabilitation activity focused o…
View article: Nonlinear Feedback Linearization Control and Region of Attraction Analysis for a Fixed-Wing UAV
Nonlinear Feedback Linearization Control and Region of Attraction Analysis for a Fixed-Wing UAV Open
This paper presents the design of a nonlinear Multi-Input Multi-Output (MIMO) Feedback Linearization Controller (FLC) for the longitudinal dynamics of a fixed-wing UAV. The proposed approach employs dynamic extension to achieve Feedback Li…
View article: Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle
Robust and Precise Navigation and Obstacle Avoidance for Unmanned Ground Vehicle Open
This paper presents a robust control strategy based on simplified second-order sliding mode for autonomous navigation and obstacle avoidance for an unmanned ground vehicle. The proposed control is implemented in a mini ground vehicle equip…
View article: A Design Flow to Securely Isolate FPGA Bus Transactions in Heterogeneous SoCs
A Design Flow to Securely Isolate FPGA Bus Transactions in Heterogeneous SoCs Open
Embedded computing systems are becoming increasingly complex. Modern system-on-chips come with heterogeneous designs that integrate diverse processing systems and a large variety of peripherals. When considering software with mixed and ind…
View article: Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control
Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control Open
This article addresses the design of a robust inner and outer loop controller for active gait retraining in individuals with leg motor weakness, using a lower limb exoskeleton with elastic joints. The proposed control algorithm for the inn…
View article: Unmanned Ground Vehicle for Identifying Trees Infested with Bark Beetles
Unmanned Ground Vehicle for Identifying Trees Infested with Bark Beetles Open
This research presents an unmanned ground vehicle for identifying infested trees by bark beetles in mountain forests. The ground vehicle uses sensors for autonomous navigation and obstacle avoidance. The identification of infested trees is…
View article: Robust Control for a Slung-Mass Quadcopter Under Abrupt Velocity Changes
Robust Control for a Slung-Mass Quadcopter Under Abrupt Velocity Changes Open
This paper addresses the robust control for a slung-mass quadrotor under abrupt velocity changes. The proposed algorithm is based on a sliding mode controller applied to the quadrotor translational dynamics considering the slung-mass angle…
View article: Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control
Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control Open
This paper introduces a lower limb exoskeleton for gait rehabilitation, which has been designed to be adjustable to a wide range of patients by incorporating an extension mechanism and series elastic actuators (SEAs). This configuration ad…
View article: Nonlinear control of a planar vertical take‐off and landing with a slung load
Nonlinear control of a planar vertical take‐off and landing with a slung load Open
This paper presents the development of the dynamical model of a planar vertical take‐off and landing (PVTOL) carrying a suspended load. The complete model is obtained using the Euler–Lagrange approach. Furthermore, the synthesis of a nonli…
View article: Active Disturbance Rejection Control via Neural Networks for a Lower-Limb Exoskeleton
Active Disturbance Rejection Control via Neural Networks for a Lower-Limb Exoskeleton Open
This article presents the design of a control algorithm based on Artificial Neural Networks (ANNs) applied to a lower-limb exoskeleton, which is aimed to carry out walking trajectories during lower-limb rehabilitation. The interaction betw…
View article: Movement Intent Detection for Upper-Limb Rehabilitation Exoskeleton Based on Series Elastic Actuator as Force Sensor
Movement Intent Detection for Upper-Limb Rehabilitation Exoskeleton Based on Series Elastic Actuator as Force Sensor Open
In this paper, serial elastic actuators (SEAs) in conjunction with an accelerometer are proposed as force sensors to detect the intention of movement, and the SEA is proposed as a gentle actuator of a patient’s upper-limb exoskeleton. A sm…
View article: Control of Helicopter Using Virtual Swashplate
Control of Helicopter Using Virtual Swashplate Open
This article presents a virtual swashplate mechanism for a mini helicopter in classic configuration. The propeller bases are part of a passive mechanism driven by main rotor torque modulaton, this mechanism generates a synchronous and oppo…
View article: Improving Optical Flow Sensor Using a Gimbal for Quadrotor Navigation in GPS-Denied Environment
Improving Optical Flow Sensor Using a Gimbal for Quadrotor Navigation in GPS-Denied Environment Open
This paper proposes a new sensor using optical flow to stabilize a quadrotor when a GPS signal is not available. Normally, optical flow varies with the attitude of the aerial vehicle. This produces positive feedback on the attitude control…
View article: Control of the PVTOL with Strong Input Coupling
Control of the PVTOL with Strong Input Coupling Open
This paper studies the modeling and control of a Planar Vertical Take-Off and Landing (PVTOL) with steerable thruster. A longitudinal model is obtained using Newton’s second law for the PVTOL which evolves in 3 degrees of freedom and has t…
View article: Real-Time Person Detection in Wooded Areas Using Thermal Images from an Aerial Perspective
Real-Time Person Detection in Wooded Areas Using Thermal Images from an Aerial Perspective Open
Detecting people in images and videos captured from an aerial platform in wooded areas for search and rescue operations is a current problem. Detection is difficult due to the relatively small dimensions of the person captured by the senso…
View article: Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results
Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results Open
This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a …
View article: Optimizing Nonlinear Lateral Control for an Autonomous Vehicle
Optimizing Nonlinear Lateral Control for an Autonomous Vehicle Open
The lack of general algorithms for the control of nonlinear systems is a generalized problem, especially when attempting to stabilize systems such as ground vehicles, which have uncertainties and are usually linearized under the assumption…
View article: Lower Limb Exoskeleton for Rehabilitation with Flexible Joints and Movement Routines Commanded by Electromyography and Baropodometry Sensors
Lower Limb Exoskeleton for Rehabilitation with Flexible Joints and Movement Routines Commanded by Electromyography and Baropodometry Sensors Open
This paper presents the development of an instrumented exoskeleton with baropodometry, electromyography, and torque sensors. The six degrees of freedom (Dof) exoskeleton has a human intention detection system based on a classifier of elect…
View article: A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV
A Robust Fixed-Time Sliding Mode Control for Quadrotor UAV Open
This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are us…
View article: Energetic optimization of an autonomous mobile socially assistive robot for autism spectrum disorder
Energetic optimization of an autonomous mobile socially assistive robot for autism spectrum disorder Open
The usage of socially assistive robots for autism therapies has increased in recent years. This novel therapeutic tool allows the specialist to keep track of the improvement in socially assistive tasks for autistic children, who hypothetic…
View article: Robust Neural Network Consensus for Multiagent UASs Based on Weights’ Estimation Error
Robust Neural Network Consensus for Multiagent UASs Based on Weights’ Estimation Error Open
We propose a neural network consensus strategy to solve the leader–follower problem for multiple-rotorcraft unmanned aircraft systems (UASs), where the goal of this work was to improve the learning based on a set of auxiliary variables and…
View article: Finite Horizon Nonlinear Suboptimal Control for an Autonomous Soaring UAV
Finite Horizon Nonlinear Suboptimal Control for an Autonomous Soaring UAV Open
In this paper, a suboptimal nonlinear discrete control for nonlinear discrete affine systems is implemented in an autonomous soaring unmanned aerial vehicle (UAV) to improve energy consumption and performance. General expressions for this …
View article: Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft
Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft Open
This article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control based on second-order sliding mode t…
View article: Stabilization of the planar vertical take‐off and landing using nonlinear feedback control
Stabilization of the planar vertical take‐off and landing using nonlinear feedback control Open
This article presents a new control strategy for the well‐known problem of the planar vertical take‐off and landing. The total thrust is computed using a nonlinear feedback compensation so that the altitude reaches the desired altitude. Th…
View article: Modeling and Control for an Underwater Vehicle using Dual Quaternions.
Modeling and Control for an Underwater Vehicle using Dual Quaternions. Open
In this work, the analysis of the dynamic general model of an unmanned underwater vehicle (UUV) based on dual quaternions is presented, then the general dynamic model is reduced to a specific vehicle of 4 DoF, this model eliminates the sin…
View article: Stabilization of a class of switched dynamic systems: the Riccati-equation-based Approach
Stabilization of a class of switched dynamic systems: the Riccati-equation-based Approach Open
Our paper deals with the stabilization of a class of time-dependent linear autonomous complex systems with a switched structure. The initially given switched dynamic system is assumed to be controlled by a specific state feedback strategy …
View article: On the Take-Off of a Single-Wing Quadrotor
On the Take-Off of a Single-Wing Quadrotor Open
International audience
View article: Robust tracking scheme for an experimental quadrotor
Robust tracking scheme for an experimental quadrotor Open
International audience