Ismael Castillo
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Research Interests
Ismael Castillo has a total of 3 co-authors. Here are the top co-authors by number of shared publications:
- Carlos Vázquez
Umeå Universitet
1 shared publication - Joaquin Collado
CINVESTAV
1 shared publication - Leonid Fridman
Facultad de Ingeniera, Universidad Nacional Autnoma de Mxico (UNAM), Mexico City, Mexico
1 shared publication
Latest Publications
- 1 August 2015
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 137 (8) , 081010
Second-Order Sliding Mode Control of a Perturbed-Crane
A five degrees-of-freedom overhead crane system affected by external perturbations is the topic of study. Existing methods just handle the unperturbed case or, in addition, the analysis is limited to three or two degrees-of-freedom. A wide range of processes cannot be restricted to these scenarios and this paper goes a step forward proposing a control solution for a five degrees-of-freedom system under the presence of matched and unmatched disturbances. The contribution includes a model description and a second-order sliding mode (SOSM) control design ensuring the precise trajectory tracking for the actuated variables and at the same time the regulation of the unactuated variables. Furthermore, the proposed approach is supported by the design of strong Lyapunov functions providing an estimation of the convergence time. Simulations and experiments, including a comparison with a proportional-integral-derivative (PID) controller, verified the advantages of the methodology.
- 1 August 2015
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 137 (8) , 081010
Second-Order Sliding Mode Control of a Perturbed-Crane
A five degrees-of-freedom overhead crane system affected by external perturbations is the topic of study. Existing methods just handle the unperturbed case or, in addition, the analysis is limited to three or two degrees-of-freedom. A wide range of processes cannot be restricted to these scenarios and this paper goes a step forward proposing a control solution for a five degrees-of-freedom system under the presence of matched and unmatched disturbances. The contribution includes a model description and a second-order sliding mode (SOSM) control design ensuring the precise trajectory tracking for the actuated variables and at the same time the regulation of the unactuated variables. Furthermore, the proposed approach is supported by the design of strong Lyapunov functions providing an estimation of the convergence time. Simulations and experiments, including a comparison with a proportional-integral-derivative (PID) controller, verified the advantages of the methodology.