This paper presents a sliding mode-based filter for estimating the oscillation amplitude of non-stationary signals. The proposed algorithm makes use of the structure of sliding mode observers to ensure the estimation of the orthogonal component of a non-stationary signal, when the frequency of the trigonometric function varies over time. A stability analysis is provided to show the filter’s ability to remove the DC components, and numerical simulations illustrate its performance under noisy conditions.

Geometric Algebra (GA) provides a unified, compact mathematical framework for geometric computing, simplifying relations typically handled with more complex tools like matrix multiplication. In fields like robotics, GA replaces conventional coordinate-based approaches with the multiplication of special elements called rotors, offering greater efficiency. Despite its advantages, GA’s complexity and the lack of symbolic tools hinder its broader adoption among applied mathematicians and engineers. To address this, this article introduces Symbolic and User-friendly Geometric Algebra Routines (SUGAR), an open source Matlab toolbox. SUGAR streamlines GA usage in Matlab through a collection of user-friendly functions that support both numeric and symbolic computations, even in high-dimensional algebras. Designed for applied mathematics and engineering, it enables intuitive manipulation of geometric elements and transformations in two- and three-dimensional projective and conformal GAs, consistent with established computational methods. Moreover, SUGAR manages multivector functions such as exponential, logarithmic, sinusoidal, and cosine operations, enhancing its applicability in domains like robotics, control systems, and power electronics. Finally, this article also presents three validation examples across these fields, showcasing SUGAR’s practical utility in solving real-world engineering and applied mathematics problems.

The deployment and coordination of mobile sensor networks for coverage control applications can present several practical challenges, including how to efficiently share limited communication resources and how to reduce the use of localization devices (e.g., radars and lidars). One potential solution to these challenges is to reduce the frequency at which agents communicate or sample each other's position. In this article, we present a distributed asynchronous self-triggered control policy for centroidal Voronoi coverage control that is shown to decrease the sampling or communication instants among agents without degrading the performance of the mobile sensor network. Each agent independently decides when to sample the position of nearby agents and uses outdated information of its neighbors until new information is required. We prove that the locational cost function describing the distribution of agents monotonically decreases everywhere outside of a bounded neighborhood around the group's optimal configuration and that the agents asymptotically converge to their Voronoi centroids if the data-sampled centroid errors approach zero. In addition, we show that the sampling intervals are always positive and lower bounded and, as illustrated by simulations and experiments, they tend to stabilize at a large value as the mobile sensor network comes to a steady state. Simulations and experiments with ground vehicles validate the control strategy and show that the proposed policy can achieve similar level of performance as a continuous or fast periodic implementation.

This paper presents an adaptive control-based strategy to regulate the output voltage of a a magnetically coupled multiport dc-dc converter aimed at automotive applications. The proposed algorithm renders robustness to resistive load uncertainty and to the presence of unknown constant power loads. The theoretical analysis, which uses Lyapunov stability theory, is validated via realistic numerical simulations.

This paper present two different approaches for modelling a magnetically coupled multiport dc-dc converter. First, from the magnetic coupling equations, the instantaneous dynamic model is obtained. Secondly, a behavioural dynamic model, based on averaging the power flowing among the ports, is derived. Some numerical simulations compare the temporal evolutions with the two obtained models.

This paper presents a feedback linearization-based control strategy for a a magnetically coupled multiport dc-dc converter aimed at automotive applications. Essentially, a transformation of control and state variables is proposed in such a way that the resulting system becomes linear and decoupled. Then, a conventional PI controller is devised that renders asymptotic stability, as well as robustness to resistive load uncertainty and presence of constant power loads. The inversion of the control transformation, which involves nonlinear terms, is carried out using linear approximations with no significant performance decay. Hence, simplicity and efficiency are the main features of the control design. The proposal is validated via realistic numerical simulations.

In this paper we present a state feedback-based adaptive cruise control strategy for an autonomous vehicle able to operate in an effective and safe manner between speed regulation and position control, depending on the velocity of the precedent vehicle and its relative distance. The algorithm is shown to be stable in each operating mode, and design criteria for the controller parameters are used in order to meet the required performance features. Additionally, the control system is numerically tested in an heterogeneous fleet mixing human drivers and autonomous vehicles, and it is shown how the presence of a limited number of autonomous vehicles equipped with the proposed controller improves the traffic flow in terms of stop-and-go waves reduction.

This paper presents a dynamic analysis and the control design for a singe-phase full bridge rectifier with a LCL filter. The control algorithm is based on the sliding mode control techniques that provides good tracking performances and robustness against parameter variations. The control design also considers the connection to a non ideal power network with a grid impedance as well as higher harmonics components in the voltage. The control law has been tested in numerical simulations with satisfactory results (also in the case of non ideal power grid).

This paper presents a novel controller for an active rectifier with an inductive-capacitive-inductive filter. The proposed control scheme comprises two levels. The internal level, is a current controller based on the second order sliding mode Twisting algorithm, which robustly ensures an unity power factor at the connection point. The slower external level is a PI controller in charge of regulating the output DC voltage to a desired reference. The controller setup also includes a finite-time observer of the current derivative that can be used to avoid direct (and sometimes problematic) numerical differentiation. Finally, simulation results are presented to validate the proposed control scheme.

In this paper, we consider memristors, meminductors, and memcapacitors and their properties as port-Hamiltonian systems. The port-Hamiltonian formalism naturally arises from network modeling of physical systems in a variety of domains. Exposing the relation between the energy storage, dissipation, and interconnection structure, this framework underscores the physics of the system. One of the strong aspects of the port-Hamiltonian formalism is that a power-preserving interconnection between port-Hamiltonian systems results in another port-Hamiltonian system with composite energy, dissipation, and interconnection structure. This feature can advantageously be used to model, analyze, and simulate networks consisting of complex interconnections of both conventional and memory circuit elements. Furthermore, the port-Hamiltonian formalism naturally extends the fundamental properties of the memory elements beyond the realm of electrical circuits.

In the current context of increasing global energy needs and the depletion of traditional energy sources are particularly relevant management processes and the energy use improving. To contribute to the dissemination of these processes our institution has developed a project that aims to development a set of virtual laboratories to introduce these processes to engineering students. This paper presents an environment designed to illustrate the energy management ideas used in a metropolitan transportation system.