<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1405-7743</journal-id>
<journal-title><![CDATA[Ingeniería, investigación y tecnología]]></journal-title>
<abbrev-journal-title><![CDATA[Ing. invest. y tecnol.]]></abbrev-journal-title>
<issn>1405-7743</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional Autónoma de México, Facultad de Ingeniería]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1405-77432020000300006</article-id>
<article-id pub-id-type="doi">10.22201/fi.25940732e.2020.21.3.026</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Real-time neural control of all-terrain tracked robots with unknown dynamics and network communication delays]]></article-title>
<article-title xml:lang="es"><![CDATA[Control neuronal en tiempo real para robots todo terreno tipo oruga con dinámicas y retardos de red de comunicaciones desconocidos]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Alanis]]></surname>
<given-names><![CDATA[Alma Y.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rios]]></surname>
<given-names><![CDATA[Jorge D.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Arana-Daniel]]></surname>
<given-names><![CDATA[Nancy]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[López-Franco]]></surname>
<given-names><![CDATA[Carlos]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad de Guadalajara Centro Universitario de Ciencias Exactas e Ingenierías Departamento de Ciencias Computacionales]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad de Guadalajara Centro Universitario de Ciencias Exactas e Ingenierías Departamento de Ciencias Computacionales]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad de Guadalajara Centro Universitario de Ciencias Exactas e Ingenierías Departamento de Ciencias Computacionales]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af4">
<institution><![CDATA[,Universidad de Guadalajara Centro Universitario de Ciencias Exactas e Ingenierías Departamento de Ciencias Computacionales]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>09</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>09</month>
<year>2020</year>
</pub-date>
<volume>21</volume>
<numero>3</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1405-77432020000300006&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1405-77432020000300006&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1405-77432020000300006&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: Currently, wireless communication networks have been acquired great relevance in our daily life, including data acquisition, data processing, control and analysis in different applications. Therefore, robotic systems cannot be an exception, in such a way, it is an important study that considers the effects caused by inclusion of wireless networks in the control loop of robotic systems, as well as, the designing of intelligent control systems that can deal with such effects in real-time. Hence, this research work focuses on the designing of an on-line intelligent controller that achieves trajectory tracking of a robotic mobile system which is in a networked communication environment. The proposed controller can deal with unknown dynamics, unknown external and internal disturbances, unknown communication delays and packet losses. Such a controller is designed using a discrete-time approach based on an inverse optimal control methodology for trajectory tracking and a recurrent high-order neural network identifier. Applicability of the proposed scheme is shown through real-time results using a tracked robot platform controlled through a wireless network under different network scenarios. Besides, obtained results, show good performance. The designed scheme can be extended to any unknown or uncertain nonlinear system which lies in a networked environment. One of the main advantages of the proposed scheme is the robustness of the proposed intelligent controller to work on networked environments under direct communication channels, as well as through two different communication channels, evidently for more complex configurations of the used communication channel, the performance of the proposed scheme can be deteriorated.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen: Actualmente, las redes de comunicación inalámbricas han adquirido gran relevancia en nuestra vida diaria, incluida la adquisición de datos, su procesamiento, el control y el análisis de datos, en diferentes aplicaciones. Así pues, los sistemas robóticos no pueden ser una excepción, por lo que es importante y relevante estudiar los efectos causados por la inclusión de redes inalámbricas en el lazo de control de sistemas robóticos, así como el diseño de sistemas de control inteligentes que pueden manejar tales efectos en tiempo real. Por tanto, este trabajo de investigación se centra en el diseño de un controlador inteligente en línea que logra el seguimiento de la trayectoria de un sistema móvil robótico que se encuentra en un entorno de comunicación en red. El controlador propuesto puede manejar dinámicas desconocidas, saturación de los actuadores, perturbaciones externas e internas desconocidas, retrasos de comunicación desconocidos y pérdidas de paquetes. Dicho controlador está diseñado utilizando un enfoque de tiempo discreto basado en un control óptimo inverso y un identificador neuronal de alto orden recurrente. La aplicabilidad del esquema propuesto se muestra a través de resultados en tiempo real utilizando una plataforma de robot tipo oruga, controlada a través de una red inalámbrica bajo diferentes escenarios de la red. Además, los resultados obtenidos, muestran un buen desempeño. El esquema diseñado puede extenderse a cualquier sistema no lineal desconocido o incierto que se encuentre en un entorno de red. Una de las principales ventajas del esquema propuesto es la robustez del controlador inteligente para trabajar en entornos de red bajo canales de comunicación directa, así como a través de dos canales de comunicación diferentes, evidentemente entre más compleja sea la configuración del canal de comunicación, el desempeño del esquema propuesto puede deteriorarse.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Neural networks]]></kwd>
<kwd lng="en"><![CDATA[networked control system]]></kwd>
<kwd lng="en"><![CDATA[cyber-physical systems]]></kwd>
<kwd lng="en"><![CDATA[time delay]]></kwd>
<kwd lng="en"><![CDATA[tracked robot]]></kwd>
<kwd lng="es"><![CDATA[Neural networks]]></kwd>
<kwd lng="es"><![CDATA[networked control system]]></kwd>
<kwd lng="es"><![CDATA[cyber-physical systems]]></kwd>
<kwd lng="es"><![CDATA[time delay]]></kwd>
<kwd lng="es"><![CDATA[tracked robot]]></kwd>
</kwd-group>
</article-meta>
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