@article {134,
	title = {Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems},
	journal = {Control Systems Technology, IEEE Transactions on},
	volume = {21},
	year = {2013},
	month = {Nov},
	pages = {2391-2399},
	abstract = {<p>This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot{\textquoteright}s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.</p>
},
	keywords = {Collision avoidance, constraint limit surface, constraint violation, discontinuous control law, geometric invariance, infrared detectors, infrared sensors, mobile robot, mobile robots, Motion planning, reaching mode, reactive reference conditioning algorithm, reactive sliding-mode algorithm for collision avoidance in robotic systems, reference conditioning, reference trajectory, robot collision avoidance, Robot sensing systems, robot sensors, Sliding mode control, sliding surface, sliding-mode (SM) control, supervisory loop, trajectory control, variable structure systems},
	issn = {1063-6536},
	doi = {10.1109/TCST.2012.2231866},
	author = {Gracia, Luis and Garelli, Fabricio and Sala, Antonio}
}
@article {50,
	title = {Safety Auxiliary Feedback Element for the Artificial Pancreas in Type 1 Diabetes},
	journal = {Biomedical Engineering, IEEE Transactions on},
	volume = {60},
	year = {2013},
	month = {Aug},
	pages = {2113-2122},
	abstract = {<p>The artificial pancreas aims at the automatic delivery of insulin for glycemic control in patients with type 1 diabetes, i.e., closed-loop glucose control. One of the challenges of the artificial pancreas is to avoid controller overreaction leading to hypoglycemia, especially in the late postprandial period. In this study, an original proposal based on sliding mode reference conditioning ideas is presented as a way to reduce hypoglycemia events induced by a closed-loop glucose controller. The method is inspired in the intuitive advantages of two-step constrained control algorithms. It acts on the glucose reference sent to the main controller shaping it so as to avoid violating given constraints on the insulin-on-board. Some distinctive features of the proposed strategy are that 1) it provides a safety layer which can be adjusted according to medical criteria; 2) it can be added to closed-loop controllers of any nature; 3) it is robust against sensor failures and overestimated prandial insulin doses; and 4) it can handle nonlinear models. The method is evaluated in silico with the ten adult patients available in the FDA-accepted UVA simulator.</p>
},
	keywords = {Absorption, Artificial, artificial organs, Artificial pancreas, Biological, Blood Glucose Self-Monitoring, closed loop systems, closed-loop glucose control, Computer Simulation, Computer-Assisted, Diabetes, Diabetes Mellitus, diseases, drug delivery systems, Drug Therapy, drugs, Equipment Safety, FDA-accepted UVA simulator, feedback, glucose control, glycemic control, Humans, hypoglycemia, insulin, insulin-on-board, medical control systems, Models, Pancreas, Physiological, postprandial period, Proposals, reference conditioning, Robustness, safety, safety auxiliary feedback element, sliding mode (SM), sliding mode reference conditioning, Sugar, two-step constrained control algorithms, Type 1, type 1 diabetes},
	issn = {0018-9294},
	doi = {10.1109/TBME.2013.2247602},
	url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6463437},
	author = {Revert, Ana and Garelli, Fabricio and Pic{\'o}, Jes{\'u}s and De Battista, Hern{\'a}n and Rossetti, Paolo and Veh{\'\i}, Josep and Bondia, Jorge}
}
