Ponencias (Ingeniería de Sistemas y Automática)
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Ponencia Currito: A 3D printed Open-source Educational Robot(Elsevier, 2025) Luque, Ignacio; Coronilla, F. J.; Alvarado Aldea, Ignacio; Maestre Torreblanca, José María; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). EspañaCurrito is a low-cost, 3D-printed robot developed for educational and professional purposes. It is provided along with a comprehensive open-source framework that contains the blueprints, quick-start codes and detailed guidelines in order to facilitate a straightforward replication and adaptation of the robot, enhancing the accessibility of existing human-robot interaction models. Currito’s design efficiently integrates mechanical and electronic components that enable a real-time interaction and an organic and realistic behavior of the robot, while allowing for a wide range of physical and morphological variations. This article outlines the design of Currito and showcases its capabilities through a practical implementation in a master’s-level robotics course at the University of Seville.Ponencia Stability analysis and design of an event-triggered control scheme for a coupled ODE-heat PDE system(Elsevier, 2025) Thomas, Arthur; Baudouin, Lucie; Seuret, Alexandre; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). EspañaThis paper tackles the stability analysis of a system driven by linear ordinary differential equation coupled to a one-dimensional heat equation. The particularity of this study concerns the nature of the coupling, which is performed using an event-triggered scheme, through a boundary condition of the partial differential equation. After proving the existence and regularity of solutions of the system, the idea is to introduce an enriched energy functional as a candidate Lyapunov functional to prove the exponential stability. Actually, we will obtain a sufficient stability condition expressed as a linear matrix inequality to satisfy. This condition is suitable for solving an emulation problem corresponding to the appropriate tuning of the event-triggered control. Our result is finally illustrated with a numerical example.Ponencia Estimación de la distribución de caudal en plantas solares de colectores cilindro-parabólicos(Comité Español de Automática (CEA), 2025-09) Ruiz-Moreno, Sara; Gallego Len, Antonio Javier; Camacho, Eduardo F.; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). EspañaEste trabajo presenta una metodología para la estimación del reparto de caudal en plantas termosolares de colectores cilindro-parabólicos combinando técnicas de optimización con redes neuronales recurrentes para reducir su alto coste computacional. Primero, se aplica un algoritmo para estimar la tempertura en el lazo y obtener el reparto de caudal que minimiza los errores de estimación. Después, se entrenan redes neuronales para reproducir el algoritmo. Los caudales obtenidos se utilizan como punto inicial en el proceso de optimización, limitando el espacio de búsqueda y reduciendo significativamente el tiempo de cómputo. El método se evalúa en sectores de distinto tamaño (4, 20 y 50 lazos), comparando tres variantes: optimización, combinación red neuronal+optimización, y red neuronal. Los resultados muestran que el enfoque propuesto mejora la estimación respecto a la suposición clásica de distribución uniforme, y permite una reducción significativa del tiempo de cálculo respecto al uso único del optimizador, especialmente relevante en sectores de gran escala.Ponencia Estudio energético de FSMPC para un motor de 5 fases(Comité Español de Automática (CEA), 2025-10-06) Marsal Pederzani, Esteban; Garrido Satué, Manuel; Colodro Ruiz, Francisco; Ingeniería de Sistemas y Automática; Ingeniería Electrónica; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Agencia Estatal de Investigación. España; TIC275: Investigación y Desarrollo en Electrónica, Automática y Tecnologías EmergentesEl control de motores mediante el manejo directo de los estados del inversor (FSMPC) ha sido objeto de estudio recientemente. El interés viene motivado por dos factores: la rapidez de respuesta comparada con el caso habitual usando moduladores y la flexibilidad para su aplicación a diversos sistemas y para incorporar diversos criterios de control. En particular ya se ha establecido previamente la posibilidad de usar FSMPC en sistemas multifásicos, aprovechando las ventajas intrínsecas de ́estos. También se ha demostrado la posibilidad de lograr un cierto equilibrio entre producción de par y contenido armónico. Queda sin embargo por explorar la capacidad de reducir las pérdidas totales mediante la sintonía del FSMPC. En este artículo se da a conocer un trabajo en curso destinado a tal fin. En particular se presentan resultados experimentales con una máquina de 5 fases y un sistema diseñado para la estimación de las pérdidas totales.Ponencia Control predictivo de motores de cinco fases mediante estrategias mono-vector ymulti-vector(Comité Español de Automática (CEA), 2025-10-06) Garrido Satué, Manuel; Martínez Heredia, Juana María; Mora Jiménez, José Luis; Ingeniería Electrónica; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Agencia Estatal de Investigación. España; TIC275: Investigación y Desarrollo en Electrónica, Automática y Tecnologías EmergentesEl control predictivo de motores polifásicos ha utilizado diversas aproximaciones en lo que respecta al uso de los estados del inversor. En algunas propuestas se usa más de una configuración del inversor dentro de un mismo periodo de muestreo. Estos métodos proporcionan una forma fácil de lidiar con el contenido del plano armónico al tiempo que disminuyen la carga computacional. En este artículo se presenta una comparación entre un método multi-vector y un método mono-vector. Para la comparación se usa la bondad de control de corrientes de estátor en el plano productor de par y en el plano armónico. Se ajusta la frecuencia de conmutación para proporcionar valores similares en ambos casos, proporcionando de este modo igual uso de inversor a ambos métodos.Ponencia Singular perturbation control of the lateral-directional flight dynamics of an UAV(2015) Esteban Roncero, Sergio; Gavilán Jiménez, Francisco; Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; Ingeniería Aeroespacial y Mecánica de Fluidos; TEP995: Multi-Robot and Control Systems; TEP945: Ingeniería AeroespacialThis paper presents a singular perturbation control strategy for regulating the lateral-directional flight dynamics of an Unmanned Air Vehicle (UAV). The proposed control strategy is based on a four-time-scale (4TS) decomposition that includes the side-slip velocity, bank angle, yaw rate and roll rate dynamics, with the control signals being the aileron and rudder deflection. The nonlinear control strategy drives the system to follow a reference in load factor which in return provides references in bank angle, side-slip velocity and yaw rate. In addition, the control strategy permits to select the desired dynamics for all the singularly perturbed subsystems. Numerical results are included for a realistic nonlinear UAV model, including saturation on the control signals, and unmodeled dynamics.Ponencia Swinging up the Furuta pendulum by the speed gradient method(Institute of Electrical and Electronics Engineers, 2015-04) Acosta Rodríguez, José Ángel; Gordillo Alvarez, Francisco; Aracil Santonja, Javier; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems; TEP102: Ingeniería Automática y RobóticaThe swing-up problem for the Furuta pendulum is analyzed comparing the results obtained by the conventional A˚strom-Furuta strategy, based on a dimension 2 model, with a new strategy based on a dimension 3 control law. A counterexample where the new law works well, but the old one does not is included. The controller design is based on the Fradkov “Speed Gradient” (SG) method [1]. A comparative analysis is performed showing the advantages and effectiveness of the proposed law.Ponencia Stabilization of oscillations in the inverted pendulum(Elsevier, 2002) Aracil Santonja, Javier; Gordillo Alvarez, Francisco; Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; Ministerio de Educación y Cultura (MEC). España; TEP995: Multi-Robot and Control Systems; TEP102: Ingeniería Automática y RobóticaThis paper addresses the problem of obtaining robust and stable oscillations in an electromechanical system. These oscillations are associated to a limit cycle that is born through a supercritical Hopf bifurcation. The method proposed in the paper works well for fully actuated systems, and even for certain underactuated ones. In order to illustrate the method, we have chosen an underactuated system that is well known in the literature and in control systems laboratories: the inverted pendulum. Actual stable and robust oscillations have been obtained experimentally in a rotating Furuta pendulum. Copyright © 2002 IFAC.Ponencia Position-feedback stabilization of mechanical systems with undrractuation degree one(Elsevier, 2004-09) Acosta Rodríguez, José Ángel; Ortega, Romeo; Astolfi, Alessandro; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control SystemsWe consider in this paper the problem of (asymptotic) stabilisation, via position feedback, of mechanical systems with undcractuation degree one. A full stale-feedback design is first derived applying Interconnection and Damping Assignment Passivity-Based Control to which an Immersion and Invariance speed estimator is then added. The technique is applied to obtain an (almost) globally stabilizing scheme for the vertical takeoff and landing aircraft with strong input coupling, and a controller for the chariot with the pendulum that can swing-up the pendulum from any position in the upper half plane and stop the chariot at any desired location. In both cases we obtain very simple and intuitive position-feedback solutions that do not rely on, rather unnatural and techniquedriven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamillonian structure with desired potential and kinetic energy functions. Copyright © 2004 IFAC.Ponencia Passivation of underactuated systems with physical damping(2004-09) Gómez-Estern, Fabio; Van Der Schaft; Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; European Union (UE); Ministerio de Ciencia y Tecnología (MCYT). España; TEP995: Multi-Robot and Control SystemsIn recent works, Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) has been succesfully applied to mechanical control problems with no physical damping present. In some cases, the friction terms can be obviated without compromising stability in closed loop. However in methods that modify the kinetic energy, a controller designed For stabilizing the undamped system might lose passivity, a key property for nonlinear system stabilization, when damping is introduced. This paper presents a necessary and sufficient condition, namely the dissipation condition, for recovering passivity (and hence stability) in such cases. If the dissipation condition is fulfilled, an IDA-PBC redesign is necessary in general, and with this goal two different methods for passivating the damped system are presented. Copyright © 2004 IFAC.Ponencia Kinetic energy shaping in the inverted pendulum(Elsevier, 2004-09) Aracil Santonja, Javier; Acosta Rodríguez, José Ángel; Gordillo Álvarez, Francisco; Ingeniería de Sistemas y Automática; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER); TEP995: Multi-Robot and Control SystemsIn this paper, a new control law for the pendulum on a cart is proposed. The novelty of the new control law is in the combination of methods that is used to obtain it. First, a control law for transforming the pendulum subsystem in a Hamiltonian system is obtained. The resulting Hamiltonian function has a maximum at the desired position. The objective of the secorid step is to inject energy (so the pendulum subsystem tends to the maximum of the Hamiltonian) at the same time that the cart is stopped. It is shown that both objectives can be solved using forwarding, which in this case yields solvable partial differential equations. Copyright © 2004 IFAC.Ponencia On Singular Perturbations of Unstable Underactuated Mechanical Systems With Underactuation Degree ≥ 1(Elsevier, 2008) Acosta Rodríguez, José Ángel; López-Martínez, M.; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems10 years ago, K.J. Åström proposed that the essence of the complex control problem originated by the joint of the pilot - & - aircraft can be captured on labs, by means of unstable underactuated mechanical systems. Thus, the unactuated part describes the autonomous aircraft dynamics and the actuated the piloted one. In this constructive approach we propose a nonlinear controller based on classical feedback linearization and singular perturbation theory, which has a compact and explicit expression, providing the designer a handle to address transient performance and robustness issues to dominate undesirable friction and/or drag effects, even in the unactuated coordinates. Further, partial differential equations need not to be solved. A multivariable example and successful experiments on the Furuta's pendulum are reported. To the best of authors' knowledge it has the largest attraction basin experimentally tested so far. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.Ponencia Constructive immersion and invariance stabilization for a class of underactuated mechanical systems(Institute of Electrical and Electronics Engineers, 2010-09) Sarras, I.; Acosta Rodríguez, José Ángel; Ortega, R.; Mahindrakar, A.D.; Ingeniería de Sistemas y Automática; Junta de Andalucía; TEP995: Multi-Robot and Control SystemsIn this paper a constructive approach to the stabilization of a desired equilibrium for a class of underactuated mechanical systems via the Immersion & Invariance methodology (I&I) is proposed. The design procedure shows that cases of mechanical systems with underactuation degree greater than one are included. This work generalizes the results recently reported by the authors, where an approach to obviate the solution of the corresponding PDEs for a class of nonlinear systems was proposed. Finally, our approach is successfully applied to the inertia wheel pendulum system and an interesting connection with the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is revealed. © 2010 IFAC.Ponencia Constructive nonlinear sliding mode surfaces for a class of underactuated systems with parametric uncertainties(Institute of Electrical and Electronics Engineers, 2015-04) López Martínez, Manuel; Acosta Rodríguez, José Ángel; Cano, Juan Manuel; Ingeniería de Sistemas y Automática; Ministerio de Educación y Ciencia (MEC). España; Junta de Andalucía; TEP995: Multi-Robot and Control Systems; TEP201: Ingeniería de Automatización, Control y RobóticaThis paper presents a constructive methodology to design sliding mode surfaces for a class of underactuated mechanical systems. The surfaces are designed taking advantage of a fictitious output and the Lyapunov theory. The fictitious output is chosen in such a way that the system is minimum-phase. The technique is developed for a class of underactuated mechanical systems with uncertainty in their physical parameters, mainly in the inertial terms. Two examples in the class, the pendulum on a cart and the inertia wheel pendulum are thoroughly analyzed. Simulations show the good performance, namely, time response and parametric robustness, of the controller. © 2009 EUCA.Ponencia A Robust Decentralised Strategy for Multi-Task Control of Unmanned Aerial Systems. Application on Underactuated Aerial Manipulator(Institute of Electrical and Electronics Engineers, 2016) Acosta Rodríguez, José Ángel; Rodríguez de Cos, Carlos; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Union (UE). H2020; TEP995: Multi-Robot and Control SystemsThese days we demand Unmanned Aerial Systems (UASs) fly autonomously and be able to physically interact with their environment executing prescribed tasks. An excellent example of that are the Aerial Manipulators (AMs) i.e. UASs formed by the join of an Unmanned Aerial Vehicle (UAV) and a Robot Manipulator (RM). Moreover, the lack of structured workspaces in outdoor operations is challenging for the control system, forcing to increase notably its complexity to meet such requirements but keeping in mind the trade-off between the task performance and computational burden. In this work, a nonlinear control strategy is proposed and thoroughly tested on an AM. The strategy combines the use of robust controllers separately for both UAV and RM exploiting their stability margins to optimise different prescribed criteria in real time. The inclusion of this optimisation in the loop shows excellent results, sharing priorities of the controllers as required. Following this idea, two different strategies have been tested in a benchmark system showing promising results and, furthermore, feasible for a subsequent implementation in the available platform. © 2016 IEEE.Ponencia Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver(Institute of Electrical and Electronics Engineers, 2019-02) Nekoo, S.R.; Acosta Rodríguez, José Ángel; Gómez-Tamm, A.E.; Ollero de Castro, Pedro Antonio; Ingeniería de Sistemas y Automática; European Union (UE). H2020; TEP995: Multi-Robot and Control SystemsVariable-pitch propellers quadrotors possess nonlinear algebraic relations between force/moment of the system and thrust factors of the rotor dynamics. The nonlinear relations make the thrust allocation a challenging topic in overall control design. The state-dependent Riccati equation (SDRE) is selected as a controller for regulation task in fully coupled six degree-of-freedom (DoF) mode. Common designs of the SDRE fail to deliver a fully coupled six-DoF control due to under-actuation. Virtual constraints are used to deliver a position and orientation control in a cascade design. Within the structure of the SDRE, four thrust allocation methods are proposed to compute the thrust factors based on the output results of control system. Practical implementation has been the main reason to generate such allocations. The use of Mean Value Theorem makes it possible to find an implementable formalism for thrust factors since they can be categorized as non-affine systems. Agile and aggressive maneuver is one of the application of the variable-pitch propellers quadrotors; so, flip maneuver is studied to highlight the advantages of the thrust allocation methods. Analysis of the four methods and comparisons are carried out to present the advantages and disadvantages of the proposed structures. © 2019 IEEE.Ponencia Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design(Springer Nature, 2020) Nekoo, Saeed Rafee ; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Union (UE). H2020; Ministerio de Economia, Industria y Competitividad (MINECO). España; TEP995: Multi-Robot and Control SystemsIn this work, a fully coupled six degree-of-freedom (DoF) nonlinear suboptimal control of a variable-pitch quadrotor is studied using a state-dependent Riccati equation (SDRE) controller. The quadrotor control has been widely considered for attitude control; however, the position control is an uncontrollable problem with the common design of the SDRE. Due to the under-actuated nature of a quadrotor, the state-dependent coefficient (SDC) parameterization of state-space representation of a nonlinear system leads to an uncontrollable SDC pair. The control law is divided into two sections of position and attitude control. The position control provides the main thrust. A virtual constraint is regarded to provide stabilization for the quadrotor in attitude control. Two methods were designed for selection of a state vector or in other words, selection of feedback. The first one uses the position and orientation and their derivatives in global coordinate. The second one uses position and orientation in global and their velocities in local coordinate. The dynamics of a variable-pitch propeller quadrotor was imported to the problem and compared with a fixed-pitch propeller system. The simulation of the systems shows that the SDRE is capable of controlling the system with both fixed- and variable-pitch rotor dynamics.Ponencia Fuselage aerodynamics and weight trade-off at low-speed ornithopter flight(Institute of Electrical and Electronics Engineers, 2022-07) Sánchez Laulhe, Ernesto; Ruiz, C.; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Union (UE). H2020; TEP995: Multi-Robot and Control SystemsThis work presents a thorough study on the effect of the inclusion or not of a fuselage in flapping wing robots, for which no clear criterion has been found so far. The study consists in a dynamic analysis for level flight conditions at both configurations, of an actual prototype. An overall aerodynamic model based on CFD simulations are used for modeling the average in-flight forces performed by the ornithopter elements, wing, body and tail. Experimental thrust correction is developed to include the effects of wing flexibility, thus increasing the accuracy of the results. Results show a better performance at low speeds when the ornithopter does not carry the fuselage. At higher speeds, the lower drag provided by the fuselage becomes important. However, the increased weight always need a higher flapping frequency for the low velocity range of our prototype, creating a disadvantage for this regime. The results highlights a fuselage design criteria, which can be extrapolated to other bird-scaled flapping wing robots performing slow maneuvers, as perching, as well as to hybrid flapping-fixed wing UAVs.Ponencia A 79.7g manipulator prototype for E-flap robot: a plucking-leaf application(Institute of Electrical and Electronics Engineers, 2023-06) Nekoo, Saeed Rafee; Feliu Talegón, Daniel; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Research Council (ERC); Junta de Andalucía; TEP995: Multi-Robot and Control SystemsThe article presents the initial attempts to provide a geometric framework for modelling and control of flexible link robotic manipulators whose end-effector interacts with a compliant surface. The case study presented here restricts itself to planar flexible link manipulators. Ideas from Lie groups and Lie algebras have been employed to derive the forward and inverse kinematic maps, and their associated Jacobian. Finally we employ the geodesic equation to write down the comprehensive dynamical equations of the system. A geometrical interpretation of the Jacobian is presented and a velocity-level control law proposed earlier in literature is recast in the geometric language. Lastly we incorporate Christoffel symbols in the dynamic model of the flexible manipulator highlighting the underlying geometry. Using this framework, an existing velocity based control law is synthesized and simulated. Results demonstrate that the geometric framework yields a smoother and faster error convergence.Ponencia Theoretical and experimental investigation on body control after perching for flapping-wing robots: extending the workspace for manipulation(Institute of Electrical and Electronics Engineers, 2023-06) Luque, Pablo Serrano; Satue, Álvaro C.; Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control SystemsThis work investigates a post-perching control for flapping-wing flying robots (FWFRs) to control and move the system on a branch. The flapping-wing aerial systems are lightweight platforms that mimic the birds' flight and they could serve for monitoring and inspection. The interaction of the FWFRs with the environment needs to fulfill perching on a branch, as a preliminary step, then moving the body to gain access to the desired pose and workspace. The leg of the robot moves the bird to the proper position. This work studies the mathematical modeling, simulation, and experimental implementation of this topic. A three-degree-of-freedom system is presented to model the robot's body, tail, and leg. A nonlinear controller, so-called feedback linearization (FL) is used for the control of the robot. A linear quadratic regulator (LQR), plus an integrator, are embedded in the FL controller to deliver optimal control for the linearized system. The simulation results show that the actuated leg extends the workspace of the robot significantly and confirms the effectiveness of the proposed strategy for body control. Experimental results present similar behavior of the system using the proposed controller for different desired setpoints