Ponencias (Ingeniería de Sistemas y Automática)

URI permanente para esta colecciónhttps://hdl.handle.net/11441/11344

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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; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Union (UE). H2020; Ministerio de Economia, Industria y Competitividad (MINECO). España; Universidad de Sevilla. TEP995: Multi-Robot and Control Systems
In 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.
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; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Union (UE). H2020; Universidad de Sevilla. TEP995: Multi-Robot and Control Systems
This 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.
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; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Research Council (ERC); Junta de Andalucía; Universidad de Sevilla. TEP995: Multi-Robot and Control Systems
The 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.
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; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Universidad de Sevilla. TEP995: Multi-Robot and Control Systems
This 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
Combination of terminal sliding mode and finite-time state-dependent Riccati equation: flapping-wing flying robot control
(SAGE Publications, 2023-12) Nekoo, Saeed Rafee; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Union (UE). H2020; Universidad de Sevilla. TEP995: Multi-Robot and Control Systems; Universidad de Sevilla. TEP151: Robótica, Visión y Control
A novel terminal sliding mode control is introduced to control a class of nonlinear uncertain systems in finite time. Having command on the definition of the final time as an input control parameter is the goal of this work. Terminal sliding mode control is naturally a finite-time controller though the time cannot be set as input, and the convergence time is not exactly known to the user before execution of the control loop. The sliding surface of the introduced controller is equipped with a finite-time gain that finishes the control task in the desired predefined time. The gain is found by partitioning the state-dependent differential Riccati equation gain, then arranging the sub-blocks in a symmetric positive-definite structure. The state-dependent differential Riccati equation is a nonlinear optimal controller with a final boundary condition that penalizes the states at the final time. This guides the states to the desired condition by imposing extra force on the input control law. Here the gain is removed from standard state-dependent differential Riccati equation control law (partitioned and made symmetric positive-definite) and inserted into the nonlinear sliding surface to present a novel finite-time terminal sliding mode control. The stability of the proposed terminal sliding mode control is guaranteed by the definition of the adaptive gain of terminal sliding mode control, which is limited by the Lyapunov stability condition. The proposed approach was validated and compared with state-dependent differential Riccati equation and conventional terminal sliding mode control as independent controllers, applied on a van der Pol oscillator. The capability of the proposed approach of controlling complex systems was checked by simulating a flapping-wing flying robot. The flapping-wing flying robot possesses a highly nonlinear model with uncertainty and disturbance caused by flapping. The flight assumptions also limit the input law significantly. The proposed terminal sliding mode control successfully controlled the illustrative example and flapping-wing flying robot model and has been compared with state-dependent differential Riccati equation and conventional terminal sliding mode control.
Distributed equilibrium seeking in aggregative games: linear convergence under singular perturbations lens
(IEEE, 2024) Carnevale, Guido; Fabiani, Filippo; Fele, Filiberto; Margellos, Kostas; Notarstefano, Giuseppe; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
We present a fully-distributed algorithm for Nash equilibrium seeking in aggregative games over networks. The proposed scheme endows each agent with a gradient-based scheme equipped with a tracking mechanism to locally reconstruct the aggregative variable, which is not available to the agents. We show that our method falls into the framework of singularly perturbed systems, as it involves the interconnection between a fast subsystem - the global information reconstruction dynamics - with a slow one concerning the optimization of the local strategies. This perspective plays a key role in analyzing the scheme with a constant stepsize, and in proving its linear convergence to the Nash equilibrium in strongly monotone games with local constraints. By exploiting the flexibility of our aggregative variable definition (not necessarily the arithmetic average of the agents' strategy), we show the efficacy of our algorithm on a realistic voltage support case study for the smart grid.
Probably approximately correct stability of allocations in uncertain coalitional games with private sampling
(2024) Pantazis, George; Fele, Filiberto; Fabiani, Filippo; Grammatico, Sergio; Margellos, Kostas; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; European Union (UE)
We study coalitional games with exogenous uncertainty in the coalition value, in which each agent is allowed to have private samples of the uncertainty. As a consequence, the agents may have a different perception of stability of the grand coalition. In this context, we propose a novel methodology to study the out-of-sample coalitional rationality of allocations in the set of stable allocations (i.e., the core). Our analysis builds on the framework of probably approximately correct learning. Initially, we state a priori and a posteriori guarantees for the entire core. Furthermore, we provide a distributed algorithm to compute a compression set that determines the generalization properties of the a posteriori statements. We then refine our probabilistic robustness bounds by specialising the analysis to a single payoff allocation, taking, also in this case, both a priori and a posteriori approaches. Finally, we consider a relaxed ζ-core to include nearby allocations and also address the case of empty core. For this case, probabilistic statements are given on the eventual stability of allocations in the ζ-core.
Operación periódica óptima de una microrred aislada con respuesta a la demanda: Aplicación del ART-MPC económico basado en QP
(Comité Español de Automática (CEA), 2025) Borja Conde, José Antonio; Fele, Filiberto; Limón Marruedo, Daniel; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Universidad de Sevilla. TEP950: Estimación, Predicción, Optimización y Control
En respuesta al creciente consumo de electricidad, las microrredes han emergido como una solución flexible y eficiente para el autoabastecimiento energético en áreas remotas. Este artículo aborda la optimización y el control de una microrred aislada, compuesta por paneles fotovoltaicos, un generador diésel y baterías de ion-litio. El objetivo es minimizar el uso de combustible y maximizar la generación fotovoltaica, considerando la degradación de las baterías. Para ello, se hace uso del llamado Artificial Reference Tracking Model Predictive Control (ART-MPC), concretamente de su variante diseñada para sistemas dinámicos periódicos, considerando criterios económicos cambiantes y basada en programación cuadrática (QP) de una sola capa. Mediante este controlador, se habilita la implementación de la optimización y el control del sistema directamente en plataformas industriales actuales. Los resultados demuestran la efectividad del controlador en la gestión de la microrred bajo diversas condiciones económicas y operativas, ofreciendo una solución viable para la gestión energética en sistemas aislados.
Economic model predictive control for periodic operation: a quadratic programming approach
(Institute of Electrical and Electronics Engineers (IEEE), 2024) Borja Conde, José Antonio; Nadales, Juan M.; Fele, Filiberto; Limón Marruedo, Daniel; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Universidad de Sevilla. TEP950: Estimación, Predicción, Optimización y Control
Periodic dynamical systems, distinguished by their repetitive behavior over time, are prevalent across various engineering disciplines. In numerous applications, particularly within industrial contexts, the implementation of model predictive control (MPC) schemes tailored to optimize specific economic criteria was shown to offer substantial advantages. However, the real-time implementation of these schemes is often infeasible due to limited computational resources. To tackle this problem, we propose a resource-efficient economic model predictive control scheme for periodic systems, leveraging existing single-layer MPC techniques. Our method relies on a single quadratic optimization problem, which ensures high computational efficiency for real-time control in dynamic settings. We prove feasibility, stability and convergence to optimum of the proposed approach, and validate the effectiveness through numerical experiments
Control basado en datos e implementación en convertidores electrónicos
(Universidad de La Coruña y Comité Español de Automática, 2024-07) Merchán-Riveros, María Camila; Albea-Sánchez, Carolina; Seuret, Alexandre; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Agencia Estatal de Investigación. España; Universidad de Sevilla. TEP102: Ingeniería Automática y Robótica
Este trabajo presenta un método de diseño de control basado en datos para convertidores de potencia que pueden aproximarse como sistemas afines conmutados, proporcionando garantías de estabilidad global. A diferencia de las técnicas convencionales que a priori, requieren una identificación del modelo no lineal, nuestra contribución relaja este requisito al utilizar la información de la planta adquirida a partir de una colección de datos experimentales del sistema en bucle abierto. Este enfoque basado en datos permite la síntesis directa de una ley de control estabilizadora. La efectividad del método propuesto se valida en una plataforma experimental de Imperix. Los resultados experimentales no solo corroboran la viabilidad de las estrategias de control basadas en datos para sistemas conmutados afines, sino que también resaltan su aplicabilidad en escenarios prácticos del mundo real.
Modelos de predicción neuro-borrosos para un aerogenerador en una planta de fabricación industrial
(Universidad de Burgos, 2024) Chicaiza Salazar, William David; Gómez Jiménez, Javier; González Camacho, Pablo; Escaño González, Juan Manuel; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Commission (EC); Junta de Andalucía
Este trabajo se centra en el desarrollo de modelos de predicción neuro-fuzzy para un sistema de energía renovable basado en una red Adaptive Neuro-Fuzzy Inference System (ANFIS), un aerogenerador que forma parte de una planta de fabricación industrial multimáquina. Este modelo es una parte del conjunto de modelos que forman el gemelo digital de la planta de fabricación que se utilizar a para realizar estrategias de control y optimización para maximizar el uso de fuentes de energía renovables dentro de una arquitectura de Gemelo Digital (GD) de sus contrapartes físicas. El modelo se utiliza para capturar el comportamiento del aerogenerador. Se aplica un proceso de agrupación para mitigar la saturación de datos y conseguir un comportamiento realista de la generación de energía. Los modelos neurofuzzy obtenidos muestran un buen rendimiento de las predicciones de la dinámica no lineal en todo el rango de operación en ambos sistemas. Se ha ideado un método para seleccionar la predicción más fiable entre las distintas disponibles, centrándose en su aplicabilidad a la producción.
Fuzzy speed estimator for drives using optical encoders
(Universidad de Burgos, 2024) Garrido Satué, Manuel; Escaño González, Juan Manuel; Colodro Baldiviezo, F.; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)
Después de años de investigación, el Control Indirecto de Campo Orientado (IFOC) y otras técnicas relacionadas son una opción disponible comercialmente. Algunos aspectos derivados de la implementación en Procesadores Digitales de Señal (DSP) de las estructuras de tipo IFOC han recibido menos atención en la literatura. En particular, aquí se considera el proceso de medición de la velocidad mecánica usando codificadores ópticos. Se presenta un modelo del método de medición de la velocidad con sus implicaciones para diseño de controladores. Como resultado del análisis, se presenta un nuevo estimador de la velocidad basado en inferencia borrosa. Los experimentos realizados muestran una mejora en los resultados respecto al modo de proceder común, sin abandonar el método de conteo de pulsos comúnmente utilizado.
Kalman-inspired distributed set-membership observers
(Institute of Electrical and Electronics Engineers (IEEE), 2016) García Rodríguez, Ramón Andrés; Orihuela Espina, Diego Luis; Millán, Pablo; Ortega Linares, Manuel Gil; Rodríguez Rubio, Francisco; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Economía y Competitividad (MINECO). España
In this paper we propose a novel algorithm for distributed set-membership observation based on zonotopes. The method is able to estimate the dynamics of non-directly measured unstable modes. The distributed observer gains are optimally chosen to minimize the Frobenius norm of the prediction zonotope. The simulations show that the performance of the proposed distributed observation technique is comparable to that of a centralized observer.
Agent-based guaranteed estimation and control of nonlinear systems
(Institute of Electrical and Electronics Engineers (IEEE), 2015) García Rodríguez, Ramón Andrés; Millán, P.; Orihuela Espina, Diego Luis; Rodríguez Rubio, Francisco; Ortega Linares, Manuel Gil; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Economía y Competitividad (MINECO). España
This paper presents a distributed guaranteed estimation and control technique for a class of nonlinear system. The system outputs are being measured by a set of agents whose objective is the estimation of the whole state. Furthermore, one agent is responsible for the control of the plant. Compared to the case of distributed estimation, the joint problem becomes harder to solve due to the fact that the agents ignore the actual control action being applied to the plant. The solution proposed makes use to zonotopes to find a set that contains the control action. The proposed algorithm has been tested with a simulation example.
Guaranteed Estimation for Distributed Networked Control Systems
(Springer, 2015) García Rodríguez, Ramón Andrés; Orihuela Espina, Diego Luis; Millán, Pablo; Ortega Linares, Manuel Gil; Rodríguez Rubio, Francisco; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Moreira, António Paulo; Ministerio de Ciencia y Tecnología (MCYT). España
This paper proposes a distributed estimation and control scheme for discrete linear time-invariant systems. The plant is monitored and controlled by a network of agents that collect information about the system evolution and apply control inputs to drive its behavior. Bounded disturbances and measurement noises are considered through a zonotope-based approach. It is proven that the state of the plant belongs to the prediction and estimation zonotopes constructed by all the agents at every time instant. The performance of the proposed technique is tested by simulation using a classical system: the inverted pendulum on a cart.
Lightweight compliant arm with compliant finger for aerial manipulation and inspection
(IEEE, 2016) Suárez Fernández-Miranda, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Universidad de Sevilla. TEP151: Robótica, Visión y Control
This paper presents the design and experimental validation of a compliant and lightweight 3-DOF robotic arm - shoulder yaw, shoulder pitch and elbow pitch joints - equipped with a compliant finger module intended for aerial inspection and manipulation in contact with the environment. A simple transmission mechanism consisting in a pair of compression springs and a flange bearing is integrated in the shoulder pitch and elbow pitch joints between the servo shaft and the output frame. Joint deflection measurement with potentiometer allows joint torque but also contact force estimation and control. The low stiffness of the compliant finger has been exploited for soft collision detection and obstacle localization, in such a way that the contact forces do not significantly disturb the UAV. Fixed-base experiments have been performed with the arm, including the characterization of the compliant joints and the control of the contact force at wrist point.
Coalitional control: A bottom-up approach
(IEEE, 2015) Fele, Filiberto; Maestre Torreblanca, José María; Camacho, Eduardo F.; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several controllers in a distributed topology that suits better the structure of the system. This opens as well the possibility to promote cooperation between control agents in competitive environments, establishing links between controllers in order to adapt the exchange of critical information to the degree of subsystems' interactions. In this paper a bottom-up approach to coalitional control is presented, where the structure of each agent's model predictive controller is adapted to the time-variant coupling conditions, promoting the formation of coalitions - clusters of control agents where communication is essential to ensure the cooperation - whenever it can bring benefit to the overall system performance.
The speed assignment problem for conflict resolution in aerial robotics
(Institute of Electrical and Electronics Engineers (IEEE), 2012) Alejo, David; Cobano Suárez, José Antonio; Trujillo, Miguel Ángel; Viguria, Antidio; Rodríguez Castaño, Ángel; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER); Ministerio de Ciencia e Innovación (MICIN). España; Junta de Andalucía; Universidad de Sevilla. TEP151: Robótica, Visión y Control
This paper presents an efficient conflict resolution method for multiple aerial vehicles based on speed planning. The problem is assigning a speed profile to each aerial vehicle in real time such that the separation between them is greater than a minimum safety value and the total deviation from the initial planned trajectories is minimized. Also, the arrival time of each aerial vehicle at the end waypoint of the trajectory is taken into account to solve the conflicts. The proposed method involves the use of appropriate airspace discretization. The method consists of two steps: a search tree step, which finds if it exists a solution; and an optimization step by solving a QP-problem, which minimizes a cost function. The paper also presents simulations for several scenarios and experiments that have been carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (CATEC).
A 4D grid based approach for efficient conflict detection in large-scale multi-UAV scenarios
(IEEE, 2019) Acevedo Báñez, José Joaquín; Rodríguez Castaño, Ángel; Andrade Pineda, José Luis; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Universidad de Sevilla. Departamento de Organización Industrial y Gestión de Empresas I
This paper proposes an algorithm to detect conflicts among UAVs from a strategic point of view. The method is based on the representation of the airspace as a 4D grid of cells. Given a set of UAVs with their scheduled 4D trajectories (their flight plans), the whole scenario is discretized as a 4D grid and the problem is solved by filling the appropriate cell for each way-point from the trajectories and checking the neighboring cells. The proposed method is tested and compared against a traditional algorithm getting a significantly better performance. The proposed method also scales very well with increasing number of UAVs and way-points per trajectory.
Thermal detection and generation of collision-free trajectories for cooperative soaring UAVs
(IEEE, 2013) Cobano Suárez, José Antonio; Alejo, David; Sukkarieh, S.; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Universidad de Sevilla. TEP151: Robótica, Visión y Control
This paper presents a cooperative system architecture that extends the flight duration of multiple gliding fixed-wing Unmanned Aerial Vehicles (UAVs) for long endurance missions. The missions are defined by a set of Points of Interest (PoI) and UAVs should pass through them. A module to detect and identify thermals is implemented to exploit their energy and extend the flight duration, known as static soaring. A collision-free trajectory planner based on the RRT∗ (Optimal Rapidly-exploring Random Trees) planning algorithm is implemented. The proposed system allows applications in real time because of its low computational needs. Simulations and experiments carried out in the airfield of La Cartuja (Seville, Spain) show the performance and advantages of the proposed system.

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