Artículos (Ingeniería de Sistemas y Automática)

URI permanente para esta colecciónhttps://hdl.handle.net/11441/11342

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Ground Control Station for Multi-UAV Systems in Infrastructure Inspection and Environmental Monitoring Applications
(Springer, 2025) Poma Aguilar, Álvaro Ramiro; Sojo López, Antonio de la Misericordia; Maza Alcañiz, Iván; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; Física Atómica, Molecular y Nuclear; Ministerio de Ciencia e Innovación (MICIN). España; European Union (UE)
The increasing integration of Unmanned Aerial Vehicles (UAVs) into complex projects, driven by their versatility and accessibility, requires robust mechanisms for interaction with various elements of the system during sophisticated tasks such as monitoring large-scale infrastructure and environmental inspection. This trend demands flexible integration solutions. This paper presents an open-source Ground Control Station (GCS) that serves as a crucial intermediary module, enabling the seamless integration of multi-UAV fleets with external applications working as Control Centers (CC). The GCS facilitates end-to-end automated workflows: from receiving high-level task assignments from the CC, through optimized mission planning and coordinated execution across heterogeneous UAV fleets (e.g., multicopters, VTOLs, fixed-wing, etc.), to data acquisition, processing, and the delivery of consolidated results back to the CC. Unlike many existing GCS solutions, often tied to specific autopilots or lacking straightforward integration capabilities with higher-level command systems, our approach provides a flexible and application-agnostic layer. The capabilities of the system were validated in real-world scenarios, including automated tower and power line inspections. These tests demonstrated that tasks commanded by the CC via the GCS platform were executed automatically and efficiently, as expected.
Model Reference Adaptive Predictive Current Control of Six-Phase Induction Machine
(IEEE, 2025) Arahal, Manuel R.; Garrido Satué, Manuel; Barrero, Federico; Martínez Heredia, Juana María; Ingeniería de Sistemas y Automática; Ingeniería Electrónica; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)
Predictive stator current control (PSCC) is a flexible technique that has been the subject of research in connection with multiphase drives. The flexibility that the cost function (CF) brings finds an obstacle in CF tuning. Intensive trial and error tests are usual in this context. In this article, an adaptive procedure is proposed based on the concept of model reference adaptive control. Unlike previous methods, the proposal provides on-line tuning of PSCC with very little burden. The proposal is motivated by the idea of using optimal weighting factors (WFs) for each operating point. A case study is developed for a six-phase induction machine. The adaptive method includes cross terms and momentum to cope with irregularities in the derivatives with respect to the WF. It is shown that adaptiveness allows crossing the Pareto front of performance indicators. This provides flexibility without optimality loss. The proposal is assessed with real experimentation on a laboratory set-up.
Robust Specifications for Practical Control Design. Insights from the Reaction Curve
(IEEE, 2025-10) Ortega Linares, Manuel Gil; Garrido Satué, Manuel; Vargas Villanueva, Manuel; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER); TEP201: Ingeniería de Automatización, Control y Robótica
In the context of linear time-invariant, model-based control, this paper exploits a straightforward method for estimating the uncertainty arising from the use of an approximate nominal model to represent an actual plant. The approach relies on comparing nominal and actual time-domain reaction curves to quantify this uncertainty. Designed to support field control engineers and plant operators, the method enables the setting of realistic closed-loop specifications that reflect the true system behavior, while circumventing the complexities typically associated with conventional robust control techniques. The paper details the estimation procedure and demonstrates its effectiveness through simulated and experimental validation. First, a numerical simulation on a nonlinear three-tank system illustrates how different measurement noise profiles affect the derived robust performance and stability bounds. Subsequently, the method is validated using an experimental student-trainer laboratory setup. The results confirm that the derived specification bounds are practical and relevant for ensuring robust stability and performance in realworld applications.
Drug dosing for cancer therapy: A stochastic model predictive control perspective
(Elsevier, 2025) Hernández Rivera, Andrés; Velarde, Pablo; Zafra Cabeza, Ascensión; Maestre Torreblanca, José María; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España
Stochastic Model Predictive Control (SMPC) is an effective decision-making method in applications where uncertainties play a significant role. This work introduces a non-linear formulation of SMPC specifically designed for cancer therapy. The proposed method considers the stochastic nature of tumor growth, non-linear dynamics, and a potential side effect of the treatment. Through one-year simulations, the results showcase the effectiveness of this strategy in controlling drug dosing.
Adaptive Virtual Inertia Provision for AC and MT HVDC Grids Based on Converters' Capabilities
(Wiley, 2025) Astereki, Amir Arsalan; Monadi, Mehdi; Seifossadat, Seyed Ghodratolah; Saffarian, Alireza; Rouzbehi, Kumars; Ingeniería de Sistemas y Automática
This paper presents a novel perspective on providing adaptive virtual inertia (AVI), aimed at improving DC voltage stabilityin Multi-Terminal High Voltage DC (MT-HVDC) grids while simultaneously enhancing frequency response in AC grids. Theproposed approach introduces an innovative Virtual Synchronous Generator (VSG) that supplies AVI for the AC systems.Additionally, a new control strategy for the Power Electronics Converters (PECs) that supply the MT-HVDC grid is presented,referred to as dcVSG, to provide AVI for this grid. Utilising both controllers concurrently enables adaptive and simultaneous virtualinertia provision on both DC and AC grids, while effectively leveraging the operational capabilities of the PECs. In this regard,the DC voltage and the AC grid frequency are considered as control parameters. The AVI is dynamically adjusted according to thePEC operating point. Specifically, the calculated maximum AVI is sensitive to the increase and reduction of the control parameter,demonstrating appropriate distinct values in response. This behaviour aims to utilise the PEC’s maximum power capacity. Thesmall-signal stability of the proposed system is analysed by focusing on the influence of virtual inertia on overall stability. Also,to assess the stability of the proposed controllers, Lyapunov stability theory, alongside a series of detailed simulation analyses, isconducted utilising the Cigre-DCS3 test grid. The simulation outcomes indicate that the proposed coordinated strategy yields a20% reduction in DC voltage deviation while also enhancing frequency nadir. Additionally, it achieves over a 60% decrease in therate of change of voltage (RoCoV) on the DC side and a 68% reduction in the rate of change of frequency (RoCoF), specificallywhen compared to methods that rely solely on the headroom power of the PEC to deliver maximum virtual inertia.
Partially cooperative robust distributed model predictive control for tracking
(Elsevier, 2025) Sánchez Amores, Ana; Ferramosca, Antonio; Maestre Torreblanca, José María; Camacho, Eduardo F.; Ingeniería de Sistemas y Automática; European Union (UE). H2020; Ministerio de Ciencia e Innovación (MICIN). España
This work investigates a partially-cooperative coalitional control setting for input-coupled multi-agent linear systems to robustly track changing setpoints. Within this framework, agents have the flexibility to share a public portion of their input, ceding control authority to neighbors, while keeping the rest private. Instead of coordinating the predicted control inputs, the bounds that define the public and private input constraint sets are negotiated in a distributed manner when the need arises, significantly reducing communicated data within the cooperation network. Coupling disturbances are considered through a tube-based approach, which steers the system to the desired target points while guaranteeing recursive feasibility and stability through tracking techniques. Finally, the approach is validated through simulations on an eight-input coupled tank benchmark.
Hybrid Powerplant Design and Energy Management for UAVs: Enhancing Autonomy and Reducing Operational Costs
(Multidisciplinary Digital Publishing Institute (MDPI), 2025) Quintana, Javier A.; Bordons Alba, Carlos; Esteban Roncero, Sergio; Delgado, Julián; Ingeniería de Sistemas y Automática; Ingeniería Aeroespacial y Mecánica de Fluidos; Ministerio de Ciencia e Innovación (MICIN). España
This study presents the design of a hybrid powerplant for unmanned aerial vehicles (UAVs), improving its autonomy compared to power systems based solely on batteries. The powerplant is designed for the Mugin EV-350 aircraft. Using experimental data from electric motors in a wind tunnel and fuel cells, a comparative analysis of different energy management strategies, such as fuzzy logic and passive, is conducted to reduce the operational and maintenance costs. A Python-based software program is developed and utilized for the real-time implementation and simulation of energy management strategies, with data collected in databases. This study integrates experimental data (wind tunnel and fuel cells) with real-time EMS strategies, and simulation-based predictions indicate practical improvements in endurance and cost reduction, as well as an increase in flight autonomy of 50%.
A new SG law for swinging the Furuta pendulum up
(Elsevier, 2003) Acosta Rodríguez, José Ángel; Gordillo Alvarez, Francisco; Aracil Santonja, Javier; Ingeniería de Sistemas y Automática; Ministerio de Ciencia y Tecnología (MCYT). España; TEP995: Multi-Robot and Control Systems; TEP102: Ingeniería Automática y Robótica
In this paper the swing-up problem for the Furuta pendulum is analyzed by comparing the results obtained by the conventional Astrom-Furuta strategy, based on a dimension 2 model, with a new strategy based on a dimension 3 control law using the symmetry of the configuration space of the system. The controller design is based on Fradkov's speed-gradient (SG) method (Andrievskii et al., 1996). A comparative analysis whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown is included.
A new swing-up law for the Furuta pendulum
(2010-08) Gordillo Alvarez, Francisco; Acosta Rodríguez, José Ángel; Aracil Santonja, Javier; Ingeniería de Sistemas y Automática; Ministerio de Ciencia y Tecnología (MCYT). España; TEP995: Multi-Robot and Control Systems; TEP102: Ingeniería Automática y Robótica
In this paper the swing-up problem for the Furuta pendulum is solved applying Fradkov’s speed-gradient (SG) method to a dimension 4 modelof the system. The new law is compared with the conventionalA˚ stro¨m–Furuta strategy, based on a dimension 2 model. A comparative analysis, including simulations and experiments, whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown, is included.
Finite-time port-controlled Hamiltonian design for second-order dynamical systems
(Elsevier, 2025) Nekoo, Saeed Rafee; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Commission (EC); TEP151: Robótica, Visión y Control
Finite-time design is not common in classical controllers, and the ones in the literature are not usually robust. The state-dependent differential Riccati equation (SDDRE) is an optimal nonlinear design in the company of a finite-horizon cost function that manipulates the terminal time using a weighting matrix of states. This method is sensitive to parametric model uncertainty, though its finite time characteristics can be augmented with other controllers. Port-controlled Hamiltonian (PCH) design can present a robust control law by defining the desired inertia matrix in the reference Hamiltonian function. The PCH is not finite-time; however, it can be modified using the suboptimal gain of the SDDRE controller. This paper combines the SDDRE and the PCH design to present a novel nonlinear controller with both finite-time and robust behavior toward parameter uncertainty in modeling. The finite-time behavior refers to the capability of controlling a system with different final times, as the input parameter to the system (or finishing a control task in a predefined time). The analytical stability proof of the proposed input law has been addressed using Lyapunov’s second method. The modified PCH is applied to second-order dynamical systems; as an illustrative example, a two-degree-of-freedom (DoF) inverted pendulum has been simulated and compared with a proportional–derivative (PD) control and a PCH with constant PD gains. A four-DoF robot arm was also simulated to highlight the application of the proposed method on complex systems. The introduced method outperformed the classical ones and showed finite-time regulation with different terminal times.
Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
(Institute of Electrical and Electronics Engineers, 2005-12) Acosta Rodríguez, José Ángel; Ortega, Romeo; Astolfi, Alessandro; Mahindrakar, A.D.; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems
Interconnection and damping assignment passivity-based control is a new controller design methodology developed for (asymptotic) stabilization of nonlinear systems that does not rely on, sometimes unnatural and technique-driven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The assignable energy functions are characterized by a set of partial differential equations that must be solved to determine the control law. We prove in this paper that for a class of mechanical systems with underactuation degree one the partial differential equations can he explicitly solved. Furthermore, we introduce a suitable parametrization of assignable energy functions that provides the designer with a handle to address transient performance and robustness issues. Finally, we develop a speed estimator that allows the implementation of position-feedback controllers. The new result 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 pendulum in a cart that can swing-up the pendulum from any position in the upper half plane and stop the cart at any desired location. In both cases we obtain very simple and intuitive position-feedback solutions. © 2005 IEEE.
Linealizacion por realimentacion constructiva de sistemas mecanicos con grado de subactuacion 1 inestables con friccion
(2007-10) López-Martínez, M.; Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; Comisión Interministerial de Ciencia y Tecnología (CICYT). España; Junta de Andalucía; TEP995: Multi-Robot and Control Systems
In the last years, several methods to control nonlinear underactuated mechanical systems have been developed. In fact, these nonlinear methods have solved interesting control problems. Nevertheless, the solutions of these methods relies on solving a set of partial differential equations, which is not always possible. This article presents a constructive methodology to control a class of unstable underactuated mechanical systems with underactuation degree one. The design is based on classical feedback linearization and Lyapunov redesign. The methodology is based on proposing a dummy output that allows its redesign in a constructive way to solve the problem, giving rise an explicit and compact control law that allows to take into account the friction even in the underactuated coordinates.
A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2025) González Morgado, Antonio; Soueidan, J.; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Fraisse, Philippe; Tognon, Marco; Cognetti, Marco; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; European Commission (EC); TEP151: Robótica, Visión y Control
Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms. This paper introduces a novel control framework that enables an aerial platform to cooperatively transport an object with a human operator. The control approach is built on a nonlinear model predictive control (NMPC), integrating the dynamic models of the human, the aerial robot, and the transported object. To ensure safe and robust physical interaction, the NMPC is combined with a compliant controller. Additionally, our controller prioritizes forward motion over lateral movements to accommodate the human's natural direction of motion. We validate this framework through indoor flight experiments, demonstrating how a human operator and a fully actuated hexarotor can effectively collaborate to transport a bar. The results highlight the aerial robot's ability to assist the human during physical transportation tasks, enhancing efficiency and comfort.
Implementation of a continuous assessment system through the creation of a problem book using DOCTUS in general chemistry subjects
(Elsevier, 2025) Leiva Fernández, Carlos; Arroyo Torralvo, Fátima; Luna Galiano, Yolanda; Ronda Gálvez, Alicia; Muñoz de la Peña Sequedo, David; Ingeniería Química y Ambiental; Ingeniería de Sistemas y Automática
A continuous evaluation system, integrating both formative and summative assessments has been implemented in a Chemistry subject with a high number of students. This system employs a personalized problem notebook developed through an application (DOCTUS), enabling the generation of individualized complex problem statements, easy correction, and multiple submission opportunities. This approach facilitates effective feedback, promotes autonomous and cooperative learning, accelerates the learning process, and enhances activity achievement levels. The experience has been carried out with a group of 91 students enrolled per year in the subject 'Chemistry' corresponding to the first academic year in degree of Chemical Engineering at the Higher Technical School of Engineering (University of Seville), although only 71 have participated in the activity. The platform used, which offers free access, was utilized to create personalized problem notebooks for each student. It assigns identical problems with personalized data and corrects submissions via Excel files in under 10 s. An improvement in the results has been observed; since the students have obtained a numerical grade for their work instantly after delivery of the problem, and they can redo it at a short time (hours), when the students still have the problem in their mind, where they want and with the material that they consider, and without a large increase in the amount of time spent by the teacher. The final qualification was on average 1.2 points higher than previous years. Compared to other subjects in the same academic year, Chemistry had a lower percentage of students who did not participated in the subject (22 % compared to 30–54 % in other subjects from the same course). The number of approved students has increased, reflected in the number of repeaters, which decreased in the next year from 42 % to 29 %.
A nonlinear strategy to control unstable underactuated mechanical systems with underactuation > 1. Applications to control augmentations
(Bentham Open Archives, 2009-04) Acosta Rodríguez, José Ángel; López-Martínez, M.; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems
The essence of the complex dynamics originated by the interaction between the pilot-&-aircraft can be captured on labs, by means of unstable-underactuated mechanical systems. Thus, the unactuated links describe the autonomous aircraft dynamics (flight control system) and the actuated the manual one (pilot). It is well-known that, in some flight conditions, the pilot-&-aircraft interaction can render the system unstable. Thus, a standard solution of designing a decoupled dynamics between the flight control system and the pilot, either becomes useless or restrict the maneuverability unnecessarily. The nonlinear and compact strategy proposed here can pave the way to a less conservative (or even safety) solution in aircraft implementation. Successful experiments on the Furuta's pendulum are reported and to the best of authors' knowledge it has the largest attraction basin experimentally tested so far. © Acosta and López-Martínez; Licensee Bentham Open.
An energy management system for industrial manufacturing: A hybrid approach with demand response
(Elsevier, 2026-01) Gómez Jiménez, Javier; Framiñán Torres, José Manuel; Escaño González, Juan Manuel; Bordons Alba, Carlos; Organización Industrial y Gestión de Empresas I; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Junta de Andalucía
This paper presents a novel matheuristic approach for a high-level energy management system (EMS) integrated with demand response, aiming to optimise energy costs and enhance renewable energy utilisation in industrial manufacturing. The primary research objective is to develop a scalable solution procedure capable of tackling the complex, NP-hard problem of energy-aware production scheduling. The system employs a hybrid approach, integrating a Mixed Integer Linear Program (MILP) within the Genetic Algorithm’s (GA) fitness function for job scheduling and minimising total energy costs while maximising renewable energy penetration and guaranteeing production constraints. The EMS is applied to a factory microgrid scenario, considering energy production from wind turbines, photovoltaic panels, and combined heat and power (CHP) plants, alongside battery energy storage systems (BESS). The manufacturing process possesses a number of realistic features, including several stages with parallel unrelated machines with different energy-consumption states, batching in some machines, or setup times, among others. The proposed solution for this case study achieves a 32% reduction in energy costs compared to baseline operation, which requires only seconds of computational effort, demonstrating its effectiveness and scalability for demand-responsive manufacturing environments. Methodology is validated using real production data, providing insights into the potential of this approach to improve both economic and environmental performance in the industrial sector.
Non-linear sliding mode surfaces for a class of underactuated mechanical systems
(Institution of Engineering and Technology (IET), 2010-10) López-Martínez, M.; Acosta Rodríguez, José Ángel; Cano, J.M.; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; TEP995: Multi-Robot and Control Systems
This study presents a new non-linear sliding surface to control a class of non-minimum phase underactuated mechanical systems, taking into account uncertainties in their physical parameters. The non-linear surface is designed through a fictitious output, which provides the minimum-phase property and allows to prove stability using Lyapunov theory. The non-linear surface is based on the fictitious output and augmented with a non-linear external controller designed using the Lyapunov theory. The present approach assures exponential stability of the equilibrium point and robust stability to parametric uncertainties, avoiding the appearance of non-desired phenomena, as limit cycles. Two pendulum-like examples inside the class are thoroughly analysed and solved, that is, the pendulum on a cart and the inertia wheel pendulum. Performance, time response and parametric robustness are shown through simulations. © 2010 The Institution of Engineering and Technology.
Furuta’s Pendulum: A Conservative NonlinearModel for Theory and Practise
(Wiley, 2010-03) Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems
Furuta's pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model-based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model developed for the available laboratory pendulum. The success relies on a basic dynamical model derived from Classical Mechanics which has been augmented to compensate the non-conservative torques. Thus, the quasi-conservative practical model developed allows to design all the controllers as if the system was strictly conservative. A survey of all the nonlinear controllers designed and experimentally tested on the available laboratory pendulum is also reported. © 2010 J. Á. Acosta.
A review on flapping-wing robots: Recent progress and challenges
(Sage Publishing, 2025) Nekoo, Saeed Rafee; Rashad, Ramy; De Wagter, Christophe; Fuller, Sawyer B.; Croon, Guido de; Stramigioli, Stefano; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Union (UE)
This paper analyses the methods and technologies involved in flapping-wing flying robots (FWFRs), where the actuation of the flapping wing produces thrust and lift force that mimics birds’ and insects’ flight. The focus is on the evolution of the flapping-wing technology and the challenges in prototyping, modeling, navigation, and control. The mechanism for flapping production, frequency control of the flapping, and wing/tail control for positioning the robot are important topics for successful prototyping. The article includes the study of the dynamics and aerodynamics of the FWFR. Using the combination of flapping and gliding has led researchers to seek more energy savings through this hybrid-in-nature dynamic system, which benefits from the wind, a natural and free energy source. The paper reviews the dynamics, design, and categorization of flapping-wing systems; it also includes control and onboard intelligent functionalities, particularly environment perception for positioning and guidance, as well as obstacle detection and avoidance.
Model predictive control for tracking with implicit invariant sets
(Elsevier, 2025) Luque Martínez, Irene; Chanfreut Palacio, Paula; Limón Marruedo, Daniel; Maestre Torreblanca, José María; Ingeniería de Sistemas y Automática
This paper presents a model predictive control (MPC) technique for tracking with implicit terminal components. The controller formulation includes an artificial setpoint as decision variable, and the terminal constraint is defined implicitly for an augmented system that depends on the latter. In this respect, instead of computing an invariant terminal set, we consider an extended prediction horizon whose length can be bounded simply by solving LPs. This approach overcomes size-related limitations associated with the operations needed for computing invariant sets, also simplifying the offline MPC design. The proposed controller is able to drive large systems to admissible setpoints while guaranteeing recursive feasibility and convergence. Finally, the method is illustrated by an academic example, a mass–spring–damper system of variable-size and a more realistic case study of a drone.

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