About
49
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Introduction
Dictino Chaos García received the Licenciatura in Physics from the Complutense University of Madrid in 2004, and Ph.D. in Computer Engineering and Automatic Control in 2010 from UNED.
His research interests include nonlinear control, tracking, point stabilization, and path following of under-actuated vehicles, the stability of switched systems, machine vision, and robotics.
Publications
Publications (49)
Las Jornadas de Automática (JA) son el evento más importante del Comité Español de Automática (CEA), entidad científico-técnica con más de cincuenta años de vida y destinada a la difusión e implantación de la Automática en la sociedad. Este año se celebra la cuadragésima tercera edición de las JA, que constituyen el punto de encuentro de la comunida...
The advent of the Internet of Things has generated loads of data from the devices that are now connected to the Internet. While the majority of the data corresponds to measurements done by these devices, there is a second type of information (the metadata) that provides information about the devices themselves. Most of this metadata is still underu...
El presente trabajo presenta un modelo dinámico para el estudio del movimiento de una barrera de contención de vertidos marinos, cuando es remolcada por un par de barcos. Se describen los fundamentos seguidos en el modelado de la barrera, así como en el de los barcos remolcadores. A continuación, se presentan algunos escenarios básicos de remolque...
Este trabajo presenta el diseño de un sistema de control de estabilización de un buque de alta velocidad (BAV) para mejorar el confort y seguridad en el transporte marítimo. El objetivo es conseguir la amortiguación de las dinámicas acopladas de arfada, cabececeo y balance mediante el uso de superficies de estabilización activa (aletas de proa, de...
The present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditions to command the vehicle towards a desired direc...
Las Jornadas de Autom´atica constituyen, desde su primera edici´on en 1977, una cita ineludible en nuestro pa´ıs para quienes centramos nuestra actividad profesional en la Autom´atica, en todas sus dimensiones, tanto desde el mundo cient´ıfico y acad´emico como de la empresa. Tras las ´ultimas Jornadas presenciales, Ferrol 2019, debido a las circun...
This work presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this paper is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented...
En este trabajo se propone una nueva forma de experimentar con laboratorios interactivos en línea, tanto virtuales como remotos. Se ha diseñado un entorno que utiliza un lenguaje de programación gráfico que permite comunicarse con laboratorios interactivos y que incluye herramientas para definir gráficos personalizables. Los profesores y diseñadore...
An online course with ten virtual and remote laboratories on automatic control specifically designed to cover all the curricular experimentation needs in the ”Systems and Control engineering” Master program from UNED-UCM is presented.
Online labs are revolutionary tools that produce both economic and educational benefits. On the one hand, labs can be shared among institutions, drastically reducing traditional lab costs. On the other hand, students can access experimental resources 24/7 from anywhere through their electronic devices. This paper presents an open source online lab...
This work presents PuzzlEx, an experimentation environment for control engineering virtual and remote labs. This environment not only allows students to make interactive use of the lab but also to define and run customized experiments. For this purpose, an intuitive visual programming language that communicates internally with the laboratory is use...
This work studies the control problem of an air levitation system with limited sensing capabilities. We propose a simple but considerably robust switched controller. We prove that the output of the system is globally uniformly ultimately bounded with a bound as small as we desire and we show through simulations and real experiments the robustness o...
This paper proposes a new way of experimenting with online (virtual or remote) interactive laboratories. Experimentation possibilities can be opened by allowing students to interact with the online laboratory using a visual and textual programming language that can communicate with the laboratory application and which includes tools to define and p...
An online course with ten virtual and remote laboratories on automatic control that cover all the curricular experimentation needs of a subject in a Master program is presented.
Server-Sent Events (or SSEs) is a standard HTTP technology used in many web applications nowadays. This protocol enables communication between a server and a client based on messages that are sent at the server’s will. Different type of event triggers can be defined in the server and the client can subscribe to one or more of these event streams. E...
The mathematical models used in simulation must be reliable and trustworthy enough to describe the real systems with an appropriate accuracy. This simulation process is specially important in marine environment due to the changing environmental conditions, to the cost of the infrastructure needed to carry out tests, and to the need of calibration,...
Easy Java Simulations (EJS) es una herramienta gratuita y de código abierto, escrita en Java, que ayuda a crear simulaciones interactivas en Java y Javascript. Por medio de esta herramienta, los profesores pueden crear fácilmente laboratorios virtuales y (si disponen del software o hardware adicional necesario) remotos.
Mientras que los laboratorio...
This paper deals with the interesting problem of trajectory tracking of an underactuated hovercraf. This system is difficult to control because it exhibits second order nonholonomic restrictions on its movement. In order to solve the control problem the dynamics of the system is discomposed in two subsystems (one for position and another for orient...
The In this work the quantized state control QSC methodology has been applied to the tracking control problem of a Hovercraft with discrete control inputs. Firstly a continuous control law for the hovercraft with continuous inputs is designed. Then this controller is adapted to the discontinuous inputs by using a PWM strategy. Finally the QSC metho...
An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed contr...
This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their...
The availability of adequate system models to reproduce, as faithfully as possible, the actual behaviour of
the experimental systems is of key importance. In marine systems, the changing environmental conditions and the
complexity of the infrastructure needed to carry out experimental tests call for mathematical models for accurate
simulations. The...
One of the most important problems in many research fields is the development of reliable mathematical models with good
predictive ability to simulate experimental systems accurately. Moreover, in some of these fields, as marine systems, these models
play a key role due to the changing environmental conditions and the complexity and high cost of th...
This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by
means of discrete inputs.Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control
commands, and with minimal information about the dynamics of the actuators. The control p...
A multivariable non-linear quantitative feedback theory (QFT) robust control approach is proposed for the design of tracking control foran underactuated vehicle with uncertainties in the model parameters.The system under study consists of a hovercraft equipped with two longitudinal thrusters. It is modelled as a second-order non-linear system with...
In this work an analysis of the application of the Quantitative Feedback Theory (QFT) technique to different marine systems is presented. Specifically, the problems of dynamic positioning of a moored platform, stabilization of a fast ferry and the tracking control of a hovercraft are studied. This control problem presents interesting questions to d...
This paper describes the design of a dynamic positioning system for a moored floating platform by using robust control techniques, particularly Quantitative Feedback Theory (QFT). The goal is to minimize the drift resulting from the wave action by appropriate thrusters control. The model of the platform is a SIMO (single-input multiple-output) syst...
In this work an overview of the application of the Quantitative Feedback Theory (QFT) technique to different marine systems is presented. Namely the problems of the
stabilization of a high-speed craft, the dynamic positioning of a moored platform and the tracking control of a hovercraft are studied. An interesting question is that the plants have l...
The use of autonomous vehicles is becoming ubiquitous due to the versatility and flexibility that they display in the execution of individual and cooperative tasks, coupled with the fact that their use avoids placing human lives at risk. Closely related to these autonomous systems and their control are the simulation tools. A poor control design co...
The use of autonomous vehicles is becoming ubiquitous due to the versatility and flexibility that they display in the execution of individual and cooperative task, coupled with the fact that their use avoids placing human lives at risk. Closely related to these autonomous systems are the simulation tools. These tools are essential to test the corre...
In this work, the problem of stabilisation of a high-speed craft with coupled dynamics is addressed. The action of the actuators to control the longitudinal dynamics (heave and pitch modes) produces a coupling in the transversal dynamics (roll mode), and vice versa. A combination of quantitative feedback theory (QFT) robust methodology and eigenstr...
Control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design. Besides, the use of underactuated vehicles is very important for different reasons like simplicity, cost, efficiency, etc, so these...
Control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design. Besides, the use of underactuated vehicles is very important for different reasons like simplicity, cost, efficiency, etc, so these...
Control design for marine autonomous vehicles is a subject of great interest in control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make the control design difficult. Besides, coordinated control deals with the control of several independent objects to reach a global goal. Therefore the CPF deals with...
An analysis of the system identification methods have been carried out and a new alternative approach is proposed in order to estimate models for heave, pitch and roll dynamics of a high speed craft. As starting point, a first approach resolves the identification subject as an optimization problem to fit the best model, and uses genetic algorithms...
In this work a simulation platform for uninhabited marine and aerial vehicles is proposed. This platform is based in the MDA (Model Driven Architecture) approach and the DEVS (Discrete Event System Specification) formalism. Platform independent models (PIM) are used to describe the vehicles and its interaction; then, theses models are traduced to p...
This paper gives a general description of template interactive generator (TIG), a free software tool which calculates the templates boundaries of plants with special parameter dependencies, such as interval plants; and plants with affine parametric uncertainty. TIG can also find the template boundaries associated with other kinds of plants whose te...
An analysis and design of a multivariable non-linear quantitative feedback theory (QFT) robust control for underactuated systems have been carried out. The system in study is a hovercraft. The model is a nonlinear MIMO 2×3 system. An interesting question is that the plant has less degree of freedom for actuation and is more difficult to control. Th...
In this work, a combined QFT/EA approach is used to control a coupled system on a high speed-craft. Since the angle between the heading and the seaway is different from 180 degrees, the action of the actuators for controlling the longitudinal dynamic (heaving and pitching) produces a coupling in the lateral (rolling) dynamic, and vice-versa. The MI...
Hovercrafts are a type of vehicles with a structure model similar to marine vehicles. These systems are strongly non-linear so their dynamics are complex. The problems of motion control can be classified in three groups: point stabilization, trajectory tracking and path following. From a pedagogical point of view it is difficult to study the behavi...
An analysis and design of a dynamic positioning system for a moored floating platform has been carried out. The model of the platform is a single degree of freedom SIMO system. The goal is to minimize the drift resulting from the wave action by appropriate thrusters control. An interesting question is that the plant has less degree of freedom for a...
Resumen En este trabajo se plantea la creación de una plataforma para la simulación de vehículos autónomos marinos y aéreos basada en la metodología MDA (Model Driven Architecture) y el formalismo DEVS (Discrete Event System Specification). Dentro de esta estructura se trabaja con modelos independientes de plataforma que posteriormente se traducen...
Control problems of underactuated marine systems motivate the develop-ment of new control design methodology. Control design of tracking, point stabilization, path following for marine vehicles, or Dynamic Positioning for offshore systems is example of these types of problems. In this chapter, an overview about different problems studied in our lab...
Resumen Se ha desarrollado un entorno de simulación interactiva de un modelo de plataforma marítima amarrada empleando conjuntamente Ejs (Easy Java Simulations) y Simulink.
This work presents the main features of QFTIT and TIG two interactive software tool for robust control design using the QFT methodology. The main advantages of QFTIT and TIG compared to other existing tools are its ease of use and its interactive nature. These tools are freely available in the form of an executable file for Windows and Mac based pl...
Projects
Projects (3)
ERASMUS+ Programme 2020 – KA2 High Education
The project aims to deliver an innovative response to the challenges of COVID19 for the operation of STEM labs.
This is done by developing low-cost equipment kits (and related material) that give the same interface as a laboratory-based experience. These kits support active learning with students having practical, constructive, industry-relevant learning experiences undertaking laboratory work off-campus.
ERASMUS+ Programme 2020 – KA2 High Education
The main goals in the RELAB project are:
1. To support digital education and laboratory teaching through an innovative concept of creating a joint repository of high-quality short videos of representative experiments.
2. To generate comprehensive instructions for the development of online labs for programming and application of specialized hardware.
Creating a wide set of EjsS-related extensions and components, including plugins for Moodle, elements for connecting with external hardware and software, new features, and so on.
Code repository: https://github.com/UNEDLabs
Youtube channel: https://www.youtube.com/UNEDLabs
Network of online labs: https://unilabs.dia.uned.es
