Eduardo F. Camacho

Eduardo F. Camacho
Universidad de Sevilla | US · Systems Engineering and Automatics

About

425
Publications
72,432
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17,250
Citations
Citations since 2016
69 Research Items
7811 Citations
201620172018201920202021202202004006008001,0001,200
201620172018201920202021202202004006008001,0001,200
201620172018201920202021202202004006008001,0001,200
201620172018201920202021202202004006008001,0001,200

Publications

Publications (425)
Preprint
This paper presents a cloud-based learning model predictive controller that integrates three interacting components: a set of agents, which must learn to perform a finite set of tasks with the minimum possible local cost; a coordinator, which assigns the tasks to the agents; and the cloud, which stores data to facilitate the agents' learning. The t...
Article
A cooperative game theory framework is proposed to solve multi-robot task allocation (MRTA) problems. In particular, a cooperative game is built to assess the performance of sets of robots and tasks so that the Shapley value of the game can be used to compute their average marginal contribution. This fact allows us to partition the initial MRTA pro...
Article
In coalitional model predictive control, the overall system is controlled by a set of networked agents that are dynamically arranged into clusters of connected agents that coordinate their actions, also called coalitions. In this way, the overall coordination burden and the need for sharing information are reduced. In this article, the cluste...
Conference Paper
Solar plants are exposed to numerous agents that degrade and damage their components. Due to their large size and constant operation, it is not easy to access them constantly to analyze possible failures on-site. It is, therefore, necessary to use techniques that automatically detect faults. In addition, it is crucial to detect the fault and know i...
Article
The size of existing commercial solar trough plants poses new challenges in applying advanced control strategies to optimize operation. One of these challenges is to obtain a better thermal balance of the loops’ temperature. Since plants are made up of many loops, the efficiency of the loops can vary substantially if a group has been cleaned or aff...
Article
Full-text available
This paper proposes the first application of a split-range control technique on a concentrating solar collector to improve an absorption plant production. Solar absorption plants have solar power availability in phase with cooling demand under design conditions. Thus, it is a powerful cooling technology in the context of renewable energy and energy...
Article
Full-text available
Uno de los principales métodos para mejorar la eficiencia en el uso y aprovechamiento de la energía solar es la aplicación de técnicas avanzadas de control. En este trabajo se presenta un estado del arte de las aplicaciones de control predictivo en plantassolares de pequeña y gran escala. Se presentan además dos aplicaciones reales: una que se dise...
Article
Full-text available
The size of the current commercial solar trough plants poses new challenges in the applications of advanced control strategies. Ensuring safe operation while maintaining the temperature around an adequate set-point can lead to substantial gains in power production. Furthermore, the controller has to take into account the steam generator constraints...
Article
Full-text available
Solar plants are exposed to the appearance of faults in some of their components, as they are vulnerable to the action of external agents (wind, rain, dust, birds …) and internal defects. However, it is necessary to ensure a satisfactory operation when these factors affect the plant. Fault detection and diagnosis methods are essential to detecting...
Article
This paper presents a mobile sensor system to detect and estimate low direct normal irradiance (DNI) areas caused by clouds shadows. This work proposes using a team of unmanned aerial vehicles (UAVs) to localise and characterise the shadow of mobile clouds. This information can be used by the plant control system to minimise its effects over a sola...
Article
With the advancement of new technologies, power systems are increasingly equipped with more sensors and actuators, heightening the risk of failure. This fact, together with the vulnerability of solar plants \x96not only to internal faults but also to the action of the sun, rain, wind, and animals, among others\x96 gives rise to the need for detecti...
Article
Full-text available
El control predictivo engloba a una familia de controladores que replanifican continuamente las entradas del sistema durante un cierto horizonte temporal con el fin de optimizar su evolución esperada conforme a un criterio dado. Esta metodología tiene entre sus retos actuales la adaptación al paradigma de los llamados sistemas ciberfísicos, que est...
Conference Paper
Full-text available
This paper focuses on Distributed State Estimation over a peer-to-peer sensor network composed by possible low-computational sensors. We propose a new l-step Neighbourhood Distributed Moving Horizon Estimation technique with fused arrival cost and pre-estimation, improving the accuracy of the estimation, while reducing the computation time compared...
Article
Full-text available
This article focuses on maximizing the thermal energy collected by parabolic-trough solar collector fields toincrease the production of the plant. To this end, we propose a market-based clustering model predictivecontrol strategy in which controllers of collector loops may offer and demand heat transfer fluid in a market.When a transaction is made...
Article
Clustering strategies are becoming increasingly relevant to boost the scalability of distributed control methods by focusing the cooperation efforts on highly coupled agents. They are also relevant in systems where failing communication links and plug-and-play events are considered, which demand increased flexibility and modularity. This article re...
Preprint
Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at large-scale dynamically-coupled systems whose individual components, possessing a limited model of the system...
Article
Full-text available
In solar parabolic-trough plants, the use of Model Predictive Control (MPC) increases the output thermal power. However, MPC has the disadvantage of a high computational demand that hinders its application to some processes. This work proposes using artificial neural networks to approximate the optimal flow rate given by an MPC controller to decrea...
Article
This paper focuses on distributed state estimation for sensor network observing a discrete-time linear system. The provided solution is based on a Distributed Moving Horizon Estimation (DMHE) algorithm considering a pre-estimating Luenberger observer in the formulation of the local problem solved by each sensor. This leads to reduce the computation...
Article
Coalitional control groups dynamically local controllers into clusters that jointly determine their control actions to maximize control performance while minimizing the cooperation burden. This work presents linear matrix inequalities decision methods to set state-space regions where the switchings between network topologies satisfy properties of i...
Article
This article shows how coalitional model predictive control (MPC) can be used to maximize thermal power of large-scale solar parabolic-trough plants. This strategy dynamically generates clusters of loops of collectors according to a given criterion, thus dividing the plant into loosely coupled subsystems that are locally controlled by their corresp...
Article
In solar thermal plants, as in any industrial process, it is important to maintain good control of the system and, more importantly, to have a good security system to avoid exceeding the safety limits of the components and avoid their degradation. In the case of solar thermal plants, one of the main components is the Heat Transfer Fluid (HTF), whic...
Conference Paper
A linear matrix inequality approach for designing a family of observers suitable for systems with variable communication topologies is presented. In particular, the observer is composed of blocks associated to the status of the communication links, providing increasing performance as more links are enabled. The error boundaries for topology switchi...
Conference Paper
Full-text available
This paper proposes a novel hierarchical coalitional MPC technique, where transitions to the best communication topology are considered over the prediction horizon. For this reason, a new variable, called transition horizon, is added to the optimization problem to compute the optimal instant to introduce a new topology. Consequently, local controll...
Article
This paper discusses the application of coalitional model predictive control (MPC) to freeways traffic networks, where the goal is reducing the time spent by the drivers through a dynamic setting of variable speed limits (VSL) and ramp metering. The prediction model METANET is used to represent the traffic flows evolution. The system behavior and o...
Chapter
The majority of solar thermal plants which produce electricity and deliver it to the grid use parabolic trough technology. As examples of large scale solar trough plants we can mention the SOLANA power station (280 MW of electricity power with 6 hour of thermal storage) or the 280 MW Mojave solar complex. As stated by the National American Academy...
Article
Full-text available
This paper proposes a new chance-constrained model predictive control (CCMPC) algorithm with state estimation applied to the two-dimensional deployment of a multi-vehicle system where each agent is subject to process noise and measurement noise. The bounded convex area of deployment is partitioned into time-varying Voronoi cells defined by the posi...
Article
One of the ways to improve the efficiency of solar energy plants is by using advanced control and optimization algorithms. In particular, model predictive control strategies have been applied successfully in their control. The control objective of this kind of plant is to regulate the solar field outlet temperature around a desired set-point. Due...
Article
Full-text available
Competitiveness of solar energy is one of current main research topics. Overall efficiency of solar plants can be improved by using advanced control strategies. To design and tuning properly advanced control strategies, a mathematical model of the plant is needed. The model has to fulfill two important points: (1) It has to reproduce accurately the...
Chapter
One of the great challenges is to make solar energy economical and competitive. This can be achieved by maximizing the generated electricity by using optimal control strategies. A number of research works have been developed concerning control and optimization of solar plants. Most of these works have been developed for the experimental solar trou...
Article
The main control objective in commercial solar parabolic plants is to track the average temperature of all the loops around a reference set by the operator, by manipulating the flow of a synthetic oil. Due to the large number of loops existing in current solar plants and the vast extension that they cover, obtaining a precise knowledge of every loo...
Article
Full-text available
Solar energy for cooling systems has been widely used to fulfill the growing air conditioning demand. The advantage of this approach is based on the fact that the need of air conditioning is usually well correlated to solar radiation. These kinds of plants can work in different operation modes resulting on a hybrid system. The control approaches de...
Article
HIGHLIGHTS • Development and tuning of the Wave-to-Wire model of the Mutriku plant with field data. • Design of three control algorithms for the biradial turbine including a nonlinear MPC. • Numerical results show significant improvement in performance with the MPC. • Sea trials results confirm the good performance and reliable operation of the...
Article
Commercial solar plants produce energy around a nominal operating point in which the solar field outlet temperature is high and close to the thermal limit of the heat transfer fluid. The main control of the temperature is carried out by means of the fluid flow-rate that circulates through the solar field. Defocusing the collectors is normally used...
Article
Model predictive control strategies have been applied successfully when controlling solar plants. If the control algorithm uses a linear model associated only to an operating point, when the plant is working far from the design conditions, the performance of the controller may deteriorate. In this paper, a gain scheduling model predictive control s...
Article
Full-text available
Model predictive control has been demonstrated to be one of the most efficient control techniques for solar power systems. An incremental offset-free state-space Model Predictive Controller (MPC) is developed for the Fresnel collector field located at the solar cooling plant installed on the roof of the Engineering School of Sevilla. A robust Luenb...
Article
Optimal operation of a solar plant is generally understood as a tracking of the optimal working temperatures which maximize the net electric power. However, a commercial solar plant may receive a limitation from the Transmission System Operator due to saturation of the electrical grid. In these situations the plant moves to an operation mode in whi...
Article
Optimal operation of a solar plant is generally understood as a tracking of the optimal working temperatures which maximize the net electric power. However, a commercial solar plant may receive a limitation from the Transmission System Operator due to saturation of the electrical grid. In these situations the plant moves to an operation mode in whi...
Article
This paper presents an advanced control structure aimed at the optimal economic energy management of a renewable energy-based microgrid. This control scheme is applied to energy optimization in a microgrid with non-dispatchable renewable sources, such as photovoltaic and wind power generation, as well as dispatchable sources, as distributed generat...
Conference Paper
Full-text available
La estimación de los estados no observables de un proceso es importante cuando se usan técnicas de control que suponen dichos valores conocidos apriori. Los controladores basados en el espacio de estados presentan un buen comportamiento y eficiencia, aún cuando la dinámica del proceso es no lineal. Uno de los procesos con una dinamica no lineal y e...
Article
Full-text available
In this paper, a game theory-based partitioning algorithm for large-scale systems (LSS) is proposed. More specifically, a game over nodes is introduced in a model predictive control framework. The Shapley value of this game is used to rank the communication links of the control network based on their impact on the overall system performance. A rand...
Article
Optimal operation of solar plant is a challenge due to the multiple disturbances affecting the plant. Research in optimal temperature set-point tracking is extensive whereas research concerning optimal power production under disturbances is not. A solar plant has to deal not only with temperature and radiation disturbances but also with dirt accumu...
Article
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance. This work extends the concept of disturbance as the mismatch between a system model and the true dynamics, and e...
Article
One of the most important problems in the operation of solar power towers is to achieve a uniform flux density distribution at the receiver in order to avoid hot spots. The problem can be solved by computing the aim points of the heliostats by optimizing a function which measures the uniformity of the flux density over the receiver. Due to the high...
Article
Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at large-scale dynamically-coupled systems whose individual components, possessing a limited model of the system...
Article
Advanced control strategies can play an important role in improving the efficiency of solar plants. In particular, linear model predictive control strategies have been applied successfully when controlling solar trough plants. However, if the control algorithm uses a linear model associated only to one operating point, when the plant is working far...
Conference Paper
Full-text available
Es bien conocido que las maniobras de aterrizaje y despegue son las m�as complejas del vuelo de las aeronaves. En efecto, un gran porcentaje de los accidentes a�ereos se da en la ejecuci�on de estas operaciones. Si adem�as se tiene en cuenta que la mayor��a de estos accidentes se deben a errores hu- manos, es evidente la necesidad de un control au-...
Conference Paper
Full-text available
Uno de los recursos m�as importantes para mejorar la e�ciencia en los sistemas de energ��a solar, es el control avanzado. En general, con el uso de estrategias de control convencionales no se obtienen buenos desempe~nos en todo el rango de operaci�on debido a la din�amica fuertemente no lineal de este tipo de sistemas, as�� como las m�ultiples fuen...
Article
In this paper, the game theory solution concept known as Banzhaf value is applied to games in coalitional control schemes. In these schemes, the network topology is modified to achieve a trade-off between performance and communication burden. In particular, we show how to design a coalitional scheme with constraints regarding the Banzhaf value. Sev...
Article
In this work, we present an iterative design method for a coalitional networked control scheme for linear systems. In this scheme, the links in the communication network are enabled or disabled depending on their contribution to the overall system performance. Likewise, the control law is adapted to these changes. In particular, new conditions are...
Article
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way [1], which has enabled the size and complexity of control applications to increase [2]. At the same time, the improvements in the computational and communicational capabilities of control d...
Article
In coalitional control the connections among the different parts of a control network evolve dynamically to achieve a trade-off between communication burden and control performance, and the coalition choices are made by selecting the network topology with minimal payoff. This work analyzes how Harsanyi power solutions for games in coalitional contr...
Chapter
One of the most important challenges for the use of solar energy is to make it economical. This can be achieved by reducing investment and operating costs and increasing the solar plant performance. Advanced control techniques can be very useful in fulfilling these objectives.This chapter describes two examples of how advanced control techniques ca...
Conference Paper
Full-text available
There are two main drawbacks when operating solar energy systems: a) the resulting energy costs are not yet competitive and b) solar energy is not always available when needed. In order to improve the overall solar plants efficiency, advances control techniques play an important role. In order to develop efficient and robust control techniques, the...
Conference Paper
Direct solar radiation is important in a solar trough plant because it is the perturbation that affects most the operation. Generally, it is measured locally. Production losses or dangerous situations may occur when controlling a plant with wrong measurements. A possible solution is to have several pyrheliometers though two problems arise: cost and...
Article
Full-text available
In this paper, we propose a tractable scenario-based receding horizon parameterized control (RHPC) approach for freeway networks. In this approach, a scenario-based min–max scheme is used to handle uncertainties. This scheme optimizes the worst case among a limited number of scenarios that are considered. The use of parameterized control laws allow...
Article
In previous works, the authors have developed a trajectory planning algorithm for spacecraft rendezvous which computed optimal Pulse-Width Modulated (PWM) control signals, for circular and eccentric Keplerian orbits. The algorithm is initialized by solving the impulsive problem first and then, using explicit linearization and linear programming, th...
Article
The importance of the use of renewable energy sources has experienced a great impulse since the beginning of the 80s. In particular, solar energy is the most abundant source of renewable energy. Control strategies can be useful to improving the solar plants efficiency. In this work, a review of the applications of Model Predictive control (MPC) str...
Article
This work presents a model predictive controller (MPC) that is able to handle linear time-varying (LTV) plants with PWM control. The MPC is based on a planner that employs a PAM or impulsive approximation as a hot-start and then uses explicit linearization around successive PWM solutions for rapidly improving the solution by means of linear program...
Article
A novel aircraft path-following guidance algorithm based on model predictive control is proposed in this paper. The algorithm tracks a precomputed trajectory and produces reference commands for a low-level attitude controller. To solve the associated nonlinear optimization problem, an iterative scheme is proposed, using as a feasible hotstart the g...
Conference Paper
Full-text available
Traffic control algorithms based on optimization may not always be applicable on-line, since they are computationally demanding and may not always comply with the typical sampling times adopted for traffic systems. In this paper, we propose a new approach to freeway traffic control based on the Classification And Regression Trees (CART) methodology...
Conference Paper
The evolution of distributed control techniques has led to the development of schemes where the communication burden is adapted dynamically: when the overall system is far from the control goal, the communication burden is augmented to improve the performance; when the system is close to its goal and there is no need of coordination, the distribute...
Conference Paper
This tutorial paper describes a high-level guidance algorithm based on model predictive control. The algorithm follows a precomputed flight plan (which provides a reference trajectory based on straight segments) by calculating the aerodynamic velocity, flight path angle and bank angle commands for a low level attitude controller. To compute these c...
Conference Paper
In this paper we propose an estimator of solar radiation and a heuristic radiation selector to design a solar radiation Fault Tolerant Model Predictive Control strategy for solar trough plants. The complete design of the control system proposed has been simulated using the model of ACUREX solar trough plant at the Plataforma Solar de Almería (PSA)...
Article
Full-text available
Recent developments in control systems have made it possible to manipulate wheel torques independently in order to improve vehicle handling characteristics of electric vehicles. These vehicles usually employ in-wheel motors which can be independently controlled. This paper presents a 4-wheel-drive electric vehicle for research purposes. A dynamic m...
Article
Full-text available
This paper presents a neural model-based predictive con-trol (MPC) scheme for nonlinear systems. A neural net-work is used to predict future outputs of the system, or more specically, to predict the free response. A linear model is used to obtain the forced response of the sys-tem, providing an ecient and easy-implementable MPC algorithm to cope wi...
Article
Full-text available
This paper introduces a risk-based method to optimize the production of water treatment plants. Risk factors such as demands, operating and maintenance cost or power cost are considered in the optimization to satisfy the product quality and demands, depending on the season. Mitigation actions reduce the risk impacts that may affect the system. A mo...
Article
Full-text available
As well-known in the Model Predictive Control (MPC) community there is a need for looking computation-ally affordable robust predictive control algorithms that are suitable for on-line implementation. A new control approach mixing Generalized Predictive Control (GPC) and Quantitavie Feedback Theory (QFT) is presented for controlling a family of lin...