Javier Rico-Azagra

University of La Rioja | UNIRIOJA · Department of Electrical Engineering (DIE)

Este trabajo aborda el control robusto de la actitud de un UAV de tipo multirrotor. Como principal novedad destaca el empleo de una estructura de control model-matching en cascada que, junto a los dos controladores de realimentación del ángulo de rotación y su velocidad angular, incorpora un controlador de prealimentación de la referencia. La metod...

El Comité Español de Automática (CEA) es una asociación científica sin ánimo de lucro que impulsa el desarrollo, la investigación y las enseñanzasuniversitarias en Automática. Es miembro nacional de la Federación Internacional de Control Automático (IFAC), y celebra anualmente desde el año 1977 las Jornadas de Automática. Estas se organizan por dis...

Una de las principales ventajas de las arquitecturas de control en cascada es dotar al sistema de control de una mayor rapidez de respuesta ante perturbaciones en el lazo interno, lo cual puede desembocar en un ancho de banda de control excesivo. La arquitectura de control y el método de diseño que se presentan en este trabajo ponen el foco en usar...

Este trabajo aborda el control robusto de la actitud de un UAV de tipo multirrotor. Como principal novedad destaca el empleo de una estructura de control model-matching en cascada que, junto a los dos controladores de realimentación del ángulo de rotación y su velocidad angular, incorpora un controlador de prealimentación de la referencia. Fruto de...

This study focuses on the modeling and control optimization of the pitch–roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional–integral–derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the syste...

Whenever additional states of a plant can be measured, closing nested feedback loops can be exploited in a variety of ways. The goal here is to reduce the bandwidth of feedback controllers and thus reduce the amplification of sensor noise that can otherwise spoil the expected performance when the actuator saturates. This can be particularly relevan...

The transition from academic training to professional life is not an easy task. In recent years, various learning enhancement methodologies have emerged to reduce this gap, which focuses on both soft and technical skills. Specifically, Competition-Based Learning (CBL) seeks to improve learning and motivation through the competitive component, which...

This work addresses the energy management of a combined system consisting of a refrigeration cycle and a thermal energy storage tank based on phase change materials. The storage tank is used as a cold-energy buffer, thus decoupling cooling demand and production, which leads to cost reduction and satisfaction of peak demand that would be infeasible...

Este trabajo presenta una primera toma de contacto para el alumnado universitario con la técnica SLAM (Simultaneous Localization And Mapping) a través de la metodología de Aprendizaje Basado en Proyectos (ABP). El SLAM es una técnica cuyo objetivo es dotar a un robot móvil de la capacidad de localización y posicionamiento en un entorno desconocido,...

This paper presents a teaching laboratory especially suitable for practical work with mobile robotic systems. The laboratory is composed of a set of low-cost robots and a vision-based data capture system used to localise such robots with precision. All the generated information is centralised on a computer that acts as a link between the different...

El presente trabajo presenta el diseño y desarrollo de una plataforma didáctica de bajo coste para el control de actitud y orientación de vehículos aéreos no tripulados (UAV) de tipo multirotor. El sistema está compuesto por un UAV de cuatro rotores y una estructura mecánica que permite su rotación en los tres ángulos de Euler sin presentar desplaz...

Unmanned aerial vehicles (UAV) in the civil sector have recently evolved from being devices for recreational uses to becoming aircraft for professional uses. Professional applications of these devices require the aircraft to ship more and more complex sensors for reasons of safety in the event of failures. However, controlling all these systems is...

The availability of multiple inputs (plants) can improve output performance by conveniently allocating the control bandwidth among them. Beyond that, the intervention of only the useful plants at each frequency implies the minimum control action at each input. Secondly, in single input control, the addition of feedforward loops from measurable exte...

Este trabajo presenta dos estrategias de integración multisensorial a través de las cuales se pretende encontrar un método apropiado para la estimación de actitud de un dron mediante filtros de Kalman y filtros complementarios explícitos. Para ello, se simulan los sensores de bajo coste, en concreto, unidades de medida inercial (IMU, Inertial Measu...

In this work, we apply artificial intelligence to guide a drone to a certain point autonomously. Unreal engine creates a virtual environment where the drone can fly, and the algorithm is trained simulating the drone dynamics thanks to Airsim plugin. The implemented algorithm is Asynchronous Actor-Critic Advantage (A3C), which trains a neural networ...

Se presenta el diseño y fabricación de una versión mejorada de la plataforma docente de bajo coste Temperature Control Laboratory (TCLab), para la instrucción y el auto-aprendizaje del control automático. Un menor coste de fabricación adquisición, un menor tamaño y volumen, y las mejoras en el interface de conexión con el PC, facilitan el uso y la...

p>Un cuatrirrotor con todo el equipamiento de vuelo se encuentra fijado a una estructura que permite la rotación en el espacio sin desplazamiento. Además, un conjunto de herramientas software desarrolladas con MATLAB-Simulink® ejecutan la programación de su controladora y gestionan la transmisión en tiempo real de consignas y estados del vuelo pilo...

This paper examines methods to incorporate feedforward loops of known external inputs (output reference) into a multi-input feedback control structure to achieve certain robust performance of its output. Undoubtedly, feedforward can reduce the need for feedback and therefore the amplification of sensor noise at actuators, as occurs in single-input...

This paper presents a feedback control solution that achieves robust stability and disturbance rejection in systems with multiple manipulated inputs and a single measurable output. The uncertain plant models may exhibit either nonminimum phase, or delay, or unstable phenomena, which makes it not easy to take full advantage of the frequency response...

The regulation of a disturbed output can be improved when several manipulated inputs are available. A popular choice in these cases is the series control scheme, characterized by (1) a sequential intervention of loops and (2) faster loops being reset by slower loops, to keep their control action around convenient values. This paper tackles the prob...

In the framework of quantitative feedback theory, this paper develops a new method to compute robust stability bounds. This is of special interest when stability is defined directly on the open-loop function. Thus, ignorance of the plant gain and phase shift can be specifically and independently considered. Furthermore, upper and lower stability ma...

Autothermal thermophilic aerobic digestion (ATAD) is an advanced sewage sludge treatment which allows compliance with increasingly demanding regulations. Concerning sludge pasteurization, a certain average temperature must be assured in the digester during batch treatment. Aeration flow is the variable most manipulated to regulate the digester temp...

This paper deals with accurate attitude estimation in unmanned ground vehicles using low-cost inertial measurement units. Using Euler angles representation, direct estimations are firstly performed from a single sensor, accelerometer or gyroscope. Then, the low frequency components of the first one and the high frequency components of the second on...

This paper develops a position control strategy of a multi-rotor system, which moves from an X-Y way-point to another at constant maximum-achievable velocity, and follows rectilinear trajectories between way-points with slight deviations during transients. In achieving this, 2D-spatial displacement breaks down in time domain ramp tracking on each a...

This paper presents the kinematics development of an industrial robot through SAGE (Software for Algebra and Geometry Experimentation) programming. SAGE is a free alternative to owner computation software such as Maple, Mathematica or MATLAB. SAGE can operate in server mode from any browser, allowing you to apply new information technologies to mul...

This paper presents a robust feedback control solution for systems with multiple manipulated inputs and a single measurable output. A structure of parallel controllers achieves robust stability and robust disturbance rejection. Each controller uses the least possible amount of feedback at each frequency. The controller design is carried out in the...

This paper presents the multivariable robust control of a laboratory-scale heat exchange process. After theoretical and experimental identification of its non-linear equations, 2×2 linear models with uncertainty and significant coupling are obtained. Using Horowitz's non-sequential multivariable method (within QFT) diagonal matrices of controllers...

Under the perspective of a control education bridging the gap between theory and practice, this paper presents the control challenges for a MIMO time-delay process (a laboratory plant based on a heat-exchanger). Diagonal and full matrix control strategies are exposed taking into account performance limitations of feedback control and non-minimum ph...