Persona: Chaos García, Dictino
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Chaos García
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Publicación UN PROBLEMA BENCHMARK DE CONTROL NO LINEAL: ESTABILIZACIÓN Y SEGUIMIENTO DE TRAYECTORIA DE UN AERODESLIZADOR DE RADIO CONTROL(Comité Español de Automática, 2006-09-06) Aranda Almansa, Joaquín; Chaos García, Dictino; Dormido Canto, Sebastián; Muñoz Mansilla, María del Rocío; Díaz Martínez, José ManuelPublicación Using IoT-Type Metadata and Smart Web Design to Create User Interfaces Automatically(Institute of Electrical and Electronics Engineers (IEEE), 2023-02) Chacón, Jesús; Chandramouli, Rajarathnam; Torre Cubillo, Luis de la; Chaos García, Dictino; Heradio Gil, RubénThe 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 underused when used at all. On the other hand, the graphical user interfaces that allow operating and/or monitoring the connected devices from a computer or smartphone, are usually programmed from zero. However, the metadata that describes the main properties of the devices (i.e., inputs, outputs, precision, range, etc.) can be used along with smart web design techniques to automatically create these interfaces. This article proposes a framework to achieve this, and presents an application example consisting of an online lab of a servo-motor.Publicación Customized Online Laboratory Experiments: A General Tool and Its Application to the Furuta Inverted Pendulum [Focus on Education](Institute of Electrical and Electronics Engineers (IEEE), 2019-09-17) Galán, Daniel; Chaos García, Dictino; Torre Cubillo, Luis de la; Aranda Escolástico, Ernesto; Heradio Gil, RubénBecause of online laboratories (labs), students can perform experimental activities from their mobile devices and/or computers. This article proposes an experimentation environment (EE) that extends the capabilities of interactive online labs with scripting language support. Thus, control engineering students can specify complex experiments, avoid routine tasks, and empirically test controllers they made themselves.Publicación Benchmark Control Problems for a Non-Linear Underactuated Hovercraft: A Simulation Laboratory for Control Testing(INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL, 2006-01-01) Aranda Almansa, Joaquín; Chaos García, Dictino; Dormido Canto, Sebastián; Muñoz Mansilla, María del Rocío; Díaz Martínez, José ManuelLos aerodeslizadores son un tipo de vehículos marinos que presentan una serie de cualidades atractivas como desafío de control .Su dinámica es compleja y presentan características fuertemente no lineales. Para este tipo de vehículos se analizan dos problemas de control de movimiento: estabilización en un punto y seguimiento de trayectoria. En este trabajo se presenta un problema bechmarck para un aerodeslizador de radio control, indicando las especificaciones para seguimiento de trayectorias y estabilización en un punto. Se ha desarrollado un entorno interactivo de simulación para desarrollo y verificación de diseños. Además se ha desarrollado un controlador para resolver los problemas planteados y se ha verificado su funcionalidad usando la plataforma de simulación.Publicación Optimal control law of an AUV using a single thruster(Comité Español de Autonomática (CEA-IFAC), 2023) Cerrada Collado, Cristina; Chaos García, Dictino; Moreno Salinas, David; Aranda Almansa, JoaquínEn este artículo se plantea el problema de optimización de una ley de control para minimizar el error cuadrático integral al conducir un AUV (Autonomous Underwater Vehicle, vehículo autónomo submarino) actuado con un único motor desde un punto de partida hasta una zona de recuperación deseada. Así mismo se muestran dos posibles soluciones de control y se discute su implementación en el vehículo. Para la optimización de la ley de control se utilizarán los algoritmos genéticos y se proponen dos soluciones: En la primera se optimiza la ley de control muestreada en función del tiempo. La segunda, por su parte, emplea una acción de control óptima en función de la orientación del vehículo a partir de una ley de control representada mediante una serie de Fourier. El correcto funcionamiento de las soluciones propuestas se demuestra mediante una serie de simulaciones que consideran distintas condiciones y situaciones posibles.Publicación A Controller design by QFT methodology for dynamic positioning of a moored platform(2006-01-01) Muñoz Mansilla, María del Rocío; Aranda Almansa, Joaquín; Díaz Martínez, José Manuel; Dormido Canto, Sebastián; Chaos García, DictinoPublicación An energy efficient fault-tolerant controller for homing of underactuated AUVs(Elsevier, 2024) Cerrada, Cerrada; Pascoal, António; Chaos García, Dictino; Moreno Salinas, David; Aranda Almansa, JoaquínIn the event of a failure that will prevent an Autonomous Underwater Vehicle (AUV) from executing a specified task, the vehicle must be recovered safely to avoid further damage to itself or to other vehicles/agents in the neighbourhood. Motivated by this operational requirement, this work presents an optimal fault-tolerant controller to drive an underactuated AUV to a recovery point (so-called automatic homing manoeuvre). The case of a critical failure that leaves only one of two stern thrusters available to drive it to the desired recovery area is considered. The control law proposed relies on the use of a Fourier series-based strategy to compute the control action as a function of the relative orientation of the vehicle with respect to the target recovery point. Energy consumption is also considered in the proposed control law, so that an appropriate trade-off can be achieved between reaching the destination faster and reducing the energy consumed as a function of mission requirements and vehicle specifications. The stability and convergence of the proposed scheme are demonstrated analytically, a comparison with MPC scheme is shown and simulation examples illustrate how the control law effectively drives the vehicle to a neighbourhood of the desired target point even in the presence of unknown constant currents.Publicación Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots(IEEE, 2019-08-22) Farias, Gonzalo; Garcia, Gonzalo; Dormido Bencomo, Sebastián; Fábregas Acosta, Ernesto::virtual::4114::600; Aranda Escolástico, Ernesto::virtual::4115::600; Chaos García, Dictino::virtual::4116::600; Dormido Canto, Sebastián::virtual::4117::600; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, Sebastián; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, Sebastián; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, SebastiánThis article 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 article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.Publicación ENTORNO DE SIMULACIÓN INTERACTIVA PARA EL CONTROL(2007-11-13) Aranda Almansa, Joaquín; Dormido Canto, Sebastián; Muñoz Mansilla, María del Rocío; Chaos García, Dictino; Díaz Martínez, José ManuelPublicación Robust switched control of an air levitation system with minimum sensing(ELSEVIER, 2020) Chaos García, Dictino; Chacón, Jesús; Aranda Escolástico, Ernesto; Dormido Canto, Sebastián; https://orcid.org/0000-0003-0898-3462This 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 of the controller in the presence of disturbances, model uncertainties and parameter tuning.