Persona: Romero Hortelano, Miguel
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0000-0001-7923-8297
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Romero Hortelano
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Miguel
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Publicación Low speed hybrid generalized predictive control of a gasoline-propelled car(Elsevier, 2015-07) Madrid, Ángel P. de; Milanés, V.; Romero Hortelano, Miguel; Mañoso Hierro, María CarolinaLow-speed driving in traffic jams causes significant pollution and wasted time for commuters. Additionally, from the passengers׳ standpoint, this is an uncomfortable, stressful and tedious scene that is suitable to be automated. The highly nonlinear dynamics of car engines at low-speed turn its automation in a complex problem that still remains as unsolved. Considering the hybrid nature of the vehicle longitudinal control at low-speed, constantly switching between throttle and brake pedal actions, hybrid control is a good candidate to solve this problem. This work presents the analytical formulation of a hybrid predictive controller for automated low-speed driving. It takes advantage of valuable characteristics supplied by predictive control strategies both for compensating un-modeled dynamics and for keeping passengers security and comfort analytically by means of the treatment of constraints. The proposed controller was implemented in a gas-propelled vehicle to experimentally validate the adopted solution. To this end, different scenarios were analyzed varying road layouts and vehicle speeds within a private test track. The production vehicle is a commercial Citroën C3 Pluriel which has been modified to automatically act over its throttle and brake pedals.Publicación Fractional Generalized Predictive Control Strategy With Fractional Constraints Handling(IEEE, 2022-12-08) Romero Hortelano, Miguel; Mañoso Hierro, María CarolinaThe control strategies based on the methodology known as Model–based Predictive Control (MPC) have been developed and widely adopted to control real plants. This is mainly due to their intrinsic ability to handle constrains and their capacity to predict and optimize the future behavior of the process using a dynamical model of the plant. On the other hand, the mathematical tool known as fractional calculus has been currently used for reformulating the predictive control strategies to reach a better performance adding new control parameters. This work extends the use of fractional operators for the constraints in one type of fractional predictive control strategy known as Fractional–order Generalized Predictive Control (FGPC), interpreting and discussing the results. In addition, a new method to soften constraints using fractional operator is proposed and illustrated with examples, even to adjust the final response of the system. A practical tuning of the rest of controller parameters with the help of a well–known mathematical software is also included to make use of the beneficial characteristics of this fractional predictive formulation.Publicación A Scorewriter Application using Electrooculography-based Human-Computer Interface(IEEE, 2022) Pérez–Roa, Enrique M.; Mañoso Hierro, María Carolina; Pérez de Madrid y Pablo, Ángel; Romero Hortelano, MiguelAt present, many projects are being developed with human-computer interfaces in different areas but few are related to music. In this work we present a scorewriter application that uses electrooculography as input interface. For one side, the hardware used to record the electrooculogram consists mainly of a low-cost Arduino based microcontroller board that will receive the signal from the electrodes, collect it and send it via USB to the computer. On the other hand, we use free software to implement the application running on the computer. This application is in charge of processing, classifying (using a neural network) and translating the signal into commands to finally build the song and play it. The modularity of the application allows it to be easily modified for other tasks using the same interface. Due to the nature of the application it is very suitable for entertainment. Furthermore, due to the characteristics of its interface it is also suitable for people with reduced mobility who want to easily perform simple music composition tasks.Publicación Fundamentals of the MPC approach to stop-and-go Adaptive Cruise Control(IEEE, 2014) Pérez de Madrid y Pablo, Ángel; Mañoso Hierro, María Carolina; Romero Hortelano, MiguelIn this paper we review the fundamentals of Adaptive Cruise Control / Stop-and-Go systems based on model predictive control theory. Driver’s decisions can be formulated as few very general constraints, for which the mathematical expression is derived in depth. The resulting control system can adjust a car velocity to maintain an intervehicle security distance, avoid collisions, stop and eventually accelerate, and observe other considerations such as passengers’ comfort without human intervention.Publicación Explicit predictive control of a hybrid system: A case study: Control of the longitudinal dynamics of a comercial vehicle at very low speed(IEEE, 2015) Mañoso Hierro, María Carolina; Pérez de Madrid y Pablo, Ángel; Romero Hortelano, MiguelMany complex systems of theoretical and practical interest can be modeled as hybrid systems, i.e., systems that exhibit both continuous and discrete dynamics. This work focuses on the explicit predictive control of hybrid systems using two free Matlab/Simulink toolboxes designed specifically to synthesize and simulate controllers for this kind of systems. A case study is considered. The system is modeled, from experimental results, after the longitudinal dynamics of a commercial car at low speed. Simulation results are analyzed and a comparative study of both toolboxes is carried out