Persona: Sánchez Moreno, José
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Sánchez Moreno
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José
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Publicación Distributed reconfiguration of distance-based formations with virtual surface constraints(IEEE, 2024) Guinaldo Losada, María; Sánchez Moreno, José; S. Zaragoza; Mañas Álvarez, Francisco JoséThis paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.Publicación Full Real-Time Positioning and Attitude System Based on GNSS-RTK Technology(MDPI, 2020-11-20) Olivart i Llop, J. M.; Moreno Salinas, David; Sánchez Moreno, JoséAn accurate positioning and attitude computation of vehicles, robots, or even persons is of the utmost importance and critical for the success of many operations in multiple commercial, industrial, and research areas. However, most of these positioning and attitude systems rely on inertial measurement units that must be periodically recalibrated and have a high cost. In the present work, the design of a real-time positioning and attitude system using three positioning sensors based on the GNSS-RTK technology is presented. This kind of system does not need recalibration, and it allows one to define the attitude of a solid by only computing the position of the system in the global reference system and the three angles that the relative positions of the GNSS antennas define with respect to the principal axes of the solid. The position and attitude can be computed in real time for both static and dynamic scenarios. The only limitation of the system is that the antennas need to be in open air to work at full performance and accuracy. All the design phases are covered in the prototype construction: requirement definition, hardware selection, software design, assembly, and validation. The feasibility and performance of the system were tested in both static and dynamic real scenarios.Publicación Sistema de mejora del entrenamiento del lanzamiento de disco basado en IMU y vídeo(2024-06-24) Sánchez Moreno, JoséPublicación IMC-based tuning of PIDA controllers: a comparison with PID control(ELSEVIER, 2024) Visioli, Antonio; Sánchez Moreno, José; https://orcid.org/0000-0002-9246-5715In this paper we evaluate the performance achieved by a tuning methodology based on Internal Model Control for a Proportional-Integral-Derivative-Acceleration (PIDA) controller. In particular, we compare the results obtained for the set-point and load disturbance step responses with those achieved with a Proportional-Integral-Derivative (PID) controller tuned by applying the well-known SIMC and AMIGO tuning rules. Different high-order processes are considered: self-regulating, distributed lag and non self-regulating. It is shown that, in general, the use of the double derivative (acceleration) action allows the integrated absolute error to be decreased without a decrement of the robustness and with a moderate increment of the control effort.Publicación Event-based Control: A Bibliometric Analysis of Twenty Years of Research(IEEE, 2020-03-04) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Heradio Gil, Rubén; Chacón, Jesús; Vargas Oyarzún, Héctor; Sánchez, José; Sánchez Moreno, José; Dormido Canto, SebastiánThe potential benefits of networked control systems are tremendous, as they can be easily upgraded by just including new components (i.e., sensors, actuators, or controllers), avoiding any further modifications to their structure. A critical approach to unleash such potential benefits is event-based control, where the system output turns to be sampled on demand, instead of being sampled constantly at rigid periods of time. This paper analyzes from a bibliometric point of view the literature published for the last twenty years on event-based control, identifying the most relevant articles, authors, institutions, and journals. Moreover, the principal topics, motivations, and problems faced by the researchers are discussed, identifying distinct challenges and opportunities for future research.Publicación Obtaining high preventive and resilience capacities in critical infrastructure by industrial automation cells(Elsevier, 2020-06) González, Santiago G.; Dormido Canto, Sebastián; Sánchez Moreno, JoséThe advances in Information Technologies (ITs) are providing Industrial Control Systems (ICS) with a great capacity for interconnection and adaptability. However, the use of communication networks makes ICS highly vulnerable. Consequently, it is essential to develop methodologies for the identification and subsequent classification of the ICS that intervene in critical infrastructure assets with any level of complexity, scalability and heterogeneity. The System and Infrastructure of Knowledge for Real Experimentation by means of Cells of Industrial Automation (SIKRECIA), described in this work, provides new capabilities for research, development, simulation and testing of the functioning of these systems, and the ability to foresee the behavior of a specific system in industrial production. The scenarios recreated through SIKRECIA have the ability to anticipate new threats that affect the ICS of critical infrastructures. Using SIKRECIA, a specific vulnerability of a PLC has been verified through the engineering programmed for the management of a traffic light control system. The results obtained demonstrate the high dependence between IT and OT (Operation Technologies) systems and therefore the importance of being able to recreate those environments before entering into operation. As SIKRECIA is an open system, it can use components from different industrial manufacturers to cover the existing architectures in the process industry.Publicación A relay-feedback automatic tuning methodology of PIDA controllers for high-order processes(Taylor & Francis, 2024) Antonio Visioli; Sánchez Moreno, JoséIn this paper, we present a new automatic tuning methodology for proportional-integral-derivative-acceleration controllers. In particular, a (possibly high-order) model of the process is obtained by means of a relay-feedback test. Then, the four parameters of the controller are determined by approximating the general feedback internal model controller with a truncated Maclaurin series. In this context, the user can select a parameter that determines the speed of the response of the closed-loop system and implicitly handles the trade-off between aggressiveness and robustness. It is shown that the additional acceleration action allows an improvement of the performance with respect to a traditional proportional-integral-derivative controller and represents an effective solution for the control of high-order systems.Publicación Improving the relay feedback identification by using a gain-changing non-linearity(ELSEVIER, 2024) Romero Pérez, Julio Ariel; Miguel-Escrig, Oscar; Sánchez Moreno, José; Dormido Bencomo, Sebastián; https://orcid.org/0000-0003-3397-2239; https://orcid.org/0000-0002-2472-2038; https://orcid.org/0000-0002-2405-8771This paper proposes the use of the gain-changing non-linearity to improve the estimation of the ultimate point, which is used in many auto-tuning algorithm of PID controllers. The experiments for identification are similar to the relay feedback, therefore some well known advantages of this kind of experiments are maintained while the estimation error is significantly reduced. The identification method is evaluated with a batch of system dynamics, providing suitable results in all cases, which proves the validity of the approach.Publicación Protección de objetivos móviles mediante un enjambre de drones(Servicio de Publicaciones de la Universidade da Coruña (A Coruña) y el Comité Español de Automática (Barcelona), 2025-09-01) Zaragoza, Salvador; Guinaldo Losada, María; Sánchez Moreno, JoséSe propone una solución C-UAS (Counter-Unmanned Air Systems) alternativa y complementaria a las existentes: el uso de un enjambre de drones defensores. Estos drones adoptan una formación de escudo semiesférico para negar el acceso a UAS hostiles al objetivo protegido. La clave de esta estrategia radica en el diseño de una ley de control distribuida que permite que los drones defensores puedan seguir trayectorias, mantener la posición y orientarse en el espacio preservando en todo momento la forma del escudo en función de la ubicación y velocidad del enjambre hostil y el objetivo a defender. Además, la estrategia propuesta es escalable y adaptable a diferentes tamaños de áreas protegidas, desde pequeñas instalaciones hasta grandes regiones geográficas.Publicación Composición fotográfica mediante el uso de un dron(Comité Español de Automática, 2024-07-15) Sánchez García, Juan Miguel; Sánchez Moreno, José; Moreno Salinas, DavidLa composición fotográfica, conocida como mosaicos, es crucial en aplicaciones donde no es posible capturar toda la extensión de grandes superficies en una sola toma. Por ende, se requiere fotografiar secciones más pequeñas para luego componerlas y lograr una reproducción lo más precisa posible de la realidad. En este trabajo se presenta el resultado de aplicar los principios de las distintas etapas necesarias para crear un mosaico, complementado con el uso de un dron para la captura de las imágenes. La creación del mosaico implica técnicas avanzadas de procesamiento de imágenes que facilitan la detección de características, la transformación geométrica y la alineación de píxeles. Sin embargo, la experimentación con diferentes algoritmos ha revelado que no siempre es viable encontrar una transformación geométrica que produzca un mosaico de calidad, especialmente cuando las características de la fotografía no son óptimas, lo cual puede ser atribuible, en parte, a la resolución de los dispositivos fotográficos utilizados.
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