Persona: Moreno Salinas, David
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Moreno Salinas
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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 Optimización ley de control para un AUV funcionando con un único motor(Universidade da Coruña) 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 al conducir un AUV 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. La primera utiliza algoritmos genéticos para proporcionar la acción de control óptima en cada instante, es decir, se optimiza la ley de control muestreada en función del tiempo. La segunda, por su parte, emplea los algoritmos genéticos para obtener una acción de control óptima en función de la orientación del vehículo a partir de una ley de control aproximada con una serie de FourierPublicación Fault-Tolerant Control for AUVs Using a Single Thruster(IEEE, 2022-02) Chaos García, Dictino; Moreno Salinas, David; Aranda Almansa, JoaquínThe present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditions to command the vehicle towards a desired direction and reach a safe target point. In addition, the AUV is commanded with only two control actions on the available thruster, driving the vehicle through the desired direction following a spiral-like path and keeping it within the neighbourhood of the target point. The fault-tolerant control proposed is simple and robust enough to be applied to multiple kinds of AUVs without the need of accurate parameter design. The stability and well performance of the control scheme proposed is analytically demonstrated, and simulation examples illustrate the key results derived.Publicación Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization(Elsevier, 2018-12-03) Crasta, N.; Moreno Salinas, David; Pascoal, A.M.; Aranda Almansa, JoaquínRange-based target localization is an important class of problems that arise in an increasing number of scientific and commercial missions at sea. Underwater target localization refers to the task of estimating the positions of fixed or moving underwater targets by using range measurements between the targets and one or more autonomous surface vehicles (ASVs), called trackers, undergoing trajectories that are known in real time. In this context, the trackers must execute sufficiently exciting maneuvers so as to maximize the range-based information available for multiple target localization. In this paper, adopting an estimation theoretical setting, we first propose a general methodology for tracker motion planning that results from maximizing the determinant of an appropriately defined Fisher information matrix (FIM) subject to inter-vehicle collision avoidance and vehicle maneuvering constraints. Then, for the single-target single-tracker problem (which is the dual problem of the classical single-beacon navigation problem), we provide a family of analytical solutions for the optimal tracker trajectories and complement the results with a practical experiment using a tracker when the target undergoes trajectories that are straight lines, pieces of arcs, or a combination thereof. In the methodology adopted for system implementation the tracker runs three key algorithms simultaneously, over a sliding time window: (i) tracker motion planning, (ii) tracker motion control, and (iii) target motion estimation based on range data acquired on-line. In order to simplify the types of trajectories that the tracker must undergo in the single target localization problem, we extend the above set-up to the case where the tracker works in cooperation with another vehicle, called companion, that can also measure ranges to the target and share this info with the tracker. The latter may have access to the position of the companion or, in some cases, only to the range between the two vehicles. We consider three different operating scenarios where the motion of the tracker is chosen so as to increase the accuracy with which the position of the target can be estimated. The scenarios reflect the situations where the motion of the companion vehicle satisfies one of three conditions: (i) the motion is not defined a priori and can also be optimized, (ii) the motion is fixed a priori and is known to the tracker (scenario in which the tracker benefits from the extra information acquired by the companion vehicle, which tracks a desired trajectory in the context of a separate, independent mission), and (iii) the motion is not known a priori and must be learned in the course of the mission. Simulation results illustrate the methodology adopted for cooperative target localization.Publicación Modelling of a surface marine vehicle with kernel ridge regression confidence machine(Elsevier, 2018-12-27) Moreno Salinas, David; Moreno, Raul; Pereira, Augusto; Aranda Almansa, Joaquín; Cruz, Jesus M. de laThis paper describes the use of Kernel Ridge Regression (KRR) and Kernel Ridge Regression Confidence Machine (KRRCM) for black box identification of a surface marine vehicle. Data for training and test have been obtained from several manoeuvres typically used for marine system identification. Thus, a 20/20 degrees Zig-Zag, a 10/10 degrees Zig-Zag, and different evolution circles have been employed for the computation and validation of the model. Results show that the application of conformal prediction provides an accurate model that reproduces with large accuracy the actual behaviour of the ship with confidence margins that ensure that the model response is within these margins, making it a suitable tool for system identification.Publicación An energy efficient fault-tolerant controller for homing of underactuated AUVs(Elsevier, 2024) Pascoal, António; Chaos García, Dictino; Moreno Salinas, David; Aranda Almansa, Joaquín; Cerrada Collado, CristinaIn 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.