Ara es mostren els items 1-20 de 37

    • A deep reinforcement learning approach for path following on a quadrotor 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2020)
      Text en actes de congrés
      Accés obert
      This paper proposes the Deep Deterministic Policy Grandient (DDPG) reinforcement learning algorithm to solve the path following problem in a quadrotor vehicle. This agent is implemented using a separated control and guidance ...
    • A multi-agent MPC architecture for distributed large scale systems 

      Javalera Rincón, Valeria; Morcego Seix, Bernardo; Puig Cayuela, Vicenç (INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication, 2010)
      Text en actes de congrés
      Accés obert
      In the present work, techniques of Model Predictive Control (MPC), Multi Agent Systems (MAS) and Reinforcement Learning (RL) are combined to develop a distributed control architecture for Large Scale Systems (LSS). This ...
    • A project-oriented course on guidance and control of autonomous aerial vehicles 

      Nejjari Akhi-Elarab, Fatiha; Morcego Seix, Bernardo; Puig Cayuela, Vicenç; Trapiello Fernández, Carlos (Elsevier, 2020)
      Text en actes de congrés
      Accés obert
      In this paper, a project oriented course on guidance and control of autonomous aerial vehicles (UAVs) is presented. The paper describes the di erent modules of the course and how they are addressed using the project oriented ...
    • A Survey of path following control strategies for UAVs focused on quadrotors 

      Rubí Perelló, Bartomeu; Pérez Magrané, Ramon; Morcego Seix, Bernardo (2019-11-09)
      Article
      Accés obert
      The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference ...
    • Adaptive nonlinear guidance law using neural networks applied to a quadrotor 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2019)
      Text en actes de congrés
      Accés obert
      The NonLinear Guidance Law (NLGL) is a geometric algorithm commonly employed to solve the path following problem on different unmanned vehicles. NLGL is simple (does no depend on the model of the vehicle), effective and ...
    • Automàtica : pràctiques : ETSEIT 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 2000)
      Llibre
      Accés restringit a la comunitat UPC
    • Automàtica bàsica : formació continuada : pràctiques EUETIT 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 2000)
      Llibre
      Accés restringit a la comunitat UPC
    • Automàtica Fitxes d'ajuda per a pràctiques 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 1999)
      Llibre
      Accés restringit a la comunitat UPC
      Aquest material aporta la base teòrica necessària per realitzar pràctiques d’automàtica tant bàsica com avançada, però també descriuen metodologies i eines que es fan servir en el laboratori. Per facilitar la comprensió, ...
    • Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle 

      Cayero Becerra, Julián Francisco; Cugueró Escofet, Josep; Morcego Seix, Bernardo (2014)
      Text en actes de congrés
      Accés obert
      Through this work a deep understanding of the backstepping control technique is sought when applied over non-affine systems. It is shown that in this case appears the necessity to bound the value of internal states and ...
    • Blinking supervision in a working environment 

      Morcego Seix, Bernardo; Argilés Sans, Marc; Cabrerizo, Marc; Cardona Torradeflot, Genís; Pérez Magrané, Ramon; Pérez Cabré, Elisabet; Gispets Parcerisas, Joan (2016-02-02)
      Article
      Accés obert
      The health of the ocular surface requires blinks of the eye to be frequent in order to provide moisture and to renew the tear film. However, blinking frequency has been shown to decrease in certain conditions, such as when ...
    • Coaxial UAV helicopter control laboratory design 

      Morcego Seix, Bernardo (2012)
      Text en actes de congrés
      Accés restringit per decisió de l'autor
      This paper describes the design of a low cost laboratory platform to perform control related exercises with an UAV (Unmanned Aerial Vehicle). All the elements this platform is made up of are very common laboratory instruments ...
    • Control de actitud de un cohete de sondeo atmosférico 

      Manent Bistué, Pau; Quevedo Casín, Joseba Jokin; Morcego Seix, Bernardo (2013)
      Text en actes de congrés
      Accés obert
      Un cohete necesita de un sistema de control de actitud para superar posibles perturbaciones. Sobre un cohete pueden aparecer fuerzas que lo desestabilicen de una trayectoria idealmente vertical: viento, desalineamiento ...
    • CONTROL I GUIATGE DE ROBOTS MÒBILS (Examen 1r quadrimestre, 1r parcial) 

      Morcego Seix, Bernardo (Universitat Politècnica de Catalunya, 2013-10-29)
      Examen
      Accés restringit a la comunitat UPC
    • CONTROL I GUIATGE DE ROBOTS MÓBILS (Examen 1r quadrimestre, 2n parcial) 

      Morcego Seix, Bernardo (Universitat Politècnica de Catalunya, 2015-01-09)
      Examen
      Accés restringit a la comunitat UPC
    • Control of a biopile for hydrocarbon decontamination 

      Pérez Magrané, Ramon; Morcego Seix, Bernardo; Matilla, Alejandro (IEEE, 2011)
      Text en actes de congrés
      Accés restringit per política de l'editorial
    • Creació d'un bloc d'optativitat amb un projecte pràctic comú, coherent i integrador 

      Planas Dangla, Rita María; Cugueró Escofet, Josep; Hernández Palacín, Juan Carlos; Morcego Seix, Bernardo; Nejjari Akhi-Elarab, Fatiha; Pérez Magrané, Ramon; Quevedo Casín, Joseba Jokin; Sarrate Estruch, Ramon (Universitat Politècnica de Catalunya. Institut de Ciències de l'Educació, 2013-02-08)
      Text en actes de congrés / Comunicació de congrés
      Accés obert
      El projecte s’emmarca dins la transformació dels estudis cap a l’EEES i concretament a l’Escola d’Enginyers de Terrassa (EET). L’objectiu era dissenyar i aplicar un bloc de 3 assignatures optatives del Grau d’Enginyeria ...
    • Deep reinforcement learning for quadrotor path following with adaptive velocity 

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2020-10-24)
      Article
      Accés obert
      This paper proposes a solution for the path following problem of a quadrotor vehicle based on deep reinforcement learning theory. Three different approaches implementing the Deep Deterministic Policy Gradient algorithm are ...
    • Design of shifting output-feedback controllers for LPV systems subject to time-varying saturations 

      Ruiz Royo, Adrián; Rotondo, Damiano; Morcego Seix, Bernardo (2022)
      Text en actes de congrés
      Accés obert
      This paper considers the problem of designing a shifting output-feedback controller for polytopic linear parameter-varying (LPV) systems subject to time-varying saturations. By means of the LPV framework and the use of the ...
    • Design of shifting state-feedback controllers for constrained feedback linearized systems: application to quadrotor attitude control 

      Ruiz Royo, Adrián; Rotondo, Damiano; Morcego Seix, Bernardo (2024-03-10)
      Article
      Accés obert
      This paper proposes a shifting feedback linearization controller for nonlinear systems under input saturation. The suggested approach for determining a linear parameter-varying (LPV) state-feedback controller is based on ...
    • Design of shifting state-feedback controllers for LPV systems subject to time-varying saturations via parameter-dependent Lyapunov functions 

      Ruiz Royo, Adrián; Rotondo, Damiano; Morcego Seix, Bernardo (2022-07)
      Article
      Accés obert
      This paper considers the problem of designing a shifting state-feedback controller via quadratic parameter-dependent Lyapunov functions (QPDLFs) for systems subject to symmetric time-varying saturations. By means of the ...