Ponències/Comunicacions de congressos
http://hdl.handle.net/2117/1126
20170624T15:37:42Z

A differential game approach to urban drainage systems control
http://hdl.handle.net/2117/105338
A differential game approach to urban drainage systems control
Ramírez Jaime, Andrés Felipe; Quijano Silva, Nicanor; OcampoMartínez, Carlos
Urban drainage systems (UDSs) are complex largescale systems that carry stormwater and wastewater throughout urban areas. During heavy rain scenarios, UDSs are not able to handle the amount of extra water that enters the network and flooding occurs. Usually, this might happen because the network is not being used efficiently, i.e., some structures remain underused while many others are overused. This paper proposes a control methology based on differential game theory that aims to efficiently use the existing network elements in order to minimize overflows and properly manage the water resource. The proposed controller is tested on a typical UDS and is compared with a centralized MPC achieving similar results in terms of flooding minimization and network usage, but only using local information on distributed controllers.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170612T09:02:02Z
Ramírez Jaime, Andrés Felipe
Quijano Silva, Nicanor
OcampoMartínez, Carlos
Urban drainage systems (UDSs) are complex largescale systems that carry stormwater and wastewater throughout urban areas. During heavy rain scenarios, UDSs are not able to handle the amount of extra water that enters the network and flooding occurs. Usually, this might happen because the network is not being used efficiently, i.e., some structures remain underused while many others are overused. This paper proposes a control methology based on differential game theory that aims to efficiently use the existing network elements in order to minimize overflows and properly manage the water resource. The proposed controller is tested on a typical UDS and is compared with a centralized MPC achieving similar results in terms of flooding minimization and network usage, but only using local information on distributed controllers.

Healthaware control of an octorotor UAV system based on actuator reliability
http://hdl.handle.net/2117/105046
Healthaware control of an octorotor UAV system based on actuator reliability
Salazar Cortés, Jean Carlo; Sanjuan Gómez, Adrián; Nejjari AkhiElarab, Fatiha; Sarrate Estruch, Ramon
A major goal in modern flight control systems is the
need of improving the reliability. This work presents a reliable
control approach of an octorotor UAV that allows distributing
the control effort among the actuators using health actuator
information. The octorotor is an overactuated system where
the redundancy of the actuators allows the redistribution of the
control effort among the existing actuators according to a given
control strategy. The priority is given to each actuator according
to the capabilities and reliability of this actuator
20170531T06:42:33Z
Salazar Cortés, Jean Carlo
Sanjuan Gómez, Adrián
Nejjari AkhiElarab, Fatiha
Sarrate Estruch, Ramon
A major goal in modern flight control systems is the
need of improving the reliability. This work presents a reliable
control approach of an octorotor UAV that allows distributing
the control effort among the actuators using health actuator
information. The octorotor is an overactuated system where
the redundancy of the actuators allows the redistribution of the
control effort among the existing actuators according to a given
control strategy. The priority is given to each actuator according
to the capabilities and reliability of this actuator

Periodic economic model predictive control with nonlinearconstraint relaxation for water distribution networks
http://hdl.handle.net/2117/104916
Periodic economic model predictive control with nonlinearconstraint relaxation for water distribution networks
Wang, Ye; Álamo, Teodoro; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela
In this paper, a periodic economic model predictive control (EMPC) strategy with nonlinear algebraic
constraint relaxations for water distribution networks (WDNs) is presented. A WDN is usually modeled by a series
of differentialalgebraic equations. When the hydraulic pressure/head and flow relations in the interconnected pipes
are considered, the nonlinear algebraic equations will appear in the controloriented model of WDNs. Specifically,
two types of nonlinear algebraic equations are studied in terms of unidirectional and bidirectional flows in pipes.
These nonlinear algebraic constraints are iteratively relaxed by a series of linear constraints. Therefore, the proposed
EMPC strategy can be implemented by solving an optimization problem using the linear programming technique.
Finally, the EMPC strategy with nonlinear algebraic constraint relaxations is verified in the Richmond water network.
The comparison results of applying nonlinear EMPC strategy are also provided. The proposed nonlinearconstraint
relaxation technique turns out to be much faster than the one obtained by a standard nonlinear optimization solver.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170526T11:15:00Z
Wang, Ye
Álamo, Teodoro
Puig Cayuela, Vicenç
Cembrano Gennari, Gabriela
In this paper, a periodic economic model predictive control (EMPC) strategy with nonlinear algebraic
constraint relaxations for water distribution networks (WDNs) is presented. A WDN is usually modeled by a series
of differentialalgebraic equations. When the hydraulic pressure/head and flow relations in the interconnected pipes
are considered, the nonlinear algebraic equations will appear in the controloriented model of WDNs. Specifically,
two types of nonlinear algebraic equations are studied in terms of unidirectional and bidirectional flows in pipes.
These nonlinear algebraic constraints are iteratively relaxed by a series of linear constraints. Therefore, the proposed
EMPC strategy can be implemented by solving an optimization problem using the linear programming technique.
Finally, the EMPC strategy with nonlinear algebraic constraint relaxations is verified in the Richmond water network.
The comparison results of applying nonlinear EMPC strategy are also provided. The proposed nonlinearconstraint
relaxation technique turns out to be much faster than the one obtained by a standard nonlinear optimization solver.

A novel design of unknown input observers using settheoretic methods for robust fault detection
http://hdl.handle.net/2117/104813
A novel design of unknown input observers using settheoretic methods for robust fault detection
Feng, Xu; Junbo, Tan; Xueqian, wang; Puig Cayuela, Vicenç; Bin, Liang; Bo, Yuan
This paper proposes a novel unknown input observer (UIO) design method, which incorporates the settheoretic notions into the design of UIOs. In this way, we can take advantage of both UIOs and settheoretic methods in fault detection (FD). The main advantage of UIOs is that they can be insensitive to unknown inputs affecting a system.
However, a critical limitation is the satisfaction of the UIO design conditions for a monitored system. The core idea of this paper is that, even though we cannot design a UIO insensitive to all unknown inputs, we can at least design a UIO insensitive to as many unknown inputs as possible. In this case, although the effect of all unknown inputs on FD cannot be completely removed, we can at least partially remove the effect of unknown inputs. Furthermore, for the remaining unknown inputs whose effect cannot be removed, the settheoretic methods can be employed to specify them and obtain FD robustness against their effect. At the end of this paper, the effectiveness of the proposed method is illustrated by a numerical example.
20170524T10:44:29Z
Feng, Xu
Junbo, Tan
Xueqian, wang
Puig Cayuela, Vicenç
Bin, Liang
Bo, Yuan
This paper proposes a novel unknown input observer (UIO) design method, which incorporates the settheoretic notions into the design of UIOs. In this way, we can take advantage of both UIOs and settheoretic methods in fault detection (FD). The main advantage of UIOs is that they can be insensitive to unknown inputs affecting a system.
However, a critical limitation is the satisfaction of the UIO design conditions for a monitored system. The core idea of this paper is that, even though we cannot design a UIO insensitive to all unknown inputs, we can at least design a UIO insensitive to as many unknown inputs as possible. In this case, although the effect of all unknown inputs on FD cannot be completely removed, we can at least partially remove the effect of unknown inputs. Furthermore, for the remaining unknown inputs whose effect cannot be removed, the settheoretic methods can be employed to specify them and obtain FD robustness against their effect. At the end of this paper, the effectiveness of the proposed method is illustrated by a numerical example.

Algebraic observer design for PEM fuel cell system
http://hdl.handle.net/2117/104183
Algebraic observer design for PEM fuel cell system
Baroud, Zakaria; Gazzam, Noureddine; Benalia, Atallah; OcampoMartínez, Carlos
In this paper, the concept of the algebraic observer is applied to Proton Exchange Membrane Fuel Cell (PEMFC) system. The aim of the proposed observer is to reconstruct the oxygen excess ratio through estimation of their relevant states in real time from the measurement of the supply manifold air pressure. A robust differentiation method is adopted to estimate in finitetime the time derivative of the supply manifold air pressure. Then, the relevant states are reconstructed based on the outputstate inversion model. The objective is to minimize the use of extra sensors in order to reduce the costs and enhance the system accuracy. The performance of the proposed observer is analyzed through simulations considering measurement noise and different stackcurrent variations. The results show that the algebraic observer estimates in finite time and robustly the oxygenexcess ratio.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170508T11:05:06Z
Baroud, Zakaria
Gazzam, Noureddine
Benalia, Atallah
OcampoMartínez, Carlos
In this paper, the concept of the algebraic observer is applied to Proton Exchange Membrane Fuel Cell (PEMFC) system. The aim of the proposed observer is to reconstruct the oxygen excess ratio through estimation of their relevant states in real time from the measurement of the supply manifold air pressure. A robust differentiation method is adopted to estimate in finitetime the time derivative of the supply manifold air pressure. Then, the relevant states are reconstructed based on the outputstate inversion model. The objective is to minimize the use of extra sensors in order to reduce the costs and enhance the system accuracy. The performance of the proposed observer is analyzed through simulations considering measurement noise and different stackcurrent variations. The results show that the algebraic observer estimates in finite time and robustly the oxygenexcess ratio.

Application of robust model predictive control to a renewable hydrogenbased microgrid
http://hdl.handle.net/2117/104179
Application of robust model predictive control to a renewable hydrogenbased microgrid
Velarde, Pablo; Maestre Torreblanca, José María; OcampoMartínez, Carlos; Bordons Alba, Carlos
In order to cope with uncertainties present in the renewable energy generation, as well as in the demand consumer, we propose in this paper the formulation and comparison of three robust model predictive control techniques, i.e., multiscenario, treebased, and chanceconstrained model predictive control, which are applied to a nonlinear plantreplacement model that corresponds to a real laboratoryscale plant located in the facilities of the University of Seville. Results show the effectiveness of these three techniques considering the stochastic nature, proper of these systems.
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170508T10:59:52Z
Velarde, Pablo
Maestre Torreblanca, José María
OcampoMartínez, Carlos
Bordons Alba, Carlos
In order to cope with uncertainties present in the renewable energy generation, as well as in the demand consumer, we propose in this paper the formulation and comparison of three robust model predictive control techniques, i.e., multiscenario, treebased, and chanceconstrained model predictive control, which are applied to a nonlinear plantreplacement model that corresponds to a real laboratoryscale plant located in the facilities of the University of Seville. Results show the effectiveness of these three techniques considering the stochastic nature, proper of these systems.

Distributed formation control of multiple unmanned aerial vehicles over timevarying graphs using population games
http://hdl.handle.net/2117/103904
Distributed formation control of multiple unmanned aerial vehicles over timevarying graphs using population games
Barreiro Gómez, Julian; Mas, Ignacio; OcampoMartínez, Carlos; Sánchez Peña, Ricardo Salvador; Quijano Silva, Nicanor
This paper presents a control technique based on distributed population dynamics under timevarying communication graphs for a multiagent system structured in a leaderfollower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x; y; and z, and in the yaw angle phi. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed populationgamesbased controller achieves the new organization goal accommodating conveniently the informationsharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with timevarying communication network, and timevarying formation
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170502T13:06:08Z
Barreiro Gómez, Julian
Mas, Ignacio
OcampoMartínez, Carlos
Sánchez Peña, Ricardo Salvador
Quijano Silva, Nicanor
This paper presents a control technique based on distributed population dynamics under timevarying communication graphs for a multiagent system structured in a leaderfollower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x; y; and z, and in the yaw angle phi. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed populationgamesbased controller achieves the new organization goal accommodating conveniently the informationsharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with timevarying communication network, and timevarying formation

Distributed MPC with timevarying communication network: A densitydependent population games approach
http://hdl.handle.net/2117/103894
Distributed MPC with timevarying communication network: A densitydependent population games approach
Barreiro Gómez, Julian; Quijano Silva, Nicanor; OcampoMartínez, Carlos
This work addresses distributed control design by using densitydependent population dynamics. Furthermore, stability of the equilibrium point under this proposed class of population dynamics is studied, and the relationship between the equilibrium point of densitydependent population games (DDPG) and the solution of constrained optimization problems is shown. Finally, a distributed predictive control is designed with the proposed densitydependent dynamics, and contemplating a timevarying communication network.
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170502T10:59:03Z
Barreiro Gómez, Julian
Quijano Silva, Nicanor
OcampoMartínez, Carlos
This work addresses distributed control design by using densitydependent population dynamics. Furthermore, stability of the equilibrium point under this proposed class of population dynamics is studied, and the relationship between the equilibrium point of densitydependent population games (DDPG) and the solution of constrained optimization problems is shown. Finally, a distributed predictive control is designed with the proposed densitydependent dynamics, and contemplating a timevarying communication network.

Optimal sensor placement for classifierbased leak localization in drinking water networks
http://hdl.handle.net/2117/103880
Optimal sensor placement for classifierbased leak localization in drinking water networks
Soldevila Coma, Adrià; Tornil Sin, Sebastián; Fernández Canti, Rosa M.; Blesa Izquierdo, Joaquim; Puig Cayuela, Vicenç
This paper presents a sensor placement method for classifierbased leak localization in Water Distribution Networks. The proposed approach consists in applying a Genetic Algorithm to decide the sensors to be used by a classifier (based on the kNearest Neighbor approach). The sensors are placed in an optimal way maximizing the accuracy of the leak localization. The results are illustrated by means of the application to the Hanoi District Metered Area and they are compared to the ones obtained by the Exhaustive Search Algorithm. A comparison with the results of a previous optimal sensor placement method is provided as well.
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
20170502T08:33:29Z
Soldevila Coma, Adrià
Tornil Sin, Sebastián
Fernández Canti, Rosa M.
Blesa Izquierdo, Joaquim
Puig Cayuela, Vicenç
This paper presents a sensor placement method for classifierbased leak localization in Water Distribution Networks. The proposed approach consists in applying a Genetic Algorithm to decide the sensors to be used by a classifier (based on the kNearest Neighbor approach). The sensors are placed in an optimal way maximizing the accuracy of the leak localization. The results are illustrated by means of the application to the Hanoi District Metered Area and they are compared to the ones obtained by the Exhaustive Search Algorithm. A comparison with the results of a previous optimal sensor placement method is provided as well.

Outputfeedback model predictive control of a pasteurization pilot plant based on an LPV model
http://hdl.handle.net/2117/103679
Outputfeedback model predictive control of a pasteurization pilot plant based on an LPV model
Karimi Pour, F.; OcampoMartínez, Carlos; Puig Cayuela, Vicenç
In order to optimize the tradeoff between components life and energy consumption, the integration of a system health management and control modules is required. This paper proposes the integration of model predictive control (MPC) with a fatigue estimation approach that minimizes the damage of the components of a pasteurization plant. The fatigue estimation is assessed with the rainflow counting algorithm. Using data from this algorithm, a simplified model that characterizes the health of the
system is developed and integrated with MPC. The MPC controller objective is modified by adding an extra criterion that takes into account the accumulated damage. But, a steadystate offset is created by adding this extra criterion. Finally, by including an integral action in the MPC controller, the steadystate error for regulation purpose is eliminated. The proposed control scheme is validated in simulation using a simulator of a utilityscale pasteurization plant.
20170424T13:58:16Z
Karimi Pour, F.
OcampoMartínez, Carlos
Puig Cayuela, Vicenç
In order to optimize the tradeoff between components life and energy consumption, the integration of a system health management and control modules is required. This paper proposes the integration of model predictive control (MPC) with a fatigue estimation approach that minimizes the damage of the components of a pasteurization plant. The fatigue estimation is assessed with the rainflow counting algorithm. Using data from this algorithm, a simplified model that characterizes the health of the
system is developed and integrated with MPC. The MPC controller objective is modified by adding an extra criterion that takes into account the accumulated damage. But, a steadystate offset is created by adding this extra criterion. Finally, by including an integral action in the MPC controller, the steadystate error for regulation purpose is eliminated. The proposed control scheme is validated in simulation using a simulator of a utilityscale pasteurization plant.