Articles de revista
http://hdl.handle.net/2117/1125
Mon, 30 Nov 2015 13:42:24 GMT2015-11-30T13:42:24ZModeling and real-time control of urban drainage systems : a review
http://hdl.handle.net/2117/79541
Modeling and real-time control of urban drainage systems : a review
García, Luís; Barreiro Gómez, Julian; Escobar, Eduardo; Téllez, Duván; Quijano Silva, Nicanor; Ocampo-Martínez, Carlos
Urban drainage systems (UDS) may be considered large–scale systems given their large number of associated states and decision actions, making challenging their real–time control (RTC) design. Moreover, the complexity of the dynamics of the UDS makes necessary the development of strategies for the control design. This paper reviews and discusses several techniques and strategies commonly used for the control of UDS. Moreover, the models to describe, simulate, and control the transport of wastewater in UDS are also reviewed.
Sun, 22 Nov 2015 18:47:28 GMThttp://hdl.handle.net/2117/795412015-11-22T18:47:28ZGarcía, LuísBarreiro Gómez, JulianEscobar, EduardoTéllez, DuvánQuijano Silva, NicanorOcampo-Martínez, CarlosUrban drainage systems (UDS) may be considered large–scale systems given their large number of associated states and decision actions, making challenging their real–time control (RTC) design. Moreover, the complexity of the dynamics of the UDS makes necessary the development of strategies for the control design. This paper reviews and discusses several techniques and strategies commonly used for the control of UDS. Moreover, the models to describe, simulate, and control the transport of wastewater in UDS are also reviewed.Integrated simulation and optimization scheme of real-time large-scale water supply network: applied to Catalunya case study
http://hdl.handle.net/2117/79071
Integrated simulation and optimization scheme of real-time large-scale water supply network: applied to Catalunya case study
Sun, Congcong; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela
This paper presents an integrated simulation and optimization modeling approach in order to provide the optimal configuration for large-scale water supply systems (LSWSS) in real time. Model predictive control (MPC) has been chosen to handle the complex set of objectives involved in the management of LSWSS. The computation of control strategies by MPC uses a simplified model of the network dynamics. The use of the combined approach of optimization and simulation contributes to making sure that the effect of more complex dynamics, better represented by the simulation model, may be taken into account. Coordination between simulator and optimizer works in a feedback scheme, from which both real-time interaction and extensive validation of the proposed solution have been realized using a case study based on the Catalunya regional water network.
Wed, 11 Nov 2015 18:33:04 GMThttp://hdl.handle.net/2117/790712015-11-11T18:33:04ZSun, CongcongPuig Cayuela, VicençCembrano Gennari, GabrielaThis paper presents an integrated simulation and optimization modeling approach in order to provide the optimal configuration for large-scale water supply systems (LSWSS) in real time. Model predictive control (MPC) has been chosen to handle the complex set of objectives involved in the management of LSWSS. The computation of control strategies by MPC uses a simplified model of the network dynamics. The use of the combined approach of optimization and simulation contributes to making sure that the effect of more complex dynamics, better represented by the simulation model, may be taken into account. Coordination between simulator and optimizer works in a feedback scheme, from which both real-time interaction and extensive validation of the proposed solution have been realized using a case study based on the Catalunya regional water network.Set-membership parity space approach for fault detection in linear uncertain dynamic systems
http://hdl.handle.net/2117/76223
Set-membership parity space approach for fault detection in linear uncertain dynamic systems
Blesa Izquierdo, Joaquim; Puig Cayuela, Vicenç; Saludes Closa, Jordi; Fernández Canti, Rosa M.
In this paper, a set-membership parity space approach for linear uncertain dynamic systems is proposed. First, a set of parity relations derived from the parity space approach is obtained by means of a transformation derived from the system characteristic polynomial. As a result of this transformation, parity relations can be expressed in regressor form. On the one hand, this facilitates the parameter estimation of those relations using a zonotopic set-membership algorithm. On the other hand, fault detection is then based on checking, at every sample time, the non-existence of a parameter value in the parameter uncertainty set such that the model is consistent with all the system measurements. The proposed approach is applied to two examples: a first illustrative case study based on a two-tank system and a more realistic case study based on the wind turbine fault detection and isolation benchmark in order to evaluate its effectiveness
Mon, 20 Jul 2015 11:16:52 GMThttp://hdl.handle.net/2117/762232015-07-20T11:16:52ZBlesa Izquierdo, JoaquimPuig Cayuela, VicençSaludes Closa, JordiFernández Canti, Rosa M.In this paper, a set-membership parity space approach for linear uncertain dynamic systems is proposed. First, a set of parity relations derived from the parity space approach is obtained by means of a transformation derived from the system characteristic polynomial. As a result of this transformation, parity relations can be expressed in regressor form. On the one hand, this facilitates the parameter estimation of those relations using a zonotopic set-membership algorithm. On the other hand, fault detection is then based on checking, at every sample time, the non-existence of a parameter value in the parameter uncertainty set such that the model is consistent with all the system measurements. The proposed approach is applied to two examples: a first illustrative case study based on a two-tank system and a more realistic case study based on the wind turbine fault detection and isolation benchmark in order to evaluate its effectivenessHybrid modeling and receding horizon control of sewer networks
http://hdl.handle.net/2117/28327
Hybrid modeling and receding horizon control of sewer networks
Joseph Duran, Bernat; Ocampo-Martínez, Carlos; Cembrano Gennari, Gabriela
In this work, a control-oriented sewer network model is presented based on a hybrid linear modeling framework. The model equations are described independently for each network element, thus allowing the model to be applied to a broad class of networks. A parameter calibration procedure using data obtained from simulation software that solves the physically based model equations is described and validation results are given for a case study. Using the control model equations, an optimal control problem to minimize flooding and pollution is formulated to be solved by means of mixed-integer linear or quadratic programming. A receding horizon control strategy based on this optimal control problem is applied to the case study using the simulation software as a virtual reality. Results of this closed-loop simulation tests show the effectiveness of the proposed approach in fulfilling the control objectives while complying with physical and operational constraints.
Tue, 16 Jun 2015 16:59:47 GMThttp://hdl.handle.net/2117/283272015-06-16T16:59:47ZJoseph Duran, BernatOcampo-Martínez, CarlosCembrano Gennari, GabrielaIn this work, a control-oriented sewer network model is presented based on a hybrid linear modeling framework. The model equations are described independently for each network element, thus allowing the model to be applied to a broad class of networks. A parameter calibration procedure using data obtained from simulation software that solves the physically based model equations is described and validation results are given for a case study. Using the control model equations, an optimal control problem to minimize flooding and pollution is formulated to be solved by means of mixed-integer linear or quadratic programming. A receding horizon control strategy based on this optimal control problem is applied to the case study using the simulation software as a virtual reality. Results of this closed-loop simulation tests show the effectiveness of the proposed approach in fulfilling the control objectives while complying with physical and operational constraints.A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot
http://hdl.handle.net/2117/28323
A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot
Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha; Romera Formiguera, Juli
This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable for designing an error-feedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows solving this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results.
Tue, 16 Jun 2015 12:15:54 GMThttp://hdl.handle.net/2117/283232015-06-16T12:15:54ZRotondo, DamianoPuig Cayuela, VicençNejjari Akhi-Elarab, FatihaRomera Formiguera, JuliThis paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable for designing an error-feedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows solving this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results.Editorial sobre los criterios de valoración de la investigación en el ámbito de la automática
http://hdl.handle.net/2117/27834
Editorial sobre los criterios de valoración de la investigación en el ámbito de la automática
Quevedo Casín, Joseba Jokin
Fri, 08 May 2015 09:26:02 GMThttp://hdl.handle.net/2117/278342015-05-08T09:26:02ZQuevedo Casín, Joseba JokinLeak signature space: an original representation for robust leak location in water distribution networks
http://hdl.handle.net/2117/27696
Leak signature space: an original representation for robust leak location in water distribution networks
Casillas, Myrna V.; Garza Castañón, Luís Eduardo; Puig Cayuela, Vicenç; Vargas Martinez, Adriana
In this paper, an original model-based scheme for leak location using pressure sensors in water distribution networks is introduced. The proposed approach is based on a new representation called the Leak Signature Space (LSS) that associates a specific signature to each leak location being minimally affected by leak magnitude. The LSS considers a linear model approximation of the relation between pressure residuals and leaks that is projected onto a selected hyperplane. This new approach allows to infer the location of a given leak by comparing the position of its signature with other leak signatures. Moreover, two ways of improving the method's robustness are proposed. First, by associating a domain of influence to each signature and second, through a time horizon analysis. The efficiency of the method is highlighted by means of a real network using several scenarios involving different number of sensors and considering the presence of noise in the measurements.
Thu, 30 Apr 2015 11:12:18 GMThttp://hdl.handle.net/2117/276962015-04-30T11:12:18ZCasillas, Myrna V.Garza Castañón, Luís EduardoPuig Cayuela, VicençVargas Martinez, AdrianaIn this paper, an original model-based scheme for leak location using pressure sensors in water distribution networks is introduced. The proposed approach is based on a new representation called the Leak Signature Space (LSS) that associates a specific signature to each leak location being minimally affected by leak magnitude. The LSS considers a linear model approximation of the relation between pressure residuals and leaks that is projected onto a selected hyperplane. This new approach allows to infer the location of a given leak by comparing the position of its signature with other leak signatures. Moreover, two ways of improving the method's robustness are proposed. First, by associating a domain of influence to each signature and second, through a time horizon analysis. The efficiency of the method is highlighted by means of a real network using several scenarios involving different number of sensors and considering the presence of noise in the measurements.Robust quasi-lpv model reference ftc of a quadrotor uav subject to actuator faults
http://hdl.handle.net/2117/27409
Robust quasi-lpv model reference ftc of a quadrotor uav subject to actuator faults
Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç
A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H8 norm bounding constraints. Simulation results are used to compare the different FTC strategies.
Fri, 17 Apr 2015 08:14:32 GMThttp://hdl.handle.net/2117/274092015-04-17T08:14:32ZRotondo, DamianoNejjari Akhi-Elarab, FatihaPuig Cayuela, VicençA solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H8 norm bounding constraints. Simulation results are used to compare the different FTC strategies.A gain-scheduled LPV control for oxygen stoichiometry regulation in PEM fuel cell systems
http://hdl.handle.net/2117/27363
A gain-scheduled LPV control for oxygen stoichiometry regulation in PEM fuel cell systems
Bianchi, Fernando Daniel; Kunusch, Cristian; Ocampo-Martínez, Carlos; Sánchez Peña, Ricardo Salvador
The article addresses the LPV control of a Polymer Electrolyte Membrane Fuel Cell (PEMFC). In order to optimize efficiency, PEMFCs require reliable control systems ensuring stability and performance, as well as robustness to model uncertainties and external perturbations. On the other hand, PEMFCs present a highly nonlinear behavior that demands nonlinear and/or adaptive control strategies to achieve high performance in the entire operating range. Here, a linear parameter varying (LPV) gain scheduled control is proposed. The control is based on a piecewise affine LPV representation of the PEMFC, a model that can be available in practice. In order to deal with the saturation of the control action, an LPV anti-windup compensation is also proposed. The complete control strategy is applied to several experimental practical situations in a laboratory fuel cell system to evaluate its performance and the reliability of the proposed algorithms.
Wed, 15 Apr 2015 16:57:18 GMThttp://hdl.handle.net/2117/273632015-04-15T16:57:18ZBianchi, Fernando DanielKunusch, CristianOcampo-Martínez, CarlosSánchez Peña, Ricardo SalvadorThe article addresses the LPV control of a Polymer Electrolyte Membrane Fuel Cell (PEMFC). In order to optimize efficiency, PEMFCs require reliable control systems ensuring stability and performance, as well as robustness to model uncertainties and external perturbations. On the other hand, PEMFCs present a highly nonlinear behavior that demands nonlinear and/or adaptive control strategies to achieve high performance in the entire operating range. Here, a linear parameter varying (LPV) gain scheduled control is proposed. The control is based on a piecewise affine LPV representation of the PEMFC, a model that can be available in practice. In order to deal with the saturation of the control action, an LPV anti-windup compensation is also proposed. The complete control strategy is applied to several experimental practical situations in a laboratory fuel cell system to evaluate its performance and the reliability of the proposed algorithms.Temporal multi-level coordination techniques oriented to regional water networks: application to the Catalunya case study
http://hdl.handle.net/2117/27175
Temporal multi-level coordination techniques oriented to regional water networks: application to the Catalunya case study
Sun, Congcong; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela
In this paper, a multi-layer model predictive control (MPC) with temporal multi-level coordination for regional water supply systems is proposed. First, a multi-layer control structure resulting from a functional decomposition of water network is briefly presented. Inside each layer, an MPC based controller is used. Between related layers, a temporal multi-level coordination mechanism is used to generate control strategies which consider objectives and time scales of both layers. The upper layer which is named supply layer works in a daily scale in order to achieve the global management policies for the different reservoirs. The lower layer which is named transportation layer works in a hourly scale and is in charge of manipulating the actuators (pumps and valves) set-point to satisfy the local objectives. The results of the modelling will be applied to the Catalunya Regional Water Network and this paper presents the simulation results based on an aggregate model of this network.
Wed, 08 Apr 2015 15:13:03 GMThttp://hdl.handle.net/2117/271752015-04-08T15:13:03ZSun, CongcongPuig Cayuela, VicençCembrano Gennari, GabrielaIn this paper, a multi-layer model predictive control (MPC) with temporal multi-level coordination for regional water supply systems is proposed. First, a multi-layer control structure resulting from a functional decomposition of water network is briefly presented. Inside each layer, an MPC based controller is used. Between related layers, a temporal multi-level coordination mechanism is used to generate control strategies which consider objectives and time scales of both layers. The upper layer which is named supply layer works in a daily scale in order to achieve the global management policies for the different reservoirs. The lower layer which is named transportation layer works in a hourly scale and is in charge of manipulating the actuators (pumps and valves) set-point to satisfy the local objectives. The results of the modelling will be applied to the Catalunya Regional Water Network and this paper presents the simulation results based on an aggregate model of this network.