Now showing items 1-20 of 29

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

      Rubí Perelló, Bartomeu; Morcego Seix, Bernardo; Pérez Magrané, Ramon (2020)
      Conference report
      Open Access
      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)
      Conference report
      Open Access
      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 Survey of path following control strategies for UAVs focused on quadrotors 

      Rubí Perelló, Bartomeu; Pérez Magrané, Ramon; Morcego Seix, Bernardo (2019-11-09)
      Article
      Open Access
      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)
      Conference report
      Open Access
      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)
      Book
      Restricted access to the UPC academic community
    • Automàtica bàsica : formació continuada : pràctiques EUETIT 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 2000)
      Book
      Restricted access to the UPC academic community
    • Automàtica Fitxes d'ajuda per a pràctiques 

      Morcego Seix, Bernardo; Cugueró Escofet, Josep; Pérez Magrané, Ramon (Edicions UPC, 1999)
      Book
      Restricted access to the UPC academic community
      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)
      Conference report
      Open Access
      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
      Open Access
      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)
      Conference report
      Restricted access - author's decision
      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)
      Conference report
      Open Access
      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)
      Exam
      Restricted access to the UPC academic community
    • CONTROL I GUIATGE DE ROBOTS MÓBILS (Examen 1r quadrimestre, 2n parcial) 

      Morcego Seix, Bernardo (Universitat Politècnica de Catalunya, 2015-01-09)
      Exam
      Restricted access to the UPC academic community
    • Control of a biopile for hydrocarbon decontamination 

      Pérez Magrané, Ramon; Morcego Seix, Bernardo; Matilla, Alejandro (IEEE, 2011)
      Conference report
      Restricted access - publisher's policy
    • 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)
      Conference report / Conference lecture
      Open Access
      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 ...
    • Design of state-feedback controllers for linear parameter varying systems subject to time-varying input saturation 

      Ruiz Royo, Adrián; Rotondo, Damiano; Morcego Seix, Bernardo (Multidisciplinary Digital Publishing Institute, 2019-09-01)
      Article
      Open Access
      All real-world systems are affected by the saturation phenomenon due to inherent physical limitations of actuators. These limitations should be taken into account in the controller’s design to prevent a possibly severe ...
    • Distributed MPC for large scale systems using agent-based reinforcement learning 

      Javalera Rincón, Valeria; Morcego Seix, Bernardo; Puig Cayuela, Vicenç (2010)
      Conference report
      Open Access
      In the present work, distributed control and artificial intelligence are combined in a control architecture for Large Scale Systems (LSS). The aim of this architecture is to provide a general structure and methodology to ...
    • Estimating external disturbances in UAVs using linear and spin momenta 

      Cayero Becerra, Julián Francisco; Morcego Seix, Bernardo; Cugueró Escofet, Josep (2018)
      Conference report
      Restricted access - publisher's policy
      This paper deals with the problem of estimating external disturbances acting upon aerial vehicles. First, a dynamic model based on the linear and spin momentum equations of rigid bodies is presented. This model renders the ...
    • Estudio de redes neuronales modulares para el modelado de sistemas dinámicos no lineales 

      Morcego Seix, Bernardo (Universitat Politècnica de Catalunya, 2000-07-17)
      Doctoral thesis
      Open Access
      de la memòria<br/>En aquest estudi es consideren aspectes teòrics i pràctics del modelatge de sistemes no lineals mitjançant xarxes neuronals modulars.<br/>A la vessant teòrica s'ha proposat un model que aprofita les ...
    • Heading control system design for an unmanned helicopter 

      Nejjari Akhi-Elarab, Fatiha; Saldívar, Eleazar; Morcego Seix, Bernardo (IEEE, 2011)
      Conference report
      Restricted access - publisher's policy