The Institut de Robòtica i Informàtica Industrial was created in November 1995 as a Joint Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC).

The Institute was created with three main objectives: a) to promote a multidisciplinary center where CSIC and UPC researchers from different fields can combine efforts to carry out research on robotics and applied informatics; b) to offer to the community an Institute for fundamental and pre‐industrial technological research, offering also scientific education through doctorate and postgraduate courses; and c) to promote a quality‐based center being competitive enough to join other partners to participate in local, national and European research programs.

Pàgina web del Departament

Recent Submissions

  • Analysis and design of quadratic parameter varying (QPV) control systems with polytopic attractive region 

    Rotondo, Damiano; Johansen, Tor Arne (2018-05-01)
    Article
    Open Access
    This paper proposes a gain-scheduling approach for systems with a quadratic structure. Both the stability analysis and the state-feedback controller design problems are considered for quadratic parameter varying (QPV) ...
  • Health-aware LPV-MPC based on a reliability-based remaining useful life assessment 

    Karimi Pour, Fatemeh; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2018-01-01)
    Article
    Open Access
    One of the relevant information provided by the prognostics and health management algorithms is the estimation of the Remaining Useful Life (RUL). The prediction of the expected RUL is very useful to decrease maintenance ...
  • Robust fault estimation based on zonotopic Kalman filter for discrete-time descriptor systems 

    Wang, Ye; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2018-08-20)
    Article
    Open Access
    This paper proposes a set-based approach for robust fault estimation of discrete-time descriptor systems. The considered descriptor systems are subject to unknown-but-bounded uncertainties (state disturbances and measurement ...
  • Economic model predictive control based on a periodicity constraint 

    Wang, Ye; Salvador Ortiz, José Ramón; Muñoz De la Peña, David; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2018-08-01)
    Article
    Open Access
    This paper addresses a novel economic model predictive control (MPC) formulation based on a periodicity constraint to achieve an optimal periodic operation for discrete-time linear systems. The proposed control strategy ...
  • A new insight into the coupler curves of the RCCC four-bar linkage 

    Thomas, Federico; Pérez Gracia, Alba (Springer, 2017)
    Conference report
    Open Access
    Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation ...
  • Cyber-physical systems for real-time management in the urban water cycle 

    Sun, Congcong; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç; Meseguer Amela, Jordi (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Restricted access - publisher's policy
    In the last few decades, water systems management has been increasingly developed into cyber-physical systems. They are based on advanced intelligent systems embedded with controllers, sensors and actuators to enable ...
  • Robust control of systems with output hysteresis and input saturation using a finite time stability approach 

    Rotondo, Damiano; Rizzello, Gianluca; Naso, David (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This paper presents a robust control approach for a class of nonlinear dynamic systems consisting of a linear plant connected in series with a hysteresis operator, and affected by control input saturation. Such a class of ...
  • Advanced integrated real-time control of combined urban drainage systems using MPC: Badalona case study 

    Sun, Congcong; Joseph Duran, Bernat; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç; Meseguer Amela, Jordi (2018)
    Conference report
    Open Access
    Combined urban drainage system (CUDS) collect both wastewater and raining water through sewer networks to wastewater treatment plants (WWTP) before releasing to the environment. During storm weather, rain and wastewater ...
  • Factors influencing the simplified quality model performance 

    Feng, Jing; Sun, Congcong; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç (2018)
    Conference report
    Open Access
    During the last few years, the integrated real-time control (RTC) of both the urban sewer network and the wastewater treatment plants (WWTP), has attracted increasingly attention. In order to apply integrated RTC control ...
  • Force-based representation for non-rigid shape and elastic model estimation 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018-09-01)
    Article
    Open Access
    IEEE This paper addresses the problem of simultaneously recovering 3D shape, pose and the elastic model of a deformable object from only 2D point tracks in a monocular video. This is a severely under-constrained problem ...
  • A singularity-robust LQR controller for parallel robots 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Parallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ...
  • Assessment of energy management in a fuel cell/battery hybrid vehicle 

    Carignano, Mauro; Roda Serrat, Vicente; Costa Castelló, Ramon; Valiño, Luis; Lozano Fantoba, Antonio; Barreras Toledo, Felix Manuel (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Article
    Restricted access - publisher's policy
    The energy management strategy plays a major role in hybrid platforms powered by fuel cells (FCs) and batteries. This paper presents an assessment of energy management focused on fuel economy and battery degradation. ...

View more