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Papers by Eduardo Camacho

Research paper thumbnail of Coalitional model predictive control of parabolic-trough solar collector fields with population-dynamics assistance

Research paper thumbnail of Deep Learning-Based Fault Detection and Isolation in Solar Plants for Highly Dynamic Days

2022 International Conference on Control, Automation and Diagnosis (ICCAD)

Research paper thumbnail of Un sistema de decisión multicriterio basado en riesgos: aplicación a la fase de ofertas

Research paper thumbnail of Hierarchical set-point optimization and feedforward strategy for collector defocusing of a solar plant

Research paper thumbnail of Coordinated Motion Planning Of Manipulators By Evolution Strategies

WIT Transactions on Information and Communication Technologies, 1970

A method for obtaining coordinated motion plans of manipulator robots is presented. This planning... more A method for obtaining coordinated motion plans of manipulator robots is presented. This planning can be easily implemented by programs written in any industrial robot programming language, such as VAL II. The generated programs minimize the total motion time of the robots along their paths, with some constraints directed at avoiding collision between the robots. A method based on Evolution Strategies is used for the optimization.

Research paper thumbnail of Parabolic Trough Collector Defocusing Analysis: Two control stages vs four control stages

Research paper thumbnail of Coalitional Model Predictive Control on Freeways Traffic Networks

IEEE Transactions on Intelligent Transportation Systems, 2020

Research paper thumbnail of Gain-scheduling model predictive control of a Fresnel collector field

Control Engineering Practice, 2019

Research paper thumbnail of Adaptive incremental state space MPC for collector defocusing of a parabolic trough plant

Research paper thumbnail of Application of a Natural Language Interface to the Teleoperation of a Mobile Robot

IFAC Proceedings Volumes, 1998

Research paper thumbnail of Hybrid Algorithm for Scheduling and Risk Assessment of Projects *

IFAC Proceedings Volumes, 2003

Research paper thumbnail of Robust Model-Predictive Control

Encyclopedia of Systems and Control, 2013

Research paper thumbnail of Fault tolerant control approach based on multiple models and set-membership state estimation

2016 European Control Conference (ECC)

Research paper thumbnail of A New ℓ-step Neighbourhood Distributed Moving Horizon Estimator

2021 60th IEEE Conference on Decision and Control (CDC), 2021

Research paper thumbnail of Ellipsoidal Set-Membership State Estimation for Multi-Output Systems with Interval Uncertainties

2020 European Control Conference (ECC), 2020

Research paper thumbnail of Control predictivo no lineal de un lazo de colectores cilindro-parabólicos

Research paper thumbnail of Application of simple cascade GPC with robust behaviour to a sugar refinery

1999 European Control Conference (ECC), 1999

This paper presents the application of a Generalized Predictive Controller (gpc) to sludge densit... more This paper presents the application of a Generalized Predictive Controller (gpc) to sludge density control in a sugar factory. The loop is controlled by a cascade strategy, where both the master and the slave controllers are predictive ones. The control law is extremely simple to compute and the tuning is straightforward since a method to implement GPC previously developed by the authors which is very simple to implement and tune has been used. The controllers are embedded in the existing control system, needing the same computational requirements as PID routines. The original GPC algorithm is improved by the use of the so-called T polynomial, which increases the stability robustness by filtering the predictions in order to cope with model uncertainties and different process dynamics caused by changes in the process operating points.

Research paper thumbnail of Estimador Neuro-Borroso, con reducción de complejidad, de las temperaturas de un campo solar cilindro-parabólico

Revista Iberoamericana De Automatica E Informatica Industrial, 2020

La estimacion de estados no observables de un proceso es importante cuando se aplican tecnicas de... more La estimacion de estados no observables de un proceso es importante cuando se aplican tecnicas de control automatico basadas en el espacio de estados. El diseno y uso de estos controladores conlleva suponer que los valores de los estados se podran obtener de una u otra forma. Cuando todos los estados son medibles, no existe la necesidad de aplicar observadores. El caso de plantas solares cilindro-parabolicas usando modelos de parametros distribuidos presenta el problema de no poder medir todos los valores de los estados con sensores. En este trabajo se presenta un observador basado en un sistema de inferencia borrosa para estimar los perfiles de temperatura de los lazos que componen el campo solar. Se aplica una tecnica de reduccion de complejidad basada en el analisis de componentes principales funcionales para que el estimador sea realizable en la practica sin ocupar mucha memoria o consumir demasiado tiempo tanto en la computacion del algoritmo como en la programacion en disposit...

Research paper thumbnail of Estructura de regulación con generación automática de consignas y control por adelanto para un campo de colectores solares

En este artículo se muestran los resultados de operación de un Campo de Colectores Solares del ti... more En este artículo se muestran los resultados de operación de un Campo de Colectores Solares del tipo Cilindro Parabólico de forma automática por una estructura de control por adelanto en paralelo con un controlador tipo I-PD con generación automática de consignas. El objetivo de control para este sistema es mantener la temperatura de salida del fluido que circula por las tuberías del campo a un valor establecido, a pesar de las perturbaciones a las que está sometida la planta. Dichas perturbaciones se producen en la temperatura del fluido que entra al campo, procedente de un tanque de almacenamiento térmico, en la temperatura ambiente o en la radiación solar. Esta última constituye la fuente primaria de energía del sistema. Las dificultades para operar la planta son debidas a las perturbaciones citadas anteriormente y que no son manipulables, a las no linealidades y a su dinámica compleja. Para ello se ha diseñado una estructura de control que mantiene la temperatura de salida de los...

Research paper thumbnail of Fault Detection using Set-Membership Estimation based on Multiple Model Systems

This paper proposes a new Fault Detection algorithm based on Multiple Models approach for linear ... more This paper proposes a new Fault Detection algorithm based on Multiple Models approach for linear systems with bounded perturbations. The consistency of each model with the measurements is checked at each sample time based on set-membership state estimation. A Min-Max Model Predictive Control is developed in order to find the optimal control and the best model to use for the system in spite of the presence of component/actuator/sensor faults. An illustrative example is analyzed in order to show the effectiveness of the proposed approach. Index Terms— Fault Detection, Multiple Models, set-membership state estimation, Min-Max MPC, bounded noises and perturbations, linear systems, quadratic programming.

Research paper thumbnail of Coalitional model predictive control of parabolic-trough solar collector fields with population-dynamics assistance

Research paper thumbnail of Deep Learning-Based Fault Detection and Isolation in Solar Plants for Highly Dynamic Days

2022 International Conference on Control, Automation and Diagnosis (ICCAD)

Research paper thumbnail of Un sistema de decisión multicriterio basado en riesgos: aplicación a la fase de ofertas

Research paper thumbnail of Hierarchical set-point optimization and feedforward strategy for collector defocusing of a solar plant

Research paper thumbnail of Coordinated Motion Planning Of Manipulators By Evolution Strategies

WIT Transactions on Information and Communication Technologies, 1970

A method for obtaining coordinated motion plans of manipulator robots is presented. This planning... more A method for obtaining coordinated motion plans of manipulator robots is presented. This planning can be easily implemented by programs written in any industrial robot programming language, such as VAL II. The generated programs minimize the total motion time of the robots along their paths, with some constraints directed at avoiding collision between the robots. A method based on Evolution Strategies is used for the optimization.

Research paper thumbnail of Parabolic Trough Collector Defocusing Analysis: Two control stages vs four control stages

Research paper thumbnail of Coalitional Model Predictive Control on Freeways Traffic Networks

IEEE Transactions on Intelligent Transportation Systems, 2020

Research paper thumbnail of Gain-scheduling model predictive control of a Fresnel collector field

Control Engineering Practice, 2019

Research paper thumbnail of Adaptive incremental state space MPC for collector defocusing of a parabolic trough plant

Research paper thumbnail of Application of a Natural Language Interface to the Teleoperation of a Mobile Robot

IFAC Proceedings Volumes, 1998

Research paper thumbnail of Hybrid Algorithm for Scheduling and Risk Assessment of Projects *

IFAC Proceedings Volumes, 2003

Research paper thumbnail of Robust Model-Predictive Control

Encyclopedia of Systems and Control, 2013

Research paper thumbnail of Fault tolerant control approach based on multiple models and set-membership state estimation

2016 European Control Conference (ECC)

Research paper thumbnail of A New ℓ-step Neighbourhood Distributed Moving Horizon Estimator

2021 60th IEEE Conference on Decision and Control (CDC), 2021

Research paper thumbnail of Ellipsoidal Set-Membership State Estimation for Multi-Output Systems with Interval Uncertainties

2020 European Control Conference (ECC), 2020

Research paper thumbnail of Control predictivo no lineal de un lazo de colectores cilindro-parabólicos

Research paper thumbnail of Application of simple cascade GPC with robust behaviour to a sugar refinery

1999 European Control Conference (ECC), 1999

This paper presents the application of a Generalized Predictive Controller (gpc) to sludge densit... more This paper presents the application of a Generalized Predictive Controller (gpc) to sludge density control in a sugar factory. The loop is controlled by a cascade strategy, where both the master and the slave controllers are predictive ones. The control law is extremely simple to compute and the tuning is straightforward since a method to implement GPC previously developed by the authors which is very simple to implement and tune has been used. The controllers are embedded in the existing control system, needing the same computational requirements as PID routines. The original GPC algorithm is improved by the use of the so-called T polynomial, which increases the stability robustness by filtering the predictions in order to cope with model uncertainties and different process dynamics caused by changes in the process operating points.

Research paper thumbnail of Estimador Neuro-Borroso, con reducción de complejidad, de las temperaturas de un campo solar cilindro-parabólico

Revista Iberoamericana De Automatica E Informatica Industrial, 2020

La estimacion de estados no observables de un proceso es importante cuando se aplican tecnicas de... more La estimacion de estados no observables de un proceso es importante cuando se aplican tecnicas de control automatico basadas en el espacio de estados. El diseno y uso de estos controladores conlleva suponer que los valores de los estados se podran obtener de una u otra forma. Cuando todos los estados son medibles, no existe la necesidad de aplicar observadores. El caso de plantas solares cilindro-parabolicas usando modelos de parametros distribuidos presenta el problema de no poder medir todos los valores de los estados con sensores. En este trabajo se presenta un observador basado en un sistema de inferencia borrosa para estimar los perfiles de temperatura de los lazos que componen el campo solar. Se aplica una tecnica de reduccion de complejidad basada en el analisis de componentes principales funcionales para que el estimador sea realizable en la practica sin ocupar mucha memoria o consumir demasiado tiempo tanto en la computacion del algoritmo como en la programacion en disposit...

Research paper thumbnail of Estructura de regulación con generación automática de consignas y control por adelanto para un campo de colectores solares

En este artículo se muestran los resultados de operación de un Campo de Colectores Solares del ti... more En este artículo se muestran los resultados de operación de un Campo de Colectores Solares del tipo Cilindro Parabólico de forma automática por una estructura de control por adelanto en paralelo con un controlador tipo I-PD con generación automática de consignas. El objetivo de control para este sistema es mantener la temperatura de salida del fluido que circula por las tuberías del campo a un valor establecido, a pesar de las perturbaciones a las que está sometida la planta. Dichas perturbaciones se producen en la temperatura del fluido que entra al campo, procedente de un tanque de almacenamiento térmico, en la temperatura ambiente o en la radiación solar. Esta última constituye la fuente primaria de energía del sistema. Las dificultades para operar la planta son debidas a las perturbaciones citadas anteriormente y que no son manipulables, a las no linealidades y a su dinámica compleja. Para ello se ha diseñado una estructura de control que mantiene la temperatura de salida de los...

Research paper thumbnail of Fault Detection using Set-Membership Estimation based on Multiple Model Systems

This paper proposes a new Fault Detection algorithm based on Multiple Models approach for linear ... more This paper proposes a new Fault Detection algorithm based on Multiple Models approach for linear systems with bounded perturbations. The consistency of each model with the measurements is checked at each sample time based on set-membership state estimation. A Min-Max Model Predictive Control is developed in order to find the optimal control and the best model to use for the system in spite of the presence of component/actuator/sensor faults. An illustrative example is analyzed in order to show the effectiveness of the proposed approach. Index Terms— Fault Detection, Multiple Models, set-membership state estimation, Min-Max MPC, bounded noises and perturbations, linear systems, quadratic programming.