Mariano GOMEZ PLAZA - Profile on Academia.edu (original) (raw)
Address: Madrid, Madrid, Spain
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Papers by Mariano GOMEZ PLAZA
International Journal of Advanced Robotic Systems, 2012
This work aims to present a new optimal control scheme based on the CACM-RL technique applied tou... more This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP).The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates implementing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller.
![Research paper thumbnail of A Monoball Robot Based on LEGO Mindstorms [Focus on Education]](https://attachments.academia-assets.com/47337108/thumbnails/1.jpg)
](IEEE Control Systems Magazine, 2012
APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying ... more APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying machines and how to get involved. The videos were effective at getting their attention.
IEEE Transactions on Instrumentation and Measurement, 2009
The aim of this work has been to integrate the Cartesian space together with the kinematics and d... more The aim of this work has been to integrate the Cartesian space together with the kinematics and dynamics spaces of a car-like robot. We propose a new algorithm that obtains a minimum-time solution to the optimal motion planning of the vehicle. The new algorithm is based on the combination of cellmapping and reinforcement-learning techniques. This algorithm can obtain the environment and vehicle parameters from received experience without needing a mathematical model. The algorithm uses a transformation of the cell-to-cell transitions to reduce the time that is spent in the knowledge of the vehicle dynamics and environment. Four state variables have been considered: 1) the velocity of the vehicle; 2) the x Cartesian coordinate; 3) the y Cartesian coordinate; and 4) the orientation of the vehicle. In addition, two different control actions can act on the vehicle: 1) the traction torque that was used for speeding up/braking the vehicle and 2) the steering angle. The results show the applicability of the proposed algorithm in environments with the presence of obstacles.
![Research paper thumbnail of A Monoball Robot Based on LEGO Mindstorms [Focus on Education]](https://attachments.academia-assets.com/47337103/thumbnails/1.jpg)
](IEEE Control Systems, 2000
APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying ... more APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying machines and how to get involved. The videos were effective at getting their attention.
International Journal of Advanced Robotic Systems, 2012
This work aims to present a new optimal control scheme based on the CACM-RL technique applied tou... more This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP).The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates implementing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller.
IEEE Control Systems Magazine, 2012
APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying ... more APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying machines and how to get involved. The videos were effective at getting their attention.
IEEE Transactions on Instrumentation and Measurement, 2009
The aim of this work has been to integrate the Cartesian space together with the kinematics and d... more The aim of this work has been to integrate the Cartesian space together with the kinematics and dynamics spaces of a car-like robot. We propose a new algorithm that obtains a minimum-time solution to the optimal motion planning of the vehicle. The new algorithm is based on the combination of cellmapping and reinforcement-learning techniques. This algorithm can obtain the environment and vehicle parameters from received experience without needing a mathematical model. The algorithm uses a transformation of the cell-to-cell transitions to reduce the time that is spent in the knowledge of the vehicle dynamics and environment. Four state variables have been considered: 1) the velocity of the vehicle; 2) the x Cartesian coordinate; 3) the y Cartesian coordinate; and 4) the orientation of the vehicle. In addition, two different control actions can act on the vehicle: 1) the traction torque that was used for speeding up/braking the vehicle and 2) the steering angle. The results show the applicability of the proposed algorithm in environments with the presence of obstacles.
IEEE Control Systems, 2000
APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying ... more APRIL 2012 « IEEE CONTROL SYSTEMS MAGAZINE 71 more information about the control of small flying machines and how to get involved. The videos were effective at getting their attention.