Nowadays, systems are growing in power and in access to more resources and services. This situation makes it necessary to provide user-centered systems that act as intelligent assistants. These systems should be able to interact in a natural way with human users and the environment and also be able to take into account user goals and environment information and changes. In this paper, we present an architecture for the design and development of a goal-oriented, self-adaptive, smart-home environment. With this architecture, users are able to interact with the system by expressing their goals which are translated into a set of agent actions in a way that is transparent to the user. This is especially appropriate for environments where ambient intelligence and automatic control are integrated for the user's welfare. In order to validate this proposal, we designed a prototype based on the proposed architecture for smart-home scenarios. We also performed a set of experiments that shows how the proposed architecture for human-agent interaction increases the number and quality of user goals achieved.