Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos

Vista sencilla de ítem
dc.contributor.authorSandoval, Jesúses_ES
dc.contributor.authorKelly, Rafaeles_ES
dc.contributor.authorSantibáñez, Víctores_ES
dc.contributor.funderConsejo Nacional de Ciencia y Tecnología, Méxicoes_ES
dc.date.accessioned2022-10-05T09:24:32Z
dc.date.available2022-10-05T09:24:32Z
dc.date.issued2022-09-30
dc.description.abstract[EN] This paper presents a tutorial about a controllers design method based on the energy shaping plus damping injection for the control of mechanical systems. A unified theoretical framework is provided to solve different control objectives such as: position regulation and speed regulation for both class of mechanical systems and, trajectory tracking for the case of fully actuated mechanicalsystems. Also, the energy regulation is formulated as a new control objective to generate controlled oscillations in both fully actuated mechanical systems and underactuated mechanical systems. In addition, some design criteria are addressed: dynamic friction compensation, exclusion of speed measurement and, inclusion of actuator dynamics. Finally, as examples of application, recent results published in the literature on the design of controllers for torque-driven robot manipulators, an inertia wheel pendulum, anda cart-pendulum system, are presented.en_EN
dc.description.abstract[ES] En este trabajo se presenta un tutorial sobre un método de diseño de controladores basado en el moldeo de energía más inyección de  amortiguamiento para el control de una clase de sistemas mecánicos completamente actuados y subactuados. Se proporciona un marco teórico  unificado que permite resolver diferentes objetivos de control como son:  regulación de posición y regulación de velocidad para ambas clases de sistemas y, seguimiento de trayectorias para el caso de sistemas mecánicos  completamente actuados. Además, la regulación de energía es formulada  como un nuevo objetivo de control para generar oscilaciones controladas en  ambas clases de sistemas mecánicos. En adición, se abordan algunos  criterios de diseño como compensación de fricción dinámica, exclusión de  medición de velocidad e inclusión de la dinámica de actuadores.  Finalmente, como ejemplos de aplicación, se presentan recientes resultados  publicados en la literatura sobre el diseño de controladores para robots manipuladores accionados por par, un péndulo con rueda inercial y un sistema carro-péndulo.es_ES
dc.description.accrualMethodOJSes_ES
dc.description.bibliographicCitationSandoval, J.; Kelly, R.; Santibáñez, V. (2022). Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos. Revista Iberoamericana de Automática e Informática industrial. 19(4):407-418. https://doi.org/10.4995/riai.2022.16862es_ES
dc.description.issue4es_ES
dc.description.referencesAilon, A., Ortega, R., 1993. An observer-based set-point controller for robot manipulators with flexible joints. Systems and Control Letters 21, 329-335. https://doi.org/10.1016/0167-6911(93)90076-Ies_ES
dc.description.referencesBloch, A.M., Leonard, N., Marsden, J., 2000. Controlled lagrangian and the stabilization of mechanical systems i: the first matching theorem. IEEE Transactions on Automatic Control 45, 2253-2270. https://doi.org/10.1109/9.895562es_ES
dc.description.referencesCruz-Zavala, E., Nuno, E., Moreno, J.A., 2017. Finite-time regulation of robot manipulators: an energy shaping approach. IFAC Proceedings Volumes 50, 9583-9588. https://doi.org/10.1016/j.ifacol.2017.08.1678es_ES
dc.description.referencesDuindam, V., Macchelli, A., Stramigioli, S., Bruyninckx, H., 2009. Modeling and Control of Complex Physical Systems - The Port-Hamiltonian Approach. Springer-Verlag, Germany. https://doi.org/10.1007/978-3-642-03196-0es_ES
dc.description.referencesEbrahimi, R., Ahmad, A., Mahboobi, R., 2021. Controller design for nonlinear bilateral teleoperation systems via total energy shaping. Mechanical Systems and Signal Processing 150, 1-13. https://doi.org/10.1016/j.ymssp.2020.107239es_ES
dc.description.referencesFranco, E., Garriga-Casanovas, A., 2021. Energy-shaping control of soft continuum manipulators with in-plane disturbances. The International Journal of Robotics Research 40, 236-255. https://doi.org/10.1177/0278364920907679es_ES
dc.description.referencesFujimoto, K., Sakurama, K., Sugie, T., 2003. Trajectory tracking control of port-controlled hamiltonian systems via generalized canonical transformations. Automatica 39, 2059-2069. https://doi.org/10.1016/j.automatica.2003.07.005es_ES
dc.description.referencesFujimoto, K., Sugie, T., 2004. Trajectory tracking control of nonholonomic hamiltonian systems via generalized canonical transformations. European Journal of Control 10, 421-431. https://doi.org/10.3166/ejc.10.421-431es_ES
dc.description.referencesKelly, J., Sandoval, J., Santibañez, V., 2021. A guas joint position tracking controller of torque-driven robot manipulators infuenced by dynamic dahl friction: theory and experiments. IEEE Transactions on Control Systems Technology 29, 1877-1890. https://doi.org/10.1109/TCST.2020.3024134es_ES
dc.description.referencesKelly, R., 1993. A simple set-point robot controller by using only position measurements. IFAC Proceedings Volumes 26, 527-530. https://doi.org/10.1016/S1474-6670(17)48783-0es_ES
dc.description.referencesKelly, R., 1999. Regulation of manipulators in generic task space: an energy shaping plus damping injection approach. IEEE Transactions on Robotic and Automation 15, 381-386. https://doi.org/10.1109/70.760361es_ES
dc.description.referencesKelly, R., 2015. Total energy function with damping assignment (tefda): A novel control objective in robotics. In: Proccedings XVI Workshop on Information Processing and Control (RPIC) , 1-6. https://doi.org/10.1109/RPIC.2015.7497057es_ES
dc.description.referencesKelly, R., Santibañez, V., 1998. Global regulation of elastic joint robots based on energy shaping. IEEE Transactions on Automatic Control 43, 1451-1456. https://doi.org/10.1109/9.720506es_ES
dc.description.referencesKelly, R., Santibañez, V., Loría, A., 2005. Control of Robot Manipulators in Joint Space. Springer-Verlag, London.es_ES
dc.description.referencesKhalil, H.K., 2005. Nonlinear Systems. Prentice-Hall, USA.es_ES
dc.description.referencesLiu, Y., Xin, X., 2017. Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint. Nonlinear Dynamics 88, 1749-1768. https://doi.org/10.1007/s11071-017-3343-2es_ES
dc.description.referencesLozano, R., Fantoni, I., Block, D., 2000. Stabilization of the inverted pendulum around its homoclinic orbit. Systems and Control Letters 40, 197-204. https://doi.org/10.1016/S0167-6911(00)00025-6es_ES
dc.description.referencesMoreno, J., Kelly, R., Campa, R., 2003. Manipulator velocity control using friction compensation. IEE Proceedings Control Theory Applications 150, 119-126. https://doi.org/10.1049/ip-cta:20030083es_ES
dc.description.referencesNavarro-Alarcon, D., Liu, Y., Romero, J.G., 2013. Energy shaping methods for asymptotic force regulation of compliant mechanical systems. IEEE Transactions on Control Systems Technology 22, 2376-2383. https://doi.org/10.1109/TCST.2014.2309659es_ES
dc.description.referencesOrtega, R., Loria, A., Nicklasson, P., Sira-Ramirez, H., 1998. Passivity-based control of Euler-Lagrange systems: Mechanical and electromechanical applications. Springer-Verlag, London. https://doi.org/10.1007/978-1-4471-3603-3es_ES
dc.description.referencesOrtega, R., Schaft, A.J.V.D., Mareels, I., Maschke, B., 2001. Putting energy back in control. IEEE Control Systems Magazine 21, 18-33. https://doi.org/10.1109/37.915398es_ES
dc.description.referencesOrtega, R., Spong, M.W., Gomez-Estern, F., Blankenstein, G., 2002. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Transactions on Automatic Control 47, 1213-1233. https://doi.org/10.1109/TAC.2002.800770es_ES
dc.description.referencesRomero, J.G., Donaire, A., Ortega, R., 2013. Robust energy shaping control of mechanical systems. Systems and Control Letters 62, 770-780. https://doi.org/10.1016/j.sysconle.2013.05.011es_ES
dc.description.referencesRomero, J.G., Ortega, R., Sarras, I., 2015. A globally exponentially stable tracking controller for mechanical systems using position feedback. IEEE Transactions on Automatic Control 60, 818-823. https://doi.org/10.1109/TAC.2014.2330701es_ES
dc.description.referencesSandoval, J., Kelly, R., Santibañez, V., 2020. A speed regulator for a torque-driven inertia wheel pendulum. IFAC Proceedings Volumes 53, 6371-6376. doi: 110.1016/j.ifacol.2020.12.1749es_ES
dc.description.referencesSandoval, J., Kelly, R., Santibañez, V., 2021a. Energy regulation of torque-driven robot manipulators in joint space. Journal of the Franklin Institute 359, 1427-1456. https://doi.org/10.1016/j.jfranklin.2022.01.034es_ES
dc.description.referencesSandoval, J., Kelly, R., Santibañez, V., 2021b. An output feedback position/speed regulator for a torque-driven inertia wheel pendulum. International Journal of Systems Science 19, 3451-3463. https://doi.org/10.1007/s12555-020-0744-7es_ES
dc.description.referencesSandoval, J., Kelly, R., Santibañez, V., 2021c. A speed regulator for a force-driven cart-pole system. International Journal of Control, Automation and Systems 19, 3451-3463. https://doi.org/10.1080/00207721.2021.1958950es_ES
dc.description.referencesSandoval, J., Moyron, J., Kelly, R., Santib ' a'nez, V., Moreno-Valenzuela, J., 2021d. Energy regulation for a torque-driven vertical inertia wheel pendulum. Control Engineering Practice 115, 1-13. https://doi.org/10.1016/j.conengprac.2021.104909es_ES
dc.description.referencesSpong, M., 1994. Partial feedback linearization of underactuated mechanical systems. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/IROS.1994.407375es_ES
dc.description.referencesTakegaki, M., Arimoto, S., 1981. A new feedback method for dynamic control of manipulators. Transactions ASME, Journal of Dynamic Systems, Measurement and Control 103, 119-125. https://doi.org/10.1115/1.3139651es_ES
dc.description.referencesTanaka, N., Fujita, M., 2015. Energy shaping control method for robotic force/position regulation and motion control. IFAC Proceedings Volumes 32, 1136-1141. https://doi.org/10.1016/S1474-6670(17)56192-3es_ES
dc.description.referencesViola, G., Ortega, R., Banavar, J., Acosta, J.A., Astolfi, A., 2007. Total energy shaping control of mechanical systems: simplifying the matching equations via coordinate changes. IEEE Transactions on Automatic Control 52, 1093-1099. https://doi.org/10.1109/TAC.2007.899064es_ES
dc.description.sponsorshipEste trabajo ha sido parcialmente financiado por los proyectos TecNM, CONACyT 166636, CONACyT 166654 y, CONACYT 134534.es_ES
dc.description.upvformatpfin418es_ES
dc.description.upvformatpinicio407es_ES
dc.description.volume19es_ES
dc.identifier.doi10.4995/riai.2022.16862
dc.identifier.eissn1697-7920
dc.identifier.issn1697-7912
dc.identifier.urihttps://riunet.upv.es/handle/10251/187035
dc.languageEspañoles_ES
dc.publisherUniversitat Politècnica de Valènciaes_ES
dc.relation.ispartofRevista Iberoamericana de Automática e Informática industriales_ES
dc.relation.pasarelaOJS\16862es_ES
dc.relation.projectIDinfo:eu-repo/grantAgreement/CONACyT//166636es_ES
dc.relation.projectIDinfo:eu-repo/grantAgreement/CONACyT//166654es_ES
dc.relation.projectIDinfo:eu-repo/grantAgreement/CONACyT//134534es_ES
dc.relation.publisherversionhttps://doi.org/10.4995/riai.2022.16862es_ES
dc.relation.references10.1016/0167-6911(93)90076-Ies_ES
dc.relation.references10.1109/9.895562es_ES
dc.relation.references10.1016/j.ifacol.2017.08.1678es_ES
dc.relation.references10.1007/978-3-642-03196-0es_ES
dc.relation.references10.1016/j.ymssp.2020.107239es_ES
dc.relation.references10.1177/0278364920907679es_ES
dc.relation.references10.1016/j.automatica.2003.07.005es_ES
dc.relation.references10.3166/ejc.10.421-431es_ES
dc.relation.references10.1109/TCST.2020.3024134es_ES
dc.relation.references10.1016/S1474-6670(17)48783-0es_ES
dc.relation.references10.1109/70.760361es_ES
dc.relation.references10.1109/RPIC.2015.7497057es_ES
dc.relation.references10.1109/9.720506es_ES
dc.relation.references10.1007/s11071-017-3343-2es_ES
dc.relation.references10.1016/S0167-6911(00)00025-6es_ES
dc.relation.references10.1049/ip-cta:20030083es_ES
dc.relation.references10.1109/TCST.2014.2309659es_ES
dc.relation.references10.1007/978-1-4471-3603-3es_ES
dc.relation.references10.1109/37.915398es_ES
dc.relation.references10.1109/TAC.2002.800770es_ES
dc.relation.references10.1016/j.sysconle.2013.05.011es_ES
dc.relation.references10.1109/TAC.2014.2330701es_ES
dc.relation.references10.1016/j.jfranklin.2022.01.034es_ES
dc.relation.references10.1007/s12555-020-0744-7es_ES
dc.relation.references10.1016/j.conengprac.2021.104909es_ES
dc.relation.references10.1109/IROS.1994.407375es_ES
dc.relation.references10.1115/1.3139651es_ES
dc.relation.references10.1016/S1474-6670(17)56192-3es_ES
dc.relation.references10.1109/TAC.2007.899064es_ES
dc.rightsReconocimiento - No comercial - Compartir igual (by-nc-sa)es_ES
dc.rights.accessRightsAbiertoes_ES
dc.subjectEnergy controles_ES
dc.subjectLyapunov stabilityes_ES
dc.subjectRobot controles_ES
dc.subjectMechanical systemses_ES
dc.subjectControl de energíaes_ES
dc.subjectControl de robotses_ES
dc.subjectSistemas mecánicoses_ES
dc.subjectEstabilidad de Lyapunoves_ES
dc.titleSobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicoses_ES
dc.title.alternativeOn the energy shaping plus damping injection control of mechanical systemses_ES
dc.typeArtículoes_ES
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_ES
dspace.entity.typePublication
upv.uuidd1d34052-2c6c-4e90-bb6b-e10fe378c896es_ES

Archivos

Bloque original

Mostrando 1 - 1 de 1
Miniatura
Nombre:
SandovalKellySantibanez - Sobre el control por moldeo de energia mas inyeccion de amortiguamiento....pdf
Tamaño:
1008.19 KB
Formato:
Adobe Portable Document Format
Descripción:
Versión editorial
[object Object] Descargar

Colecciones

Revista Iberoamericana de Automática e Informática Industrial - Vol 19, No 4 (2022)