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Seguimiento de trayectorias con incertidumbre del modelo usando un diferenciador robusto

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Seguimiento de trayectorias con incertidumbre del modelo usando un diferenciador robusto

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Sánchez-Sánchez, P.; Gutiérrez–giles, A.; Pliego–jiménez, J.; Arteaga–pérez, M. (2019). Seguimiento de trayectorias con incertidumbre del modelo usando un diferenciador robusto. Revista Iberoamericana de Automática e Informática. 16(4):423-434. https://doi.org/10.4995/riai.2019.10265

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Metadatos del ítem

Título: Seguimiento de trayectorias con incertidumbre del modelo usando un diferenciador robusto
Otro titulo: Track trajectories with model uncertainty using a robust differentiator
Autor: Sánchez-Sánchez, P. Gutiérrez–Giles, A. Pliego–Jiménez, J. Arteaga–Pérez, M.A.
Fecha difusión:
Resumen:
[EN] In this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the ...[+]


[ES] En este artículo se presenta el uso de un diferenciador robusto de Levant aplicado a robots manipuladores cuyo objetivo es realizar el seguimiento de una trayectoria deseada. El modelo dinámico de los robots es ...[+]
Palabras clave: Índice de desempeño , Control , Dinámica de robots , Planificación y seguimiento de trayectorias , Robots manipuladores , Diferenciador robusto , Performance index , Robot dynamics , Planning and tracking , Robot manipulators , Robust differentiator
Derechos de uso: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Fuente:
Revista Iberoamericana de Automática e Informática.. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2019.10265
Editorial:
Universitat Politècnica de València
Versión del editor: https://doi.org/10.4995/riai.2019.10265
Código del Proyecto:
info:eu-repo/grantAgreement/DGESU//PRODEP-PROMED-BUAP–811/
info:eu-repo/grantAgreement/UNAM/PAPIIT/IN116314/MX/Control de robots coordinados por medio de sistemas maestro-esclavo/
info:eu-repo/grantAgreement/UNAM/PAPIIT/IN114617/MX/Diseño de observadores para la tele-operación bilateral de sistemas con retardo/
Agradecimientos:
Los autores agradecen a PRODEP (PROMEP) con el número de Folio BUAP–811 y los proyectos PAPIIT 116314 y 114617 por el apoyo recibido, a CONACYT por la Cátedra CONACYT–CICESE 2017 y al Laboratorio de Robótica de la ...[+]
Tipo: Artículo

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