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Control IDA-PBC de un Vehículo Submarino Subactuado

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Control IDA-PBC de un Vehículo Submarino Subactuado

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García, D.; Sandoval, J.; Gutiérrez–jagüey, J.; Bugarin, E. (2017). Control IDA-PBC de un Vehículo Submarino Subactuado. Revista Iberoamericana de Automática e Informática industrial. 15(1):36-45. https://doi.org/10.4995/riai.2017.8829

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/143194

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Title: Control IDA-PBC de un Vehículo Submarino Subactuado
Secondary Title: IDA-PBC Control of an Underactuated Underwater Vehicle
Author: García, Diego Sandoval, Jesús Gutiérrez–Jagüey, Joaquín Bugarin, Eusebio
Issued date:
Abstract:
[ES] En este trabajo se presenta el diseño de un IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) para la regulación de un vehículo submarino subactuado. Se consideran seis grados de libertad y ...[+]


[EN] This paper presents an IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) for underactuated undewater vehicle control, which it has more degree of freedom than actuators. In this proposal, six ...[+]
Subjects: Vehículo submarino , Sistema subactuado , Control no lineal , IDA-PBC , Underwater vehicle , Underactuated system , Non-linear control
Copyrigths: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Source:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2017.8829
Publisher:
Universitat Politècnica de València
Publisher version: https://doi.org/10.4995/riai.2017.8829
Project ID:
TecNM/5939/16-P.C-P, 6104.17-P
CONACYT/166636
Thanks:
Este trabajo fue parcialmente apoyado por el Tecnologi- ´ co Nacional de Mexico (Contratos TecNM 5939.16-P.C-P y ´ 6104.17-P), y por el Consejo Nacional de Ciencia y Tecnolog´ıa (Contrato CONACyT 166636).
Type: Artículo

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