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Regulacion Saturada con Ganancia Variable Derivativa de Robots Manipuladores

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Regulacion Saturada con Ganancia Variable Derivativa de Robots Manipuladores

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dc.contributor.author Limón-Díaz, Miguel A. es_ES
dc.contributor.author Reyes-Cortés, Fernando es_ES
dc.contributor.author González-Galván, Emilio J. es_ES
dc.date.accessioned 2020-05-14T18:29:53Z
dc.date.available 2020-05-14T18:29:53Z
dc.date.issued 2017-11-08
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/143303
dc.description.abstract [EN] In this paper a family with a large number of hyperbolictype saturated regulators for robot manipulators, was presented. The proposed regulators consider a constant proportional gain while the derivative variable gain is self-tuned according to a function that depends on the position error, speed of motion and a damping factor, in order to modify the velocity of the transient response of the robot. The derivative control with variable gain enables reduced overshots, oscillations and ripple, enabling a smooth arrival to the steady state. The paper also proposes a strict Lyapunov function which enables the demonstration of asymptotic global stability of the closed-loop equation. In order to illustrate the performance and functionality of the proposed family of control schemes, an experimental comparison between seven control schemes was implemented. Five of these control schemes belong to the proposed family while two additional control schemes are well-known strategies such as the proportional-derivative (PD) and hyperbolic tangent (Tanh) control schemes. The experiments were performed by using a three degree-of-freedom, direct-drive robot manipulator. es_ES
dc.description.abstract [ES] En este trabajo se presenta una familia grande de reguladores saturados tipo hiperbólicos para robots manipuladores. La propuesta considera a la ganancia proporcional constante y a la ganancia derivativa variable con sintonía automática definida en función del error de posición, velocidad de movimiento y un factor de inyección de amortiguamiento para modificar la velocidad de respuesta del robot. La acción de control derivativa con ganancia variable permite reducir sobreimpulsos, oscilaciones y rizo, tal que alcance el estado estacionario en forma suave. Asimismo, se presenta la propuesta de una función estricta de Lyapunov que permite demostrar la estabilidad asintótica global de la ecuación en lazo cerrado. Para mostrar el desempeño y funcionalidad de la familia propuesta de esquemas de control, un análisis comparativo experimental fue desarrollado entre siete estructuras de control, cinco reguladores pertenecen a la familia propuesta, y dos algoritmos de control bien conocidos como son el proporcional derivativo (PD) y tangente hiperbólico (Tanh). Los resultados experimentales fueron obtenidos con un robot manipulador de transmisión directa de tres grados de libertad. es_ES
dc.description.sponsorship M.A. Limón-Díaz agradece por la beca # 351549 otorgada por CONACyT para estudios de doctorado. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Regulator es_ES
dc.subject Variable gain es_ES
dc.subject Robotic manipulator es_ES
dc.subject Control algorithm es_ES
dc.subject Regulador es_ES
dc.subject Función de saturación es_ES
dc.subject Ganancia Variable es_ES
dc.subject Manipulador robótico es_ES
dc.subject Algoritmos de control es_ES
dc.title Regulacion Saturada con Ganancia Variable Derivativa de Robots Manipuladores es_ES
dc.title.alternative Saturated regulation with derivative variable gain for robot manipulators es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.riai.2017.06.001
dc.relation.projectID info:eu-repo/grantAgreement/CONACyT//351549/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Limón-Díaz, MA.; Reyes-Cortés, F.; González-Galván, EJ. (2017). Regulacion Saturada con Ganancia Variable Derivativa de Robots Manipuladores. Revista Iberoamericana de Automática e Informática industrial. 14(4):434-445. https://doi.org/10.1016/j.riai.2017.06.001 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.riai.2017.06.001 es_ES
dc.description.upvformatpinicio 434 es_ES
dc.description.upvformatpfin 445 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 14 es_ES
dc.description.issue 4 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\9195 es_ES
dc.contributor.funder Consejo Nacional de Ciencia y Tecnología, México es_ES
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