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Control Robusto de Posición para un Sistema Mecánico Subactuado con Fricción y Holgura Elástica

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Control Robusto de Posición para un Sistema Mecánico Subactuado con Fricción y Holgura Elástica

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Rascón, R.; Álvarez, J.; Aguilar, LT. (2014). Control Robusto de Posición para un Sistema Mecánico Subactuado con Fricción y Holgura Elástica. Revista Iberoamericana de Automática e Informática industrial. 11(3):275-284. https://doi.org/10.1016/j.riai.2014.05.005

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/144170

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Metadatos del ítem

Título: Control Robusto de Posición para un Sistema Mecánico Subactuado con Fricción y Holgura Elástica
Otro titulo: Robust Position Control for a Mechanical System with Friction and an Elastic Backlash
Autor: Rascón, Raúl Álvarez, Joaquín Aguilar, Luis T.
Entidad UPV: Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros de Caminos, Canales y Puertos - Escola Tècnica Superior d'Enginyers de Camins, Canals i Ports
Universitat Politècnica de València. Departamento de Ingeniería Hidráulica y Medio Ambiente - Departament d'Enginyeria Hidràulica i Medi Ambient
Universitat Politècnica de València. Instituto Universitario de Ingeniería del Agua y del Medio Ambiente - Institut Universitari d'Enginyeria de l'Aigua i Medi Ambient
Fecha difusión:
Resumen:
[ES] Se presenta una estrategia de control que combina las técnicas de modos deslizantes y control H∞, para regular la posición de un sistema mecánico subactuado con fricción y con una holgura elástica. Se muestra que el ...[+]


EN] It is presented a control strategy that combines the tech- niques of sliding mode control and nonlinear H∞ control to solve the position control problem of an underactuated mechan- ical system with friction and an ...[+]
Palabras clave: Underactuated mechanical systems , Robust control , Sliding mode control , H∞ control , Sistemas mecánicos subactuados , Control robusto , Control por modos deslizantes , Control H∞
Derechos de uso: Reserva de todos los derechos
Fuente:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.1016/j.riai.2014.05.005
Editorial:
Elsevier
Versión del editor: https://doi.org/10.1016/j.riai.2014.05.005
Tipo: Artículo

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