- -

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

RiuNet: Repositorio Institucional de la Universidad Politécnica de Valencia

Compartir/Enviar a

Citas

Estadísticas

  • Estadisticas de Uso

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

Mostrar el registro sencillo del ítem

Ficheros en el ítem

Thumbnail
Nombre: Rascón;Álvarez;Aguilar ...
Tamaño: 662.5Kb
Formato: PDF
Descripción: Versión editorial
Abrir
dc.contributor.author Rascón, Raúl es_ES
dc.contributor.author Álvarez, Joaquín es_ES
dc.contributor.author Aguilar, Luis T. es_ES
dc.date.accessioned 2020-05-22T18:32:53Z
dc.date.available 2020-05-22T18:32:53Z
dc.date.issued 2014-07-06
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/144170
dc.description.abstract [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 sistema controlado tiene una región de puntos de equilibrio, donde las trayectorias del sistema en lazo cerrado convergen de manera asintótica con un error de posición acotado en estado estacionario, incluso ante la presencia de cierto tipo de perturbaciones. La amplitud de dicho error puede reducirse mediante una sintonización adecuada de los parámetros del controlador. Además, el controlador atenúa el efecto de perturbaciones externas e incertidumbres en el modelado sobre la salida de la planta. La metodoloǵıa es aplicada a una plataforma experimental, mostrándose el buen desempeño del controlador propuesto. es_ES
dc.description.abstract 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 elastic backlash. It is shown that the controlled system has a set of equilibrium points, and all the closed-loop trajectories converge asymptotically to that set, achieving a minimally bounded steady state position error, in spite of the presence of certain types of disturbances. Moreover, the controller attenuates the effect of external disturbances and uncertainties in the modeling of the plant. The controller has been implemented in an experimental platform that verifies the theoretical results. es_ES
dc.language Español es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Underactuated mechanical systems es_ES
dc.subject Robust control es_ES
dc.subject Sliding mode control es_ES
dc.subject H∞ control es_ES
dc.subject Sistemas mecánicos subactuados es_ES
dc.subject Control robusto es_ES
dc.subject Control por modos deslizantes es_ES
dc.subject Control H∞ es_ES
dc.title Control Robusto de Posición para un Sistema Mecánico Subactuado con Fricción y Holgura Elástica es_ES
dc.title.alternative Robust Position Control for a Mechanical System with Friction and an Elastic Backlash es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.riai.2014.05.005
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros de Caminos, Canales y Puertos - Escola Tècnica Superior d'Enginyers de Camins, Canals i Ports es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Hidráulica y Medio Ambiente - Departament d'Enginyeria Hidràulica i Medi Ambient es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Ingeniería del Agua y del Medio Ambiente - Institut Universitari d'Enginyeria de l'Aigua i Medi Ambient es_ES
dc.description.bibliographicCitation 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 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.riai.2014.05.005 es_ES
dc.description.upvformatpinicio 275 es_ES
dc.description.upvformatpfin 284 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 11 es_ES
dc.description.issue 3 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\9440 es_ES
dc.description.references Acho, L., Orlov, Y., Solis, V., 2001. Nonlinear measurement feedback H∞ con- trol of time-periodic systems with application to tracking control of robot manipulators. International Journal of Control 74, 190-198. es_ES
dc.description.references Adetola, V., DeHaan, D., Guay, M., 2009. Adaptive model predictive control for constrained nonlinear systems. Systems & Control Letters 58 (5), 320-326. es_ES
dc.description.references Aguilar, L., Orlov, Y., Acho, L., 2003. Nonlinear H∞ control of nonsmooth time varying systems with application to friction mechanical manipulators. Automatica 39, 1531-1542. es_ES
dc.description.references Anderson, B., Vreugdenhil, R., 1973. Network analysis and synthesis. Engle- wood Cliffs, Prentice Hall, NJ. es_ES
dc.description.references Branicky, M., 1998. Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Transactions on Automatic Control 43, 475-482. es_ES
dc.description.references Brogliato, B., 1999. Nonsmooth Mechanics. Springer, London. es_ES
dc.description.references Brogliato, B., Niculescu, S.-I., Orhant, P., 1997. On the control of finite- dimensional mechanical systems with unilateral constraints. IEEE Trans- actions on Automatic Control 42 (2), 200-215. es_ES
dc.description.references Castaños, F., Fridman, L., 2006. Analysis and design of integral sliding mani- folds for systems with unmatched perturbations. IEEE Transactions on Au- tomatic Control 51 (5), 853-858. es_ES
dc.description.references Castaños, F., Fridman, L., 2011. Dynamic switching surfaces for output sliding mode control: An approach. Automatica 47 (9), 1957-1961. es_ES
dc.description.references Chang, Y.-C., Lee, C.-H., 1999. Robust tracking control for constrained robots actuated by dc motors without velocity measurements. IEE Proc. Control Theory and Applications 146 (2), 147-156. es_ES
dc.description.references Chiu, C.-S., Lian, K.-Y., Wu, T.-C., 2004. Robust adaptive motion/force track- ing control design for uncertain constrained robot manipulators. Automatica 40 (12), 2111-2119. es_ES
dc.description.references Christophersen, F.J., 2007. Optimal control of constrained piecewise affine sys- tems. Lecture Notes in Control and Information Sciences. Springer Berlin Heidelberg. es_ES
dc.description.references Doyle, J., Glover, K., Khargonekar, P., Francis, B., 1989. State space solutions to standard H2 and H∞ control problems. IEEE Transactions on Automatic Control 34, 831-846. es_ES
dc.description.references Ghafari-Kashani, A., Faiz, J., Yazdanpanah, M., 2010. Integration of non-linear H∞ and sliding mode control techniques for motion control of a permanent magnet synchronous motor. IET Electric Power Applications 4 (4), 267-280. es_ES
dc.description.references Isidori, A., 2000. A tool for semiglobal stabilization of uncertain non minimum- phase nonlinear systems via output feedback. IEEE Transactions on Auto- matic Control 48 (10), 1817-1827. es_ES
dc.description.references Isidori, A., Astolfi, A., 1992. Disturbance attenuation and H∞-control via measurement feedback in nonlinear systems. IEEE Transactions on Automatic Control 37 (9), 1283-1293. es_ES
dc.description.references Kazerooni, H., 1990. Contact instability of the direct drive robot when con- strained by a rigid environment. IEEE Transactions on Automatic Control 35, 710-714. es_ES
dc.description.references Khalil, H., 2002. Nonlinear Systems. Prentice Hall, Upper Saddle River. es_ES
dc.description.references Leine, R.I., Van de Wouw, N., 2010. Stability and convergence of mechanical systems with unilateral constraints. Springer, Berlin. es_ES
dc.description.references Lian, J., Zhao, J., 2010. Robust H-infinity integral sliding mode control for a class of uncertain switched nonlinear systems. Journal of Control Theory and Applications 8 (4), 521-526. es_ES
dc.description.references Lian, K.-Y., Lin, C.-R., 1998. Sliding-mode motion/force control of constrained robots. IEEE Transactions on Automatic Control 43 (8), 1101-1103. es_ES
dc.description.references Mansard, N., Khatib, O., 2008. Continuous control law from unilateral con- straint. IEEE International Conference on Robotics and Automation. ICRA 2008, 3359-3364. es_ES
dc.description.references Menini, L., Tornambe, A., 2001. Dynamic position feedback stabilisation of multidegrees-of-freedom linear mechanical systems subject to nonsmooth impacts. IEE Proceedings - Control Theory and Applications 148 (6), 488-496. es_ES
dc.description.references Merzouki, R., M'Sirdi, N., 2004. Compensation of friction and backlash effects in an electrical actuator. J. Systems and Control Engineering 218, 75-84. es_ES
dc.description.references Paden, B., Sastry, S., 1987. A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators. IEEE Transactions on Circuits and Systems 34, 73-81. es_ES
dc.description.references Perez, M., Jimenez, E., Camacho, E., april 2010. Design of an explicit con- strained predictive sliding mode controller. Control Theory & Applications, IET 4 (4), 552-562. es_ES
dc.description.references Potini, A., Tornambe, A., Menini, L., Abdallah, C., Dorato, P., 2006. Finite-time control of linear mechanical systems subject to non-smooth impacts. In: 14th Mediterranean Conference on Control and Automation, 2006.MED’06. pp. 1-5. es_ES
dc.description.references Rascón, R., Alvarez, J., Aguilar, L., 2010. Feedback stabilization and force control using sliding modes in a mechanical system subject to unilateral constraints. In: 11th International Workshop on Variable Structure Systems (VSS). pp. 341-345. es_ES
dc.description.references Rascón, R., Alvarez, J., Aguilar, L., 2012a. Regulation and force control using sliding modes to reduce rebounds in a mechanical system subject to a uni- lateral constraint. Control Theory & Applications, IET 6 (18), 2785-2792. es_ES
dc.description.references Rascón, R., Alvarez, J., Aguilar, L., 2012b. Sliding mode control with H∞; attenuator for unmatched disturbances in a mechanical system with friction and a force constraint. In: 12th International Workshop on Variable Structure Systems (VSS). pp. 434-439. es_ES
dc.description.references Rosas, D., Alvarez, J., Fridman, L., 2007. Robust observation and identification of ndof lagrangian systems. International Journal of Robust and Nonlinear Control 17, 842-861. es_ES
dc.description.references Sabanovic, A., Elitas, M., Ohnishi, K., 2008. Sliding modes in constrained sys- tems control. IEEE Transactions on Industrial Electronics 55, 3332-3339. es_ES
dc.description.references Shevitz, D., Paden, B., 1994. Lyapunov stability theory of nonsmooth systems. IEEE Transactions on Automatic Control 39 (9), 1910-1914. es_ES
dc.description.references Tseng, C.-S., 2005. Mixed H2/H∞ adaptive tracking control design for uncer- tain constrained robots. Asian Journal of Control 7 (3), 296-309. es_ES
dc.description.references Utkin, V., 1978. Sliding Modes and Their Applications. Mir, Moscow. Utkin, V., 1992. Sliding modes in control optimization. Springer, Berlín. es_ES


Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem