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Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones

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Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones

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Rosas Almeida, D.; González Solis, E.; Raya Díaz, G. (2021). Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones. Revista Iberoamericana de Automática e Informática industrial. 18(3):218-229. https://doi.org/10.4995/riai.2021.14433

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/168905

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Title: Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones
Secondary Title: Robust teleoperation of mechanical systems based on active disturbances compensation control structure
Author: Rosas Almeida, D.I. González Solis, E.V. Raya Díaz, G.
Issued date:
Abstract:
[EN] We present a control strategy to guarantee the stability of teleoperation systems formed by mechanical systems of nDOF with parametric uncertainties, external disturbances, a partial measure of state vectors, and ...[+]


[ES] Se presenta una estrategia de control para garantizar la estabilidad de sistemas de teleoperación formados por mecanismos de n grados de libertad (nGDL), con incertidumbres paramétricas, perturbaciones externas, ...[+]
Subjects: Teleoperation , Robust control , Disturbance estimation , Teleoperación , Control robusto , Estimación de perturbaciones
Copyrigths: Reconocimiento - No comercial - Compartir igual (by-nc-sa)
Source:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2021.14433
Publisher:
Universitat Politècnica de València
Publisher version: https://doi.org/10.4995/riai.2021.14433
Type: Artículo

References

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Almeida, D. I. R., Álvarez, J., Peña, J., 2011. Control structure with disturbance identification for lagrangian systems. International Journal of Non-Linear Mechanics 46, 486-495. https://doi.org/10.1016/j.ijnonlinmec.2010.08.005

Almeida, D. I. R., Cárdenas, J. A. C., Díaz, J. d. D. O., Valdez, H. M., 2019. Control robusto de un actuador neumático basado en la estructura de control con compensación activa de perturbaciones para seguimiento de trayectorias. Revista Iberoamericana de Automática e Informática industrial 16, 138-146. https://doi.org/10.4995/riai.2018.9073

Chan, L., Naghdy, F., Stirling, D., 2014. Application of adaptive controllers in teleoperation systems: A survey. IEEE Transactions on Human-Machine Systems 44, 337-352. https://doi.org/10.1109/THMS.2014.2303983

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