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dc.contributor.author | Rosas Almeida, D.I. | es_ES |
dc.contributor.author | González Solis, E.V. | es_ES |
dc.contributor.author | Raya Díaz, G. | es_ES |
dc.date.accessioned | 2021-07-07T07:50:58Z | |
dc.date.available | 2021-07-07T07:50:58Z | |
dc.date.issued | 2021-07-01 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/168905 | |
dc.description.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 without the use of force sensors. We neglected time delays in the communication channel, because we assume that mechanical systems are close enough. The control strategy is based on the disturbances active compensation structure, which incorporates discontinuous state observers and low-pass filters to estimate state variables and all nonmeasured signals needed to implement the controller. The controller is robust such that guarantees the tracking control objective. The teleoperation strategy’s performance is illustrated by experiments with mechanical systems of one and two degrees of freedom. | es_ES |
dc.description.abstract | [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, medición parcial de los vectores de estado y sin el uso de sensores de fuerza. Se asume que los mecanismos se encuentran lo suficientemente cercanos uno del otro, de tal forma que el problema de retardos ocasionados por el medio de comunicación es despreciable. La estrategia se basa en la aplicación de la estructura de control con compensación activa de perturbaciones, la cual incorpora observadores de estado discontinuos y filtros paso bajo que permiten la estimación de las variables de estado y otras señales no medidas, así como los términos de perturbación presentes en ambos sistemas, que permiten la implementación de los controladores. El desempeño de la estrategia de teleoperación se ilustra a través de experimentos con mecanismos de uno y dos grados de libertad. | 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 - Compartir igual (by-nc-sa) | es_ES |
dc.subject | Teleoperation | es_ES |
dc.subject | Robust control | es_ES |
dc.subject | Disturbance estimation | es_ES |
dc.subject | Teleoperación | es_ES |
dc.subject | Control robusto | es_ES |
dc.subject | Estimación de perturbaciones | es_ES |
dc.title | Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones | es_ES |
dc.title.alternative | Robust teleoperation of mechanical systems based on active disturbances compensation control structure | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.4995/riai.2021.14433 | |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | 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 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.4995/riai.2021.14433 | es_ES |
dc.description.upvformatpinicio | 218 | es_ES |
dc.description.upvformatpfin | 229 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 18 | es_ES |
dc.description.issue | 3 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\14433 | es_ES |
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