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dc.contributor.author | Sandoval, Jesús![]() |
es_ES |
dc.contributor.author | Kelly, Rafael![]() |
es_ES |
dc.contributor.author | Santibáñez, Víctor![]() |
es_ES |
dc.date.accessioned | 2022-10-05T09:24:32Z | |
dc.date.available | 2022-10-05T09:24:32Z | |
dc.date.issued | 2022-09-30 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/187035 | |
dc.description.abstract | [EN] This paper presents a tutorial about a controllers design method based on the energy shaping plus damping injection for the control of mechanical systems. A unified theoretical framework is provided to solve different control objectives such as: position regulation and speed regulation for both class of mechanical systems and, trajectory tracking for the case of fully actuated mechanicalsystems. Also, the energy regulation is formulated as a new control objective to generate controlled oscillations in both fully actuated mechanical systems and underactuated mechanical systems. In addition, some design criteria are addressed: dynamic friction compensation, exclusion of speed measurement and, inclusion of actuator dynamics. Finally, as examples of application, recent results published in the literature on the design of controllers for torque-driven robot manipulators, an inertia wheel pendulum, anda cart-pendulum system, are presented. | es_ES |
dc.description.abstract | [ES] En este trabajo se presenta un tutorial sobre un método de diseño de controladores basado en el moldeo de energía más inyección de amortiguamiento para el control de una clase de sistemas mecánicos completamente actuados y subactuados. Se proporciona un marco teórico unificado que permite resolver diferentes objetivos de control como son: regulación de posición y regulación de velocidad para ambas clases de sistemas y, seguimiento de trayectorias para el caso de sistemas mecánicos completamente actuados. Además, la regulación de energía es formulada como un nuevo objetivo de control para generar oscilaciones controladas en ambas clases de sistemas mecánicos. En adición, se abordan algunos criterios de diseño como compensación de fricción dinámica, exclusión de medición de velocidad e inclusión de la dinámica de actuadores. Finalmente, como ejemplos de aplicación, se presentan recientes resultados publicados en la literatura sobre el diseño de controladores para robots manipuladores accionados por par, un péndulo con rueda inercial y un sistema carro-péndulo. | es_ES |
dc.description.sponsorship | Este trabajo ha sido parcialmente financiado por los proyectos TecNM, CONACyT 166636, CONACyT 166654 y, CONACYT 134534. | 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 | Energy control | es_ES |
dc.subject | Lyapunov stability | es_ES |
dc.subject | Robot control | es_ES |
dc.subject | Mechanical systems | es_ES |
dc.subject | Control de energía | es_ES |
dc.subject | Control de robots | es_ES |
dc.subject | Sistemas mecánicos | es_ES |
dc.subject | Estabilidad de Lyapunov | es_ES |
dc.title | Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos | es_ES |
dc.title.alternative | On the energy shaping plus damping injection control of mechanical systems | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.4995/riai.2022.16862 | |
dc.relation.projectID | info:eu-repo/grantAgreement/CONACyT//166636 | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/CONACyT//166654 | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/CONACyT//134534 | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | Sandoval, J.; Kelly, R.; Santibáñez, V. (2022). Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos. Revista Iberoamericana de Automática e Informática industrial. 19(4):407-418. https://doi.org/10.4995/riai.2022.16862 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.4995/riai.2022.16862 | es_ES |
dc.description.upvformatpinicio | 407 | es_ES |
dc.description.upvformatpfin | 418 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 19 | es_ES |
dc.description.issue | 4 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\16862 | es_ES |
dc.contributor.funder | Consejo Nacional de Ciencia y Tecnología, México | es_ES |
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dc.description.references | Sandoval, J., Kelly, R., Santibañez, V., 2021a. Energy regulation of torque-driven robot manipulators in joint space. Journal of the Franklin Institute 359, 1427-1456. https://doi.org/10.1016/j.jfranklin.2022.01.034 | es_ES |
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dc.description.references | Sandoval, J., Kelly, R., Santibañez, V., 2021c. A speed regulator for a force-driven cart-pole system. International Journal of Control, Automation and Systems 19, 3451-3463. https://doi.org/10.1080/00207721.2021.1958950 | es_ES |
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