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Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos

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Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos

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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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