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Control de trayectorias basado en álgebra lineal

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Control de trayectorias basado en álgebra lineal

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dc.contributor.author Scaglia, G. J. E. es_ES
dc.contributor.author Serrano, M. E. es_ES
dc.contributor.author Albertos Pérez, Pedro es_ES
dc.date.accessioned 2020-10-05T11:45:22Z
dc.date.available 2020-10-05T11:45:22Z
dc.date.issued 2020-09-30
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/151137
dc.description.abstract [ES] En este tutorial se resumen las principales características de una nueva metodología de diseño de sistemas de control para el seguimiento de trayectorias en procesos no lineales. Esta metodología, denominada LAB (Linear Algebra Based), fue presentada por los autores hace más de diez años y ha tenido una fuerte repercusión por su sencillez y facilidad de aplicación, si bien no es aplicable para algunos problemas de seguimiento en sistemas no lineales. Se exponen las etapas en el diseño de un controlador LAB, tanto en tiempo continuo como en discreto. La aplicación al control de la trayectoria de un robot móvil, en tiempo continuo, sirve para ilustrar el desarrollo e implementación del control. Se analizan algunas propiedades del sistema controlado y se resaltan las condiciones de aplicación. Numerosas referencias facilitan el desarrollo de algunas características y su aplicación en diversos campos de la robótica y del control de procesos en general. es_ES
dc.description.abstract [EN] In this tutorial, the main features of a new control design methodology for tracking control in nonlinear processes is summarized. The so called LAB (Linear Algebra Based) methodology was introduced by the authors more than ten years ago and it has been accepted and used by many researchers mainly due to its simplicity and easy application. Nevertheless, it is not applicable to all the tracking problems dealing with nonlinear systems. The LAB controller design procedure, both in continuous time and discretetime, is outlined. The design of the trajectory control of a mobile robot illustrates the procedure as well as its implementation. Some properties of the controlled process are discussed and the problem requirements for a successful application are pointed out. Several references allow a deeper analysis of the controlled plant features as well as its application in a variety of processes, either in robotics or in process control. 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 - Sin obra derivada (by-nc-nd) es_ES
dc.subject Trajectory control es_ES
dc.subject Feedforward control es_ES
dc.subject Feedback control es_ES
dc.subject Disturbances es_ES
dc.subject Model uncertainty es_ES
dc.subject Model based control es_ES
dc.subject Control de trayectorias es_ES
dc.subject Control por prealimentación es_ES
dc.subject Control por realimentación es_ES
dc.subject Perturbaciones es_ES
dc.subject Incertidumbre en el modelo es_ES
dc.subject Control basado en modelo es_ES
dc.title Control de trayectorias basado en álgebra lineal es_ES
dc.title.alternative Linear Algebra Based trajectory control es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2020.13584
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial es_ES
dc.description.bibliographicCitation Scaglia, GJE.; Serrano, ME.; Albertos Pérez, P. (2020). Control de trayectorias basado en álgebra lineal. Revista Iberoamericana de Automática e Informática industrial. 17(4):344-353. https://doi.org/10.4995/riai.2020.13584 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2020.13584 es_ES
dc.description.upvformatpinicio 344 es_ES
dc.description.upvformatpfin 353 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 17 es_ES
dc.description.issue 4 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\13584 es_ES
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