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Control por modos deslizantes de orden superior basado en funciones de Lyapunov

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Control por modos deslizantes de orden superior basado en funciones de Lyapunov

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dc.contributor.author Moreno, Jaime A. es_ES
dc.contributor.author Fridman, Leonid es_ES
dc.date.accessioned 2022-10-05T09:19:53Z
dc.date.available 2022-10-05T09:19:53Z
dc.date.issued 2022-09-30
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/187033
dc.description.abstract [EN] We give an overview of the methods of analysis and design of High-Order Sliding Mode Controllers (HOSM) and observers,  including also those taking advantage of a discontinuous integral action. First, discontinuous state feedback controllers enforcing a sliding mode of arbitrary order are described. Then a recent class of HOSM  controllers is presented, which consists of a continuousstate feedback controller and a discontinuous integral term. High-order sliding mode observers are also introduced,  which are able to estimate robustly and in finite time the states of the uncertain plant, and they allow the implementation of an output feedback control law. All described designs are based in explicit Lyapunov functions, what is a main contribution of the research group of the authors at the Universidad Nacional Aut´onoma de M´exico, in Mexico City. The paper is tutorial and only the basic  results are presented, leaving aside the rigorous mathematical formulation and proof. For this the appropriate literature is referred to. The results are illustrated using simulations and an experimental validation in a laboratory set up of a magnetic levitation system. es_ES
dc.description.abstract [ES] En este trabajo se presenta una panorámica del desarrollo de los métodos básicos de análisis y diseño de controladores y observadores por modos deslizantes de orden superior. Inicialmente se describen los controladores por retroalimentación de estados con una ley de control discontinua, que generan un modo deslizante de cualquier orden. Posteriormente se presenta una nueva clase de algoritmos por modos deslizantes de orden superior, que consisten en una retroalimentación de estados continua y una acción de control integral discontinua. Se describen también observadores por modos deslizantes, que estiman los estados del sistema en tiempo finito, y que permiten obtener un controlador por retroalimentación de la salida. Todos los diseños presentados se basan en el uso de funciones de Lyapunov (explícitas), que constituyen una contribución importante del grupo de trabajo de los autores en la Universidad Nacional Autónoma de México. La presentación es tutorial y solo se dan los resultados, dejando a un lado la formalización rigurosa y las pruebas matemáticas. Para ello se refiere al lector a la literatura pertinente. Se ilustran los resultados mediante simulaciones y la validación experimental en un sistema de levitación magnética. es_ES
dc.description.sponsorship PAPIIT-UNAM, proyecto IN102121 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 Sliding Modes es_ES
dc.subject Variable Structure Control es_ES
dc.subject Lyapunov Methods es_ES
dc.subject Integral Control es_ES
dc.subject Nonlinear Observers es_ES
dc.subject Control integral es_ES
dc.subject Modos deslizantes es_ES
dc.subject Control de estructura variable es_ES
dc.subject Métodos de Lyapunov es_ES
dc.subject Observadores no lineales es_ES
dc.title Control por modos deslizantes de orden superior basado en funciones de Lyapunov es_ES
dc.title.alternative Lyapunov-based HOSM control es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2022.17013
dc.relation.projectID info:eu-repo/grantAgreement/UNAM//IN102121 es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Moreno, JA.; Fridman, L. (2022). Control por modos deslizantes de orden superior basado en funciones de Lyapunov. Revista Iberoamericana de Automática e Informática industrial. 19(4):394-406. https://doi.org/10.4995/riai.2022.17013 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2022.17013 es_ES
dc.description.upvformatpinicio 394 es_ES
dc.description.upvformatpfin 406 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\17013 es_ES
dc.contributor.funder Universidad Nacional Autónoma de México es_ES
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