Seguimiento de trayectorias con incertidumbre del modelo usando un diferenciador robusto

P. Sánchez-Sánchez, A. Gutiérrez–Giles, J. Pliego–Jiménez, M.A. Arteaga–Pérez

Resumen

En este artículo se presenta el uso de un diferenciador robusto de Levant aplicado a robots manipuladores cuyo objetivo es realizar el seguimiento de una trayectoria deseada. El modelo dinamico de los robots es desconocido. La velocidad obtenida empleando el diferenciador robusto se aplica en la estructura de control con la finalidad de cumplir con la tarea de seguimiento. Se realiza un estudio comparativo entre el diferenciador robusto de Levant y las tecnicas más usadas para calcular la velocidad. Son presentados resultados experimentales.


Palabras clave

Índice de desempeño; Control; Dinámica de robots; Planificación y seguimiento de trayectorias; Robots manipuladores; Diferenciador robusto

Clasificación por materias

Robótica y sistemas robotizados; Teoría de control y sistemas; Técnicas de control avanzado

Texto completo:

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Referencias

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