Control de trayectorias basado en álgebra lineal

G. J. E. Scaglia, M. E. Serrano, P. Albertos

Resumen

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.


Palabras clave

Control de trayectorias; control por prealimentación; control por realimentación; perturbaciones; incertidumbre en el modelo; control basado en modelo

Clasificación por materias

Sistemas de control lineal;Teorías de control emergentes;Control multivariable

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Referencias

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