Diseño de par calculado robusto no lineal basado en observación: una solución por medio de desigualdades matriciales lineales
Enviado: 26-11-2023
|Aceptado: 05-03-2024
|Publicado: 07-03-2024
Derechos de autor 2024 Jesús Alonso Díaz, Victor Estrada-Manzo, Miguel Angel Bernal Reza
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
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Palabras clave:
Sistemas Lagrangianos y Hamiltonianos, Desigualdades matriciales lineales robustas, Métodos de Lyapunov, Aplicación de análisis y diseño no lineales, Diseño de observadores y filtros no lineales
Agencias de apoyo:
Consejo Nacional de Ciencia y Tecnología de México (CONAHCYT)
Instituto Tecnológico de Sonora
Resumen:
En este artículo, la robustez de la bien conocida técnica de par calculado es mejorada en dos aspectos: por un lado, la ley de control de bucle interno se hace depender exclusivamente de señales generadas por el usuario cuya precisión ya no se ve afectada por ruido o errores numéricos; por otro lado, la ley de control de bucle externo se hace depender de posiciones medibles y velocidades estimadas por un observador, lo que reduce el costo de implementación. Tanto el controlador como el observador son estructuras no lineales diseñadas por medio de desigualdades matriciales lineales que resultan de reescribir en forma convexa el sistema del error de seguimiento y el sistema del error de observación por medio de una factorización recientemente aparecida en la literatura para luego aplicar el método directo de Lyapunov. La propuesta de diseño es puesta a prueba en diversos sistemas Lagrange-Euler donde las ventajas en comparación con el par calculado tradicional pueden ser apreciadas tanto en simulación como en tiempo real.
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