Controlador LQR y SMC Aplicado a Plataformas Pendulares

Miguel F. Arévalo-Castiblanco, C. H. Rodriguez-Garavito, Álvaro A. Patiño-Forero, José F. Salazar-Cáceres

Resumen

Una plataforma pendular es una estructura robótica comúnmente empleada en el diseño de controladores dada su dinámica no lineal; este trabajo presenta el modelamiento, diseño e implementación de un controlador óptimo LQR y un controlador en modo deslizante SMC aplicado a dos plataformas comerciales, el péndulo rotatorio invertido de Quanser (RotPen) y el péndulo móvil de Lego (NxtWay). El aporte de este trabajo es presentar una metodología de implementación de controladores sobre plataformas pendulares, atendiendo las respectivas restricciones de hardware y software en prototipos comerciales. El artículo presenta el comportamiento de los controladores diseñados sobre el modelo analítico comparado con su implementación real.


Palabras clave

Control óptimo; Control en modo deslizante; Sistemas Embebidos; LQR; Modelo Péndulo Invertido Quanser; Modelo Segway NxtWay

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Referencias

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Revista Iberoamericana de Automática e Informática industrial  vol: 18  num.: 2  primera página: 119  año: 2021  
doi: 10.4995/riai.2020.13440



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