Sintonización de controladores Pareto-óptimo robustos para sistemas multivariables. Aplicación en un helicóptero de 2 grados de libertad

J. Carrillo Ahumada, G. Reynoso Meza, S. García Nieto, J. Sanchis, M.A. García Alvarado

Resumen

La sintonización de controladores Pareto-óptimo robustos ha sido empleada para mejorar el rendimiento de un helicóptero de dos grados de libertad con un algoritmo de control lineal. El procedimiento de sintonización del controlador está basado en la minimización simultánea de las integrales de la suma del cuadrado del error y de la acción de control. Como resultado de dicha minimización y dado que los objetivos entran en conflicto, se obtiene un conjunto de soluciones que describen un frente de Pareto. Posteriormente, un proceso de análisis en los mismos es llevado a cabo para seleccionar los controladores a implementar en el sistema físico. Los resultados experimentales con los controladores seleccionados muestran que el procedimiento de ajuste es eficaz y práctico.

Palabras clave

Sistema no lineal; control robusto; control óptimo; índices de desempeño; tiempo real

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