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En este artículo se presenta el diseño y aplicación de un método de control adaptativo para un sistema bilateral de teleoperación. El esquema y algoritmo de control se ha formulado en el espacio de estados siguiendo una técnica de control por convergencia del estado de maestro y esclavo. Sobre dicho esquema de control se han ajustado a través del método de control adaptativo las ganancias de las matrices de los reguladores para obtener un sistema bilateral estable con una reflexión de fuerzas establecida a priori, lo que es de utilidad en aplicaciones industriales en las que el operador manipula cardas de gran variabilidad. La validación del método de control diseñado se ha realizado con un sistema experimental maestro-esclavo de un grado de libertad, pero los resultados también son aplicables con varios grados de libertad.
Palabras Clave:
Control Adaptativo
Convergencia de Estados
Modelado
Teleoperación
Bilateral
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