Control Robusto de Posición para un Sistema Mecánico Subactuado con Fricción y Holgura Elástica

Rascoń, Raúl; Álvarez, Joaquín; Aguilar, Luis T.

doi:10.1016/j.riai.2014.05.005

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Resumen

Se presenta una estrategia de control que combina las te¿cnicas de modos deslizantes y control H∞, para regular la posicio¿n de un sistema meca¿nico subactuado con friccio¿n y con una holgura ela¿stica. Se muestra que el sistema controlado tiene una regio¿n de puntos de equilibrio, donde las trayectorias del sistema en lazo cerrado convergen de manera asinto¿tica con un error de posicio¿n acotado en estado estacionario, incluso ante la presencia de cierto tipo de perturbaciones. La amplitud de dicho error puede reducirse mediante una sintonizacio¿n adecuada de los para¿metros del controlador. Adema¿s, el controlador atenu¿a el efecto de perturbaciones externas e incertidumbres en el modelado sobre la salida de la planta. La metodolog¿ıa es aplicada a una plataforma experimental, mostra¿ndose el buen desempen¿o del controlador propuesto.

Palabras clave:

sistemas mecánicos subactuados

control robusto

control por modos deslizantes

control H∞.

Abstract

It is presented a control strategy that combines the tech- niques of sliding mode control and nonlinear H∞ control to solve the position control problem of an underactuated mechan- ical system with friction and an elastic backlash. It is shown that the controlled system has a set of equilibrium points, and all the closed-loop trajectories converge asymptotically to that set, achieving a minimally bounded steady state position error, in spite of the presence of certain types of disturbances. More- over, the controller attenuates the effect of external disturbances and uncertainties in the modeling of the plant. The controller has been implemented in an experimental platform that verifies the theoretical results.

Keywords:

Underactuated mechanical systems

robust control

sliding mode control

H∞ control.

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Referencias no citadas

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