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http://cicese.repositorioinstitucional.mx/jspui/handle/1007/1705| Robust Tracking and Cruise Control of a Class of Robotic Systems | |
| Ricardo Cuesta | |
| Joaquin Alvarez Manuel Miranda | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| http://dx.doi.org/10.1155/2015/728412 | |
| Robotic systems, Cruise Control, Robust Tracking, Cartesian robot, Robustness | |
| "This paper presents a controller for a class of robotic systems, based on a first-order sliding mode with a particular noninvariant, nonconnected surface. With this control it is possible to regulate the position such that the velocity remains, as long as possible, at a specified value until the system is close to the desired position. The properties inherited from the sliding modes make the control exhibit a high robustness to external perturbations and low sensitivity to system parameter variations. It is shown that the desired speed is reached in a finite time and the system converges exponentially to the desired position. This controller can be applied to systems described by a classical model of a fully actuated, n-DOF mechanical system, which could be decoupled via a preliminary decoupling control. To illustrate the theoretical results, the proposed control technique is applied to a Cartesian robot, simulated numerically. Moreover, to show the effectiveness of this strategy, some physical experiments on a rotational (mechanical) device were performed." | |
| Hindawi Publishing Corporation | |
| 2015 | |
| Artículo | |
| Mathematical Problems in Engineering, Vol. 2015, Págs. 1-10 | |
| Inglés | |
| Cuesta,R.,Álvarez,J.,Miranda,M.2015.Robust Tracking and Cruise Control of a Class of Robotic Systems.Mathematical Problems in Engineering,2015,1-10.doi:10.1155/2015/728412 | |
| ELECTRÓNICA | |
| Versión publicada | |
| publishedVersion - Versión publicada | |
| Aparece en las colecciones: | Artículos - Electrónica y Telecomunicaciones |
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