CONTROL POR SEGUIMIENTO DE REFERENCIA PARA EL SISTEMA CAPSUBOT
DOI:
https://doi.org/10.24054/rcta.v2i18.1985Keywords:
Capsubot, control, superficie deslizante, varianza mínimaAbstract
En este documento se presenta una nueva técnica de control, en lazo cerrado, para el sistema Capsubot. La técnica combina el criterio de varianza mínima generalizada con el concepto de control por superficie deslizante en el dominio discreto. El objetivo de
control es hacer seguimiento de la señal de referencia a través de la minimización de la varianza de la variable controlada, escogiéndose como señal de referencia una dinámica de velocidad adecuada de la masa interna del Capsubot, generándose así el movimiento adecuado del sistema Capsubot. El modelo no lineal del Capsubot es simplificado a un modelo lineal para poder aplicar la técnica de control propuesta.
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