Falcón, Romeo | TecNM/Instituto Tecnológico De La Laguna |
Ríos, Héctor | CONACYT-TecNM/Instituto Tecnológico De La Laguna |
Dzul, Alejandro | TecNM/Instituto Tecnológico De La Laguna |
Resumen: Este trabajo presenta el diseño de un esquema de Diagnóstico de Fallas en actuadores para un Quad-Rotor. Las fallas son modeladas como pérdidas parciales de efectividad. Se propone un Observador por Modos Deslizantes en Tiempo Finito para estimar todo el estado a partir de las salidas medibles y proporcionar un conjunto de señales residuales. Dicho Diagnóstico de Fallas resuelve el problema de detección, aislamiento e identificación de una única falla aún bajo la presencia de perturbaciones externas. El desempeño del esquema propuesto es validado a través de simulaciones numéricas.
¿Cómo citar?
Romeo Falcón, Héctor Ríos & Alejandro Dzul. Diagnóstico de Fallas Basado en Observadores por Modos Deslizantes para un Quad-Rotor (I). Memorias del Congreso Nacional de Control Automático, pp. 495-500, 2019.
Palabras clave
Detección y Aislamiento de Fallas, Robótica y Mecatrónica
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