Gómez Cortés, Gian Carlo | CINVESTAV |
Castanos, Fernando | CINVESTAV |
Davila, Jorge | Instituto Politécnico Nacional |
Resumen: Se propone una ley de control por modos deslizantes para controlar la orientación reducida de un cuerpo rígido. Cada orientación reducida se representa por un elemento de la esfera bidimensional S^2. Dado que S^2 es un espacio homogéneo con respecto a la acción del grupo SO(3), la variedad deslizante se diseña de tal forma que también sea un espacio homogéneo, de tal suerte que ésta herede las características topológicas y algebraicas del espacio de estados. Por medio de esta ley de control se garantiza estabilidad casi global y robustez ante perturbaciones acotadas. El comportamiento del sistema bajo la acción de la ley de control propuesta se ilustra mediante simulaciones.
¿Cómo citar?
Gian Carlo Gómez Cortés, Fernando Castaños Luna & Jorge Angel Dávila Montoy. Control en La Esfera S^2 Usando Modos Deslizantes (I). Memorias del Congreso Nacional de Control Automático, pp. 778-784, 2019.
Palabras clave
Control Discontinuo (modos deslizantes), Control de Sistemas No Lineales
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