Diseño de un Controlador Robusto para Seguimiento de Trayectorias Aplicado a un Robot Móvil Tipo Uniciclo (I)

Resumen: En este trabajo se propone un algoritmo de seguimiento robusto para el modelo cinemático de robots móviles tipo uniciclo. La estrategia de control propuesta se basa en el conocido enfoque de modos deslizantes de primer orden, con una modificación que reduce el efecto de chattering. Esta estrategia toma en cuenta el modelo cinemático afectado por perturbaciones aditivas y considera cualquier trayectoria suave admisible, respecto a la restricción no holónoma. El control resultante es una función discontinua y con conmutación que asegura convergencia global y asintótica del error de seguimiento al origen. El resultado se ilustra por medio de simulaciones y una comparación con la implementación convencional de modos deslizantes.

¿Cómo citar?

Manuel Mera & Héctor Ríos. Diseño de un Controlador Robusto para Seguimiento de Trayectorias Aplicado a un Robot Móvil Tipo Uniciclo (I). Memorias del Congreso Nacional de Control Automático, pp. 225-230, 2019.

Palabras clave

Control discontinuo (modos deslizantes), Control robusto, Robótica y Mecatrónica

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