Seguimiento de Trayectoria de Un Cuatrirotor con Carga Suspendida (I)

Resumen: Este artículo propone una estrategia de control no lineal para resolver el problema de seguimiento de trayectoria en un cuatrirotor con una carga suspendida. El acoplamiento, a través de un término cuadrático, entre el ángulo de la carga y la dinámica lateral de la carga transportada por el cuatrirotor impide la aplicación de resultados de estabilidad para sistemas en cascada por lo que se recurre al estudio de la aproximación local de la dinámica en lazo cerrado. Se concluye estabilidad local asintótica bajo restricciones estándar sobre las trayectorias deseadas. Los resultados teóricos se validan por medio de simulaciones numéricas.

¿Cómo citar?

A. P. Mosco-Luciano, H. Rodríguez-Cortés & R. Castro-Linares. Seguimiento de Trayectoria de Un Cuatrirotor con Carga Suspendida (I). Memorias del Congreso Nacional de Control Automático, pp. 79-84, 2019.

Palabras clave

Control de Sistemas No Lineales, Robótica y Mecatrónica, Otros Tópicos Afines

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