Swing-Up y Estabilización en un Solo Paso del Péndulo de Rueda Inercial Usando Control Integral Discontinuo

Resumen: En este trabajo, se diseña un control integral discontinuo de tercer orden para realizar robustamente, el textit{swing-up} y la estabilización en tiempo finito de la posición de arriba del sistema de Péndulo de Rueda Inercial (RWP de sus siglas en inglés), a pesar de la presencia de incertidumbres y perturbaciones no desvanecientes. El algoritmo de control produce una señal de control continua, reduciendo el efecto de textit{chattering} usual en los controles por modos deslizantes. Los resultados teóricos del artículo se verifican experimentalmente en el sistema real.

¿Cómo citar?

Diego Guti´errez-Oribio, Angel Mercado-Uribe, Jaime A. Moreno & Leonid Fridman. Swing-Up y Estabilización en un Solo Paso del Péndulo de Rueda Inercial Usando Control Integral Discontinuo. Memorias del Congreso Nacional de Control Automático, pp. 754-759, 2019.

Palabras clave

Control discontinuo (modos deslizantes), Control robusto, Control de Sistemas No Lineales

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