Control mediante interconexión y asignación de amortiguamiento del sistema mecánico subactuado TORA / Interconection and damping assignment control of the subactuated TORA mechanical system
Palabras clave:
Control no lineal, sistemas mecánicos subactuados, control basado en pasividad, método IDA-PBC, sistema TORA., Nonlinear control, Sub-acted mechanical systems, passivity based control, IDA-PBC method, TORA systemResumen
El sistema TORA (translational oscillator with rotational actuator) es un prototipo de sistema mecánico subactuado que ha merecido gran atención por la comunidad científica de control no lineal. En este trabajo, par- tiendo de la representación Hamiltoniana controlada por puertos basada en la energía total del sistema, considerada como energía cinética más energía potencial, y mediante la utilización del método de control basado en Interco- nexión y Asignación de Amortiguamiento, se obtiene un controlador que logra estabilizar en forma global y asin- tótica el punto de equilibrio alcanzando un excelente desempeño. Las simulaciones numéricas mostradas al final del trabajo confirman esta apreciación
Abstract
The TORA system (translational oscillator with rotational actuator) is a prototype of sub-acted mechanical system that has deserved great attention of the nonlinear control scientific community. In this paper, beginning with the Port Controlled Hamiltonian representation founded in the total energy of the system, considered as kinetic plus potential energy, and through the use of the method of control based on the interconnection and damped assign- ment, is obtained a controller that achieves the goal of to stabilize global and asymptotically the equilibrium point, with an excellent performance. Numerical simulations shown at the end of the work confirm the theoretical results.
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Referencias
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