Diseño de par calculado robusto no lineal basado en observación: una solución por medio de desigualdades matriciales lineales
[EN] Robustness of the well-known computed-torque technique is twofold improved in this paper: on the one hand, the inner-loop control law is made exclusively dependent on user-generated signals whose accuracy is no longer affected by noise or numerical errors; on the other hand, the outer-loop cont...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/205961 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/205961 |
| Access Level: | acceso abierto |
| Palabra clave: | Nonlinear Control Euler–Lagrange Systems Lyapunov methods Nonlinear observers Robust linear matrix inequalities Control no lineal Sistemas Euler–Lagrange Métodos de Lyapunov Filtros no lineales Desigualdades matriciales lineales robustas |
| Sumario: | [EN] Robustness of the well-known computed-torque technique is twofold improved in this paper: on the one hand, the inner-loop control law is made exclusively dependent on user-generated signals whose accuracy is no longer affected by noise or numerical errors; on the other hand, the outer-loop control law is based on available positions and observer-based estimations of the velocities. Both the controller and the observer are nonlinear structures designed via linear matrix inequalities arising from the application of a recently appeared factorization. Asymptotic convergence of the tracking and estimation errors is guaranteed via Lyapunovbased analysis. The proposal is put at test in a variety of Lagrange-Euler systems where advantages over standard computed-torque techniques are confirmed, both in simulation and real-time setups. |
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