Seguimiento de trayectorias con incertidumbre del modelo usando un diferenciador robusto
[EN] In this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the Robust Differentiator is applied in the control structure in order to fulfill the...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2019 |
| 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:10251/126286 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/126286 |
| Access Level: | acceso abierto |
| Palabra clave: | Índice de desempeño Control Dinámica de robots Planificación y seguimiento de trayectorias Robots manipuladores Diferenciador robusto Performance index Robot dynamics Planning and tracking Robot manipulators Robust differentiator |
| Sumario: | [EN] In this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the Robust Differentiator is applied in the control structure in order to fulfill the tracking task. A comparative study is made between the Levant’s Robust Differentiator and the most-used techniques to calculate the velocity. Experimental results are presented. |
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