Bibliographic citations
Castillo, P., (2004). Diseño e implementación de un sistema de control no lineal adoptivo multivariable aplicado a un manipulador robótico transnacional de 2DOF [Tesis, Universidad Nacional de Ingeniería]. http://hdl.handle.net/20.500.14076/143
Castillo, P., Diseño e implementación de un sistema de control no lineal adoptivo multivariable aplicado a un manipulador robótico transnacional de 2DOF [Tesis]. : Universidad Nacional de Ingeniería; 2004. http://hdl.handle.net/20.500.14076/143
@mastersthesis{renati/253731,
title = "Diseño e implementación de un sistema de control no lineal adoptivo multivariable aplicado a un manipulador robótico transnacional de 2DOF",
author = "Castillo Casanova, Percey",
publisher = "Universidad Nacional de Ingeniería",
year = "2004"
}
This thesis work deals with the position and trajectory control of a multivariable translational robotic manipulator of 2DOF (2-Degrees-of-Freedoms), which con-sists of a cart mounted on a pair of rails along the horizontal axes, and a link articulated to a servomotor fixed on the cart. Such a servomotor drives the rotary motion of the link. Another servomotor is articulated to one of two pulleys. This pulley uses a cable to transmit the forcé that drives the sliding motion of the cart. Such a nonlinear robotic manipulator will be controlled by means of a model reference adaptive control system. The control objective is to control simulta-neously the translational position of the cart and the angular position of the link, which is free of rotating in any direction. The goals imposed in this thesis are: modelling, simulation, and real-time implementation of the model reference adaptive control system (MRACS). A MRACS is mainly composed of four parts: the reference model, the adaptive controller, the process to be controlled, and the adaptation mechanism. The ref¬erence model, which is excited by an externa! input r(í), is an auxiliary dynamic system used to specify the desired process responses. Such responses should be chievable for the MRACS despite the restrictions generated by inaccurate mod-elling of the structure of both, the reference model and the procesa model. The adaptation law is the relation between the error e, which is the difference between the outputs of the reference model and those of the process, and the corresponding estimated parameter vector 9. The adaptation mechanism is a set of interconnect-ed blocks employed to implement the adaptation law. As a matter of fact, the adaptation law is the control algorithm used to modify the parameters of the adaptive controller such that the MRACS remains atable and the tracking error converges to zero in the presence of changing process parameters and externa! disturbances. Simulation and experimental results demonstrate that the designed MRACS is capable of making the controlled outputs of the process track arbitrary reference trajectories. The translational robotic manipulator used in this thesis work was conceived, designed and constructed by the research team for control systems of the Gradú¬ate School of the Faculty of Electrical and Electronic Engineering. The members of such a team are Professor Arturo Rojas Moreno, and gradúate students Percey Castillo Casanova and Ricardo Rodríguez Bustinza.
This item is licensed under a Creative Commons License