Bibliographic citations
Coaquira, R., (2019). Diseño de un sistema de control no lineal de posición de un robot de 2-GL basado en lógica difusa y desigualdades matriciales lineales [Tesis, Universidad Nacional de Ingeniería]. http://hdl.handle.net/20.500.14076/19929
Coaquira, R., Diseño de un sistema de control no lineal de posición de un robot de 2-GL basado en lógica difusa y desigualdades matriciales lineales [Tesis]. PE: Universidad Nacional de Ingeniería; 2019. http://hdl.handle.net/20.500.14076/19929
@mastersthesis{sunedu/3503008,
title = "Diseño de un sistema de control no lineal de posición de un robot de 2-GL basado en lógica difusa y desigualdades matriciales lineales",
author = "Coaquira Castillo, Roger Jesus",
publisher = "Universidad Nacional de Ingeniería",
year = "2019"
}
In this Thesis, a multivariable Nonlinear Control system was analyzed, formulated, designed and simulated using Fuzzy Logic, Linear Matrix Inequalities and H∞ Control techniques, these techniques were tested in a joint position control system and a robot's Cartesian position plane of two degrees of freedom. The objective is to control all the joints simultaneously by permanent magnet DC motors. The geometry of the Robot was also formulated and analyzed. Nonlinear Dynamic Model of the 2GL plane robot was also proposed, to describe its physical behavior including the equations of the motors, and the position and speed sensors that make it possible for all the variables of interest in the space of states are available. To control the joint position of the Robot, the controller generates voltage signals that make it possible to move the permanent magnet DC motors and thus follow the reference signal. The proposed control technique makes use of linearized models in nine points of operation of the Robot, for each of these operating points a H_∞ controller was designed using formulations based on Linear Matrix Inequalities-LMI which were solved by convex optimization algorithms, the controller design H∞ considers the effect of existing disturbances. Finally making use of the Fuzzy Logic (Takagi Sugeno) is able to design a Global Nonlinear control considering the nine points of operation raised by the Robot. After designing the non-linear control system, the graphical simulation of time and joint position used by the Matlab and Simulink software is presented concluding that the results are satisfactory.
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