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Control Backstepping de un robot Scara con incertidumbre paramétrica

dc.creatorMosquera Leyton, Víctor Hugo
dc.creatorVivas Albán, Óscar Andrés
dc.date2012-06-01
dc.identifierhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/252
dc.identifier10.18359/rcin.252
dc.descriptionOne of the typical problems of model-based control strategies is impact on control system performance due to non-modeled dynamics, parametric uncertainty and dynamic coupling. This paper offers a control strategy under a back stepping approach in order to ensure stability into a closed loop of a 4-dof Scara manipulator, and also to generate a system with robustness against parametric uncertainties, without increase control efforts.en-US
dc.descriptionUno de los principales problemas en el control por modelo de referencia es que las dinámicas no modeladas, la incertidumbre paramétrica y el acoplamiento dinámico, afectan el desempeño del sistema de control. Este artículo presenta una estrategia de control bajo el enfoque back-stepping, con el fin de garantizar en primera instancia la estabilidad en lazo cerrado del sistema de control de un manipulador Scaracara de 4º de libertad, y en segunda instancia generar un sistema que sea robusto ante incertidumbres paramétricas, sin presentar grandes esfuerzos de control.es-ES
dc.formatapplication/pdf
dc.formattext/html
dc.languagespa
dc.publisherUniversidad Militar Nueva Granadaes-ES
dc.relationhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/252/62
dc.relationhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/252/1890
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dc.rightsDerechos de autor 2016 Ciencia e Ingeniería Neogranadinaes-ES
dc.sourceCiencia e Ingenieria Neogranadina; Vol. 22 No. 1 (2012); 107-122en-US
dc.sourceCiencia e Ingeniería Neogranadina; Vol. 22 Núm. 1 (2012); 107-122es-ES
dc.sourceCiencia e Ingeniería Neogranadina; v. 22 n. 1 (2012); 107-122pt-BR
dc.source1909-7735
dc.source0124-8170
dc.subjectBackstepping controlen-US
dc.subjectrobot controlen-US
dc.subjectnonlinear controlen-US
dc.subjectrobust controlen-US
dc.subjectparametric uncertainty.en-US
dc.subjectcontrol backsteppinges-ES
dc.subjectcontrol de robotses-ES
dc.subjectcontrol no lineales-ES
dc.subjectcontrol robustoes-ES
dc.subjectincertidumbre paramétricaes-ES
dc.titleA Backstepping control for Scara robot based on parametric uncertaintyen-US
dc.titleControl Backstepping de un robot Scara con incertidumbre paramétricaes-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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