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Controlador de modo deslizante para un control de fuerza robusto o actuador hidráulico con incertidumbres ambientales
dc.contributor.author | Boumhidi, Jaouad | spa |
dc.contributor.author | Mrabti, Mostafa | spa |
dc.date.accessioned | 2020-10-27T00:21:12Z | |
dc.date.available | 2020-10-27T00:21:12Z | |
dc.date.issued | 2005-06-01 | |
dc.identifier.issn | 2539-2115 | |
dc.identifier.issn | 1657-2831 | |
dc.identifier.uri | http://hdl.handle.net/20.500.12749/9025 | |
dc.description.abstract | En este artículo, se selecciona un modelo lineal de orden reducido para describir el servoactuador hidráulico con grandes incertidumbres ambientales. La explotación en simulación del modelo lineal perturbado de 5º orden es suficiente para la primera aproximación, es decir, antes de la experimentación para valorar el potencial de control de la ley estudiada. Debido a su carácter robusto y desempeño superior en incertidumbres ambientales, un controlador de modo deslizante, basado en el llamado control equivalente y componentes de control robusto, está diseñado para el control de la fuerza de salida para seguir asintóticamente la trayectoria deseada sin problemas de vibración. Una comparación con el controlador H-infinity muestra que el controlador de modo deslizante propuesto tiene un rendimiento sólido. | spa |
dc.format.mimetype | application/pdf | spa |
dc.language.iso | spa | spa |
dc.publisher | Universidad Autónoma de Bucaramanga UNAB | |
dc.relation | https://revistas.unab.edu.co/index.php/rcc/article/view/1067/1039 | |
dc.relation.uri | https://revistas.unab.edu.co/index.php/rcc/article/view/1067 | |
dc.relation.uri | http://hdl.handle.net/20.500.12749/20373 | spa |
dc.rights | Derechos de autor 2005 Revista Colombiana de Computación | |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/2.5/co/ | |
dc.source | Revista Colombiana de Computación; Vol. 6 Núm. 1 (2005): Revista Colombiana de Computación; 1-10 | |
dc.subject | Innovaciones tecnológicas | |
dc.subject | Ciencia de los computadores | |
dc.subject | Desarrollo de tecnología | |
dc.subject | Ingeniería de sistemas | |
dc.subject | Investigaciones | |
dc.subject | Tecnologías de la información y las comunicaciones | |
dc.subject | TIC´s | |
dc.title | Controlador de modo deslizante para un control de fuerza robusto o actuador hidráulico con incertidumbres ambientales | spa |
dc.title.translated | Sliding mode controller for robust force control o hydraulic actuator with environmental uncertainties | eng |
dc.type.driver | info:eu-repo/semantics/article | |
dc.type.local | Artículo | spa |
dc.type.coar | http://purl.org/coar/resource_type/c_7a1f | |
dc.subject.keywords | Technological innovations | eng |
dc.subject.keywords | Computer science | eng |
dc.subject.keywords | Technology development | eng |
dc.subject.keywords | Systems engineering | eng |
dc.subject.keywords | Investigations | eng |
dc.subject.keywords | Information and communication technologies | eng |
dc.subject.keywords | ICT's | eng |
dc.subject.keywords | Sliding mode control | eng |
dc.subject.keywords | Hydraulic servo-actuator | eng |
dc.subject.keywords | Output tracking | eng |
dc.identifier.instname | instname:Universidad Autónoma de Bucaramanga UNAB | spa |
dc.type.hasversion | info:eu-repo/semantics/acceptedVersion | |
dc.rights.accessrights | info:eu-repo/semantics/openAccess | spa |
dc.relation.references | D. McFarlane and K. Glover. “A Loop Shaping Design procedure using ?H synthesis”,IEEE Transactions on Automatic. Control. 37(6) 759-769, 1992. | |
dc.relation.references | L. Laval. “Modélisation et commande en force d’un actionneur hydraulique confronté à unenvironnement incertain”, Phd Thesis, LRP Paris, December 1997. | |
dc.relation.references | T. W. McLain, E. K. Iverson, C. C. Davis, and S. C. Jacobsen. “Developpement, Simulation,and validation of a Highly Nonlinear Hydraulic Servosystem Model”, ACC, Pittsburg,Pensylvania, pp. 385-391, June 1989. | |
dc.relation.references | G. Bartolini and P. Pydynowski. “An improved chattering free VSC scheme for uncertaindynamical systems”, IEEE Transactions on Automatic Control. 41, 1220-1226, 1996. | |
dc.relation.references | V. I. Utkin, Sliding Modes in control optimization,Springer-Verlag, New York, 1992 | |
dc.relation.references | J. J. Slotine and S. S. Sastry. “Tracking control of non linear system using sliding surface,with application to robotic manipulators”, International Journal of Control, 38, 465?492,1983. | |
dc.relation.references | M. O. Efe, O. Kaynak and X. Yu. “Sliding Mode Control of a Three Degrees of FreedomAnthropoid Robot by Driving the Controller Parameters to an Equivalent Regime”,Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 122(4)632-640, 2000. | |
dc.relation.references | N. K. M’Sirdi, L. Laval and J. Cadiou. “H? control of hydraulic servo-actuator withenvironmental uncertainties”, proc. IEEE Int. Conf. on Robotics and Automation,Mineapolis, Minesota. 1566?1571, 1996. | |
dc.relation.references | J. J. Slotine. “sliding controller design for nonlinear systems”, International Journal ofcontrol. 40(2) 421-434, 1984. | |
dc.relation.references | R. M. Hirschorn. “Singular Sliding-Mode Control”, IEEE Transactions on AutomaticControl. 46(2) 276-285, 2001. | |
dc.relation.references | R. Guenther, M. A. B. Cunha and E. R. De Pieri. “Experimental implementation of thevariable structure adaptive cascade control for hydraulic actuators”, Power Transmission andMotion Control. Bath, England. 349-361, September 1998. | |
dc.relation.references | M. Hamy, Régulation Hydraulique, Techniques de l’Ingénieur, traité Mesures et contrôle,pages R7530?1:26, 1991. | |
dc.relation.references | A. Levant. “higher-order sliding modes, differentiation and output-feedback control”,International Journal of Control. 76 (9/10) 924-941, 2003. | |
dc.relation.references | A. Levant. “Universal SISO Controllers with finite time convergence”, IEEE Transactions onAutomatic Control. 46(9) 1447-1451, 2001. | |
dc.contributor.orcid | Boumhidi, Jaouad [0000-0001-6018-5068] | spa |
dc.contributor.orcid | Boumhidi, Jaouad [Jaouad-Boumhidi] | spa |
dc.subject.lemb | Ingeniería de sistemas | spa |
dc.subject.lemb | Investigaciones | spa |
dc.subject.lemb | Tecnologías de la información y la comunicación | spa |
dc.subject.lemb | Ciencias de la computación | spa |
dc.subject.lemb | Innovaciones tecnológicas | spa |
dc.identifier.repourl | repourl:https://repository.unab.edu.co | |
dc.description.abstractenglish | In this paper, a reduced order linear model is selected to describe the hydraulic servo-actuator with largeenvironmental uncertainties. The exploitation in simulation of the perturbed 5th order linear model isenough for the first approach, that is to say, before experimentation to value the studied law controlpotential. Because its robust character and superior performance in environmental uncertainties, asliding mode controller, based on the so called equivalent control and robust control components isdesigned for control of the output force to track asymptotically the desired trajectory with no chatteringproblems. A comparison with H-infinity controller shows that the proposed sliding mode controller isrobustly performant. | eng |
dc.subject.proposal | Desarrollo tecnológico | spa |
dc.subject.proposal | Control de modo deslizante | spa |
dc.subject.proposal | Servoactuador hidráulico | spa |
dc.subject.proposal | Seguimiento de salida | |
dc.type.redcol | http://purl.org/redcol/resource_type/CJournalArticle | |
dc.rights.creativecommons | Atribución-NoComercial-SinDerivadas 2.5 Colombia | * |