Revista ELECTRO
Vol. 43 – Año 2021
Artículo
TÍTULO
Control Tipo Hiperbólico con Estabilidad Asintótica para Robots Manipuladores
AUTORES
Emanuel Ortiz Ortiz, Juan Carlos Sernaque Julca, Fernando Reyes Cortés, Pablo Sánchez Sánchez, Jorge Fierro Roja, Basil M. Al-Hadithi
RESUMEN
En el siguiente trabajo se presenta un esquema control tipo hiperbólico con el análisis de estabilidad asintótica para robots manipuladores. El esquema de control propuesto está compuesto por funciones hiperbólicas, como el senh, cosh y tanh. Para el análisis de estabilidad, primero se estableció la ecuación de lazo cerrado que se encuentra combinando el modelo dinámico del robot manipulador y la estructura matemática del esquema de control por moldeo de energía. Luego se demuestra la existencia y unicidad del punto de equilibrio de la ecuación en lazo cerrado. Finalmente se demuestra la estabilidad asintótica a través de la propuesta de una función estricta de Lyapunov.
Palabras Clave: Robot Manipulador, Estabilidad de Lyapunov, Esquema de Control.
ABSTRACT
In the present work, a hyperbolic type control scheme is presented with the asymptotic stability analysis for robot manipulator. The proposed control scheme is composed of hyperbolic functions, such as senh, cosh and tanh. For the stability analysis, the closed-loop equation was first established, which is found by combining the dynamic model of the robot manipulator and the mathematical structure of the energy molding control scheme. Then the existence and uniqueness of the equilibrium point of the closed-loop equation is demonstrated. Finally, the asymptotic stability is demonstrated through the proposal of a strict Lyapunov function.
Keywords: Robot Manipulator, Lyapunov Stability, Control Scheme.
REFERENCIAS
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CITAR COMO:
Emanuel Ortiz Ortiz, Juan Carlos Sernaque Julca, Fernando Reyes Cortés, Pablo Sánchez Sánchez, Jorge Fierro Roja, Basil M. Al-Hadithi, "Control Tipo Hiperbólico con Estabilidad Asintótica para Robots Manipuladores", Revista ELECTRO, Vol. 43, 2021, pp. 162-167.
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