New Method for Tuning Robust Controllers Applied to Robot Manipulators
| Audiencia | Público en general | es_ES |
| Cobertura | México | es_ES |
| Fecha de ingreso | 2026-09-15T00:30:30Z | |
| Fecha de publicación | 2012-01-01 | |
| Resumen | This paper presents a methodology to select the parameters of a nonlinear controller using Linear Matrix Inequalities (LMI). The controller is applied to a robotic manipulator to improve its robustness. This type of dynamic system enables the robust control law to be applied because it largely depends on the mathematical model of the system; however, in most cases it is impossible to be completely precise. The discrepancy between the dynamic behaviour of the robot and its mathematical model is taken into account by including a nonlinear term that represents the model's uncertainty. The controller's parameters are selected with two purposes: to guarantee the asymptotic stability of the closed-loop system while taking into account the uncertainty, and to increase its robustness margin. The results are validated with numerical simulations for a particular case study; these are then compared with previously published results to prove a better controller performance. | es_ES |
| Doi | https://doi.org/10.5772/53734 | es_ES |
| URI | https://riuat.uat.edu.mx/handle/123456789/2438 | |
| Idioma | es | es_ES |
| Editorial | SAGE Publications | es_ES |
| Relación | International Journal of Advanced Robotic Systems | es_ES |
| URL relacionado | https://doi.org/10.5772/53734 | es_ES |
| Derechos | Acceso abierto (Metadatos de producción científica) | es_ES |
| Licencia | http://purl.org/coar/access_right/c_abf2 | es_ES |
| Fuente | International Journal of Advanced Robotic Systems | |
| Título | New Method for Tuning Robust Controllers Applied to Robot Manipulators | es_ES |
| Tipo | Artículo | es_ES |
| Arbitrado | Ha sido Arbitrado | es_ES |
| Autor | Romero, Gerardo | |
| Autor | Alcorta, Efraín | |
| Autor | Lara, David | |
| Autor | Pérez, Irma | |
| Autor | Betancourt, Romeo | |
| Autor | Ocampo, Hugo | |
| Autor | Romero, Gerardo | es_ES |
| Autor | Alcorta, Efraín | es_ES |
| Autor | Lara, David | es_ES |
| Autor | Pérez, Irma | es_ES |
| Autor | Betancourt, Romeo | es_ES |
| Autor | Ocampo, Hugo | es_ES |
| Institución | Universidad Autónoma de Tamaulipas | |
| Institución | Universidad Autónoma de Tamaulipas | es_ES |
| Número | 5 | es_ES |
| URL relacionada | https://doi.org/10.5772/53734 | |
| Tipo de artículo | Indexado | |
| Tipo de artículo | Indexado | es_ES |
| Volumen | 9 | es_ES |