info:eu-repo/semantics/article
A Backstepping control for Scara robot based on parametric uncertainty
Control Backstepping de un robot Scara con incertidumbre paramétrica
Autor
Mosquera Leyton, Víctor Hugo
Vivas Albán, Óscar Andrés
Institución
Resumen
One 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. Uno 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.
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