Velocity Estimation by Using a State Reconstructor for Stabilizing a Two Degree of Freedom Mechanical Manipulator

dc.creatorAGUILAR IBÁÑEZ, CARLOS
dc.creatorGARCÍA NIEVES, LUIS
dc.creatorSANDOVAL REYES, SERGIO
dc.date2009-10-05
dc.date.accessioned2018-03-16T14:22:54Z
dc.date.available2018-03-16T14:22:54Z
dc.identifierhttp://ojs.unam.mx/index.php/cys/article/view/2566
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1190438
dc.descriptionIN THIS PAPER WE PROPOSE A CONTROL SCHEME BASED ON THE VELOCITY ESTIMATION USING ONLY POSITION MEASUREMENT, TRHOUG A STATE RECONTRUCTOR OF FIRST ORDER. THE ESTIMATED SPEED IS INTRODUCE IN THE IMPLICITIT CONTROL LAW, FOR STABILIZING A TWO DEGREE OF FREEDOM CLOSE- KINEMATIC CHAIN MECHANISM. IT IS SHOWN THROUGH SIMULATION, THAT PRACTICALLY THERE IS NOT ANY DIFFERENCE BETWEEN THE IMPLICIT CONTROL LAW APPLIED DIRECTLY (WITH DATA OF POSITION AND VELOCITY KNOW ) AND THE SAME LAW APPLIED KNOWING ONLY THE POSITION (AND ESTIMATING THE VELOCITY). IT IS ALSO SHOWN THAT THE SYSTEM IS ASYNPTOTICALLY STABLE. THE STABILITY PROOF IS BASED ON THE 2ND LYAPUNOV METHOD.en-US
dc.descriptionIN THIS PAPER WE PROPOSE A CONTROL SCHEME BASED ON THE VELOCITY ESTIMATION USING ONLY POSITION MEASUREMENT, TRHOUG A STATE RECONTRUCTOR OF FIRST ORDER. THE ESTIMATED SPEED IS INTRODUCE IN THE IMPLICITIT CONTROL LAW, FOR STABILIZING A TWO DEGREE OF FREEDOM CLOSE- KINEMATIC CHAIN MECHANISM. IT IS SHOWN THROUGH SIMULATION, THAT PRACTICALLY THERE IS NOT ANY DIFFERENCE BETWEEN THE IMPLICIT CONTROL LAW APPLIED DIRECTLY (WITH DATA OF POSITION AND VELOCITY KNOW ) AND THE SAME LAW APPLIED KNOWING ONLY THE POSITION (AND ESTIMATING THE VELOCITY). IT IS ALSO SHOWN THAT THE SYSTEM IS ASYNPTOTICALLY STABLE. THE STABILITY PROOF IS BASED ON THE 2ND LYAPUNOV METHOD.es-ES
dc.formatapplication/pdf
dc.languagespa
dc.publisherComputación y Sistemases-ES
dc.relationhttp://ojs.unam.mx/index.php/cys/article/view/2566/2127
dc.sourceComputación y Sistemas; Vol 4, No 004 (2001)es-ES
dc.source1405-5546
dc.subject;PARALLED ROBOTS; LYAPUNOV 2ND METHOD; IMPLICIT SYSTEMes-ES
dc.titleVelocity Estimation by Using a State Reconstructor for Stabilizing a Two Degree of Freedom Mechanical Manipulatores-ES
dc.typeArtículos de revistas
dc.typeArtículos de revistas


Este ítem pertenece a la siguiente institución