Estimación de fallas en actuadores de un robot móvil con ruedas mecanum
Resumen
En este artículo presenta un observador proporcional integral convexo (PIC) para la estimación de fallas en actuadores en un robot móvil con ruedas mecanum. Mediante la técnica del sector no lineal, se desarrolla un modelo convexo con estructura producto tensor el cual proporciona mayor flexibilidad en la solución de las ganancias del observador. Para las condiciones de estabilidad del error de estimación, se utiliza el método directo de Lyapunov, dando condiciones suficientes a través de un conjunto de desigualdades lineales matriciales (LMIs) que garantizan la convergencia asintótica del estado y fallas estimados al vector de estado y fallas del sistema. Finalmente, se evalúan los resultados a nivel simulación con base al modelo no lineal de un robot móvil con ruedas mecanum.
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Derechos de autor 2024 Noé Moisés Luna-Aguilar, Pedro Gasga-García, Samuel Gómez-Peñate, Francisco Ronay López-Estrada , Ildeberto Santos-Ruiz
Esta obra está bajo licencia internacional Creative Commons Reconocimiento-NoComercial-SinObrasDerivadas 4.0.
