Sistema de Control Bilateral Adaptativo por Convergencia de Estados en Teleoperación

María Artigas; Rafael Aracil; Manuel Ferre; Cecilia Garcia

doi:10.1016/S1697-7912(10)70041-8

Autores/as

María Artigas Universidad del Zulia
Rafael Aracil Universidad Politécnica de Madrid
Manuel Ferre Universidad Politécnica de Madrid
Cecilia Garcia Universidad Politécnica de Madrid

DOI:

https://doi.org/10.1016/S1697-7912(10)70041-8

Palabras clave:

Control Adaptativo, Convergencia de Estados, Modelado, Teleoperación, Bilateral

Resumen

En este artículo se presenta el diseño y aplicación de un método de control adaptativo para un sistema bilateral de teleoperación. El esquema y algoritmo de control se ha formulado en el espacio de estados siguiendo una técnica de control por convergencia del estado de maestro y esclavo. Sobre dicho esquema de control se han ajustado a través del método adaptativo las ganancias de los lazos de control para obtener un sistema bilateral estable con la reflexión de fuerzas deseada. La validación del método de control diseñado se ha realizado con un sistema experimental maestro-esclavo de un grado de libertad, pero los resultados también son aplicables con varios grados de libertad.

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