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Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores
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Vol. 14. Núm. 4.
Páginas 434-445 (Octubre - Diciembre 2017)
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Vol. 14. Núm. 4.
Páginas 434-445 (Octubre - Diciembre 2017)
DOI: 10.1016/j.riai.2017.06.001
Open Access
Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores
Saturated regulation with derivative variable gain for robot manipulators
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Miguel A. Limón-Díaza,
Autor para correspondencia
miangellim@hotmail.com

Autor para correspondencia.
, Fernando Reyes-Cortésb, Emilio J. González-Galvána
a Centro de Investigación y Estudios de Posgrado, Facultad de Ingenieía, Universidad Autónoma de San Luis Potosí, S.L.P. 78290, México
b Grupo de Robótica, Facultad de Ciencias de la Electrónica, Benémerita Universidad Autónoma de Puebla, Puebla 72570, México
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Resumen

En este trabajo se presenta una familia grande de reguladores saturados tipo hiperbólicos para robots manipuladores. La propuesta considera a la ganancia proporcional constante y a la ganancia derivativa variable con sintonía automática definida en función del error de posición, velocidad de movimiento y un factor de inyección de amortiguamiento para modificar la velocidad de respuesta del robot. La acción de control derivativa con ganancia variable permite reducir sobreimpulsos, oscilaciones y rizo, tal que alcance el estado estacionario en forma suave. Asimismo, se presenta la propuesta de una función estricta de Lyapunov que permite demostrar la estabilidad asintótica global de la ecuación en lazo cerrado. Para mostrar el desempeño y funcionalidad de la familia propuesta de esquemas de control, un análisis comparativo experimental fue desarrollado entre siete estructuras de control, cinco reguladores pertenecen a la familia propuesta, y dos algoritmos de control bien conocidos como son el proporcional derivativo (PD) y tangente hiperbólico (Tanh). Los resultados experimentales fueron obtenidos con un robot manipulador de transmisión directa de tres grados de libertad.

Palabras clave:
Regulador
Función de saturación
Ganancia Variable
Manipulador robótico
Algoritmos de control
Abstract

In this paper a family with a large number of hyperbolictype saturated regulators for robot manipulators, was presented. The proposed regulators consider a constant proportional gain while the derivative variable gain is self-tuned according to a function that depends on the position error, speed of motion and a damping factor, in order to modify the velocity of the transient response of the robot. The derivative control with variable gain enables reduced overshots, oscillations and ripple, enabling a smooth arrival to the steady state. The paper also proposes a strict Lyapunov function which enables the demonstration of asymptotic global stability of the closed-loop equation. In order to illustrate the performance and functionality of the proposed family of control schemes, an experimental comparison between seven control schemes was implemented. Five of these control schemes belong to the proposed family while two additional control schemes are well-known strategies such as the proportional-derivative (PD) and hyperbolic tangent (Tanh) control schemes. The experiments were performed by using a three degree-of-freedom, direct-drive robot manipulator.

Keywords:
Regulator
Variable gain
Robotic manipulator
Control algorithm
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