Información del artículo
Resumen
La sintonización de controladores Pareto-óptimo robustos ha sido empleada para mejorar el rendimiento de un helicóptero de dos grados de libertad con un algoritmo de control lineal. El procedimiento de sintonización del controlador está basado en la minimización simultánea de las integrales de la suma del cuadrado del error y de la acción de control. Como resultado de dicha minimización y dado que los objetivos entran en conflicto, se obtiene un conjunto de soluciones que describen un frente de Pareto. Posteriormente, un proceso de análisis en los mismos es llevado a cabo para seleccionar los controladores a implementar en el sistema físico. Los resultados experimentales con los controladores seleccionados muestran que el procedimiento de ajuste es eficaz y práctico.
Palabras clave:
Sistema no lineal
control robusto
control óptimo
índices de desempeño
tiempo real.
Abstract
The tuning of Pareto-optimal robust controllers was applied to improve the performance of a helicopter with two-degrees-of-freedom with a linear control algorithm. The tuning procedure is based on the simultaneous minimization of the integral of square sum of errors and the integral of square sum of control action. A 2D Pareto front is built with these integrals. Afterwards, a decision-making process is carried out to select the most preferable controller. Experimental results on the physical platform validate the tuning procedure as practical and reliable.
Keywords:
Nonlinear system
robust control
optimal control
performance indices
real-time.
Texto completo
Referencias no citadas
Ahmad et al., 2000a, Ahmad et al., 2000b, Carrillo-Ahumada et al., 2011, Coello Coello, 2006, Corne and Knowles, 2007, CSS, 2012, Figueira et al., 2005, Fregene, 2012, Gabriel, 2008, García-Sanz and Elso, 2007a, García-Sanz and Elso, 2007b, García-Sanz et al., 2006, García-Alvarado and Ruiz-López, 2010, Hernández et al., 2013, Huba, 2013, Ishibuchi et al., 2008, Juang et al., 2008a, Juang et al., 2008b, Juang et al., 2011, Liu et al., 2006, Lotov and Miettinen, 2008, Marler and Arora, 2004, Miettinen, 1998, Nejjari et al., 2011, Rahideh and Shaheed, 2009, Rahideh and Shaheed, 2012, Rahideh et al., 2008, Reynoso-Meza et al., 2013, Reynoso-Meza et al., 2014a, Reynoso-Meza et al., 2014b, Reynoso-Meza et al., 2014c, Ruiz-López et al., 2006, Skogestad, 2003, Sánchez and Vilanova, 2013a, Sánchez and Vilanova, 2013b, Su et al., 2002, Tao et al., 2010a, Tao et al., 2010b, Toha and Tokhi, 2009, Vargas et al., 2011, Velasco et al., 2013, Vilanova et al., 2012, Wen and Lu, 2008 and Witczak et al., 2010.
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