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Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Sintonización de controladores Pareto-óptimo robustos para sistemas multivaria...
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Vol. 12. Núm. 2.
Páginas 177-188 (Abril - Junio 2015)
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Vol. 12. Núm. 2.
Páginas 177-188 (Abril - Junio 2015)
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Sintonización de controladores Pareto-óptimo robustos para sistemas multivariables. Aplicación en un helicóptero de 2 grados de libertad
Tuning of Pareto-optimal robust controllers for multivariable systems. Application on helicopter of two-degress-of-freedom
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J. Carrillo-Ahumadaa,
Autor para correspondencia
, G. Reynoso-Mezab, S. García-Nietoc, J. Sanchisc, M.A. García-Alvaradod
a Instituto de Química Aplicada. Universidad del Papaloapan. Circuito Central 200, colonia Parque Industrial, Tuxtepec, Oaxaca, México 68301
b Programa de Posgraduados en Ingeniería de la Producción y Sistemas (PPGEPS). Pontificia Universidad Católica de Paraná (PUCPR). Inmaculada Concepción 1155(80215-901). Curitiba (PR), Brasil
c Instituto Universitario de Automática e Informática Industrial. Universidad Politécnica de Valencia. Camino de Vera s/n 46022. Valencia, España
d Departamento de Ingeniería Química y Bioquímica. Instituto Tecnológico de Veracruz. Av. Miguel Ángel de Quevedo 2779. Veracruz, Ver., México 91860
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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.
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