Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular
A mobile pendular robot presents a dynamic similar to an inverted pendulum being an example of a non-linear and unstable system with a clear need of control. Despite several papers have been published dealing with the control issue of this plant from different points of view, these are limited to a...
- Autores:
-
Chate García, Karen Viviana
Prado Ramírez, Oscar Eduardo
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2016
- Institución:
- Universidad del Cauca
- Repositorio:
- Repositorio Unicauca
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unicauca.edu.co:123456789/1662
- Acceso en línea:
- http://repositorio.unicauca.edu.co:8080/xmlui/handle/123456789/1662
- Palabra clave:
- Performance index
Inverted pendulum
Fuzzy controller
Kalman Filter
LQR
PID
Desempeño
Controlador difuso
Controladores lineales
Péndulo invertido
- Rights
- License
- https://creativecommons.org/licenses/by-nc-nd/4.0/
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| dc.title.spa.fl_str_mv |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| title |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| spellingShingle |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular Performance index Inverted pendulum Fuzzy controller Kalman Filter LQR PID Desempeño Controlador difuso Controladores lineales Péndulo invertido |
| title_short |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| title_full |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| title_fullStr |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| title_full_unstemmed |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| title_sort |
Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular |
| dc.creator.fl_str_mv |
Chate García, Karen Viviana Prado Ramírez, Oscar Eduardo |
| dc.contributor.author.none.fl_str_mv |
Chate García, Karen Viviana Prado Ramírez, Oscar Eduardo |
| dc.subject.eng.fl_str_mv |
Performance index Inverted pendulum Fuzzy controller Kalman Filter LQR PID |
| topic |
Performance index Inverted pendulum Fuzzy controller Kalman Filter LQR PID Desempeño Controlador difuso Controladores lineales Péndulo invertido |
| dc.subject.spa.fl_str_mv |
Desempeño Controlador difuso Controladores lineales Péndulo invertido |
| description |
A mobile pendular robot presents a dynamic similar to an inverted pendulum being an example of a non-linear and unstable system with a clear need of control. Despite several papers have been published dealing with the control issue of this plant from different points of view, these are limited to a visual inspection of the controllers response curves, which does not offer a suitable selection criteria to determine the advantages of one controller over another. This document presents a comparison of a fuzzy PD controller with two linear controllers: a PID and a LQR with Kalman filter applied to a mobile pendular robot, using numeric selection criteria, such as performance indexes. |
| publishDate |
2016 |
| dc.date.issued.none.fl_str_mv |
2016 |
| dc.date.accessioned.none.fl_str_mv |
2019-11-25T21:17:10Z |
| dc.date.available.none.fl_str_mv |
2019-11-25T21:17:10Z |
| dc.type.spa.fl_str_mv |
Trabajos de grado |
| dc.type.coarversion.fl_str_mv |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| dc.type.driver.none.fl_str_mv |
info:eu-repo/semantics/bachelorThesis |
| dc.type.coar.none.fl_str_mv |
http://purl.org/coar/resource_type/c_7a1f |
| format |
http://purl.org/coar/resource_type/c_7a1f |
| dc.identifier.uri.none.fl_str_mv |
http://repositorio.unicauca.edu.co:8080/xmlui/handle/123456789/1662 |
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|
| dc.identifier.reponame.none.fl_str_mv |
|
| dc.identifier.repourl.none.fl_str_mv |
|
| url |
http://repositorio.unicauca.edu.co:8080/xmlui/handle/123456789/1662 |
| identifier_str_mv |
|
| dc.language.iso.spa.fl_str_mv |
spa |
| language |
spa |
| dc.rights.coar.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| dc.rights.uri.none.fl_str_mv |
https://creativecommons.org/licenses/by-nc-nd/4.0/ |
| dc.rights.creativecommons.none.fl_str_mv |
https://creativecommons.org/licenses/by-nc-nd/4.0/ |
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https://creativecommons.org/licenses/by-nc-nd/4.0/ http://purl.org/coar/access_right/c_abf2 |
| dc.publisher.spa.fl_str_mv |
Universidad del Cauca |
| dc.publisher.faculty.spa.fl_str_mv |
Facultad de Ingeniería Electrónica y Telecomunicaciones |
| dc.publisher.program.spa.fl_str_mv |
Ingeniería en Automática Industrial |
| institution |
Universidad del Cauca |
| bitstream.url.fl_str_mv |
http://repositorio.unicauca.edu.co/bitstream/123456789/1662/1/AN%c3%81LISIS%20COMPARATIVO%20ENTRE%20UN%20CONTROLADOR%20DIFUSO%2c%20UN%20CONTROLADOR%20LQR%20CON%20FILTRO%20DE%20KALMAN%20Y%20UN%20CONTROLADOR%20PID.pdf http://repositorio.unicauca.edu.co/bitstream/123456789/1662/2/license.txt |
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Dspace - Universidad del Cauca |
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1808396262953713664 |
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Chate García, Karen VivianaPrado Ramírez, Oscar Eduardo2019-11-25T21:17:10Z2019-11-25T21:17:10Z2016http://repositorio.unicauca.edu.co:8080/xmlui/handle/123456789/1662A mobile pendular robot presents a dynamic similar to an inverted pendulum being an example of a non-linear and unstable system with a clear need of control. Despite several papers have been published dealing with the control issue of this plant from different points of view, these are limited to a visual inspection of the controllers response curves, which does not offer a suitable selection criteria to determine the advantages of one controller over another. This document presents a comparison of a fuzzy PD controller with two linear controllers: a PID and a LQR with Kalman filter applied to a mobile pendular robot, using numeric selection criteria, such as performance indexes.spaUniversidad del CaucaFacultad de Ingeniería Electrónica y Telecomunicaciones Ingeniería en Automática Industrialhttps://creativecommons.org/licenses/by-nc-nd/4.0/https://creativecommons.org/licenses/by-nc-nd/4.0/http://purl.org/coar/access_right/c_abf2Performance indexInverted pendulumFuzzy controllerKalman FilterLQRPIDDesempeñoControlador difusoControladores linealesPéndulo invertidoAnálisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendularTrabajos de gradoinfo:eu-repo/semantics/bachelorThesishttp://purl.org/coar/resource_type/c_7a1fhttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/version/c_970fb48d4fbd8a85ORIGINALANÁLISIS COMPARATIVO ENTRE UN CONTROLADOR DIFUSO, UN CONTROLADOR LQR CON FILTRO DE KALMAN Y UN CONTROLADOR PID.pdfANÁLISIS COMPARATIVO ENTRE UN CONTROLADOR DIFUSO, UN CONTROLADOR LQR CON FILTRO DE KALMAN Y UN CONTROLADOR PID.pdfapplication/pdf1991428http://repositorio.unicauca.edu.co/bitstream/123456789/1662/1/AN%c3%81LISIS%20COMPARATIVO%20ENTRE%20UN%20CONTROLADOR%20DIFUSO%2c%20UN%20CONTROLADOR%20LQR%20CON%20FILTRO%20DE%20KALMAN%20Y%20UN%20CONTROLADOR%20PID.pdfd50110447c959cb41510f639a42faa9fMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-81748http://repositorio.unicauca.edu.co/bitstream/123456789/1662/2/license.txt8a4605be74aa9ea9d79846c1fba20a33MD52123456789/1662oai:repositorio.unicauca.edu.co:123456789/16622021-05-28 10:14:49.812Dspace - Universidad del Caucabiblios@unicauca.edu.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 |