Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)

ilustraciones, gráficas, tablas

Autores:: Aguilar Pérez, Santiago

Tipo de recurso:

Fecha de publicación:: 2022

Institución:: Universidad Nacional de Colombia

Repositorio:: Universidad Nacional de Colombia

Idioma:: spa

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network_acronym_str	UNACIONAL2
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repository_id_str
dc.title.spa.fl_str_mv	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
dc.title.translated.eng.fl_str_mv	Optimal control methodology for differentially flat nonlinear systems, based on Active Disturbance Rejection Control (ADRC) and Model Predictive Control (MPC)
title	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
spellingShingle	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC) 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Programmable controllers Nonlinear systems Automatic control Controladores programables Sistemas no lineales Control automático Differential flatness Planitud diferencial Sistemas no lineales Control por rechazo activo de perturbaciones Control predictivo basado en modelo Active disturbance rejection control Model predictive control
title_short	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
title_full	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
title_fullStr	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
title_full_unstemmed	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
title_sort	Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)
dc.creator.fl_str_mv	Aguilar Pérez, Santiago
dc.contributor.advisor.spa.fl_str_mv	Cortés Romero, John Alexander Dorado Rojas, Sergio
dc.contributor.author.spa.fl_str_mv	Aguilar Pérez, Santiago
dc.subject.ddc.spa.fl_str_mv	620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
topic	620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Programmable controllers Nonlinear systems Automatic control Controladores programables Sistemas no lineales Control automático Differential flatness Planitud diferencial Sistemas no lineales Control por rechazo activo de perturbaciones Control predictivo basado en modelo Active disturbance rejection control Model predictive control
dc.subject.lemb.eng.fl_str_mv	Programmable controllers Nonlinear systems Automatic control
dc.subject.lemb.spa.fl_str_mv	Controladores programables Sistemas no lineales Control automático
dc.subject.proposal.eng.fl_str_mv	Differential flatness
dc.subject.proposal.spa.fl_str_mv	Planitud diferencial Sistemas no lineales Control por rechazo activo de perturbaciones Control predictivo basado en modelo Active disturbance rejection control Model predictive control
description	ilustraciones, gráficas, tablas
publishDate	2022
dc.date.accessioned.none.fl_str_mv	2022-06-29T18:30:04Z
dc.date.available.none.fl_str_mv	2022-06-29T18:30:04Z
dc.date.issued.none.fl_str_mv	2022
dc.type.spa.fl_str_mv	Trabajo de grado - Maestría
dc.type.driver.spa.fl_str_mv	info:eu-repo/semantics/masterThesis
dc.type.version.spa.fl_str_mv	info:eu-repo/semantics/acceptedVersion
dc.type.content.spa.fl_str_mv	Text
dc.type.redcol.spa.fl_str_mv	http://purl.org/redcol/resource_type/TM
status_str	acceptedVersion
dc.identifier.uri.none.fl_str_mv	https://repositorio.unal.edu.co/handle/unal/81667
dc.identifier.instname.spa.fl_str_mv	Universidad Nacional de Colombia
dc.identifier.reponame.spa.fl_str_mv	Repositorio Institucional Universidad Nacional de Colombia
dc.identifier.repourl.spa.fl_str_mv	https://repositorio.unal.edu.co/
url	https://repositorio.unal.edu.co/handle/unal/81667 https://repositorio.unal.edu.co/
identifier_str_mv	Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia
dc.language.iso.spa.fl_str_mv	spa
language	spa
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dc.format.extent.spa.fl_str_mv	xiv, 94 páginas
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dc.publisher.spa.fl_str_mv	Universidad Nacional de Colombia
dc.publisher.program.spa.fl_str_mv	Bogotá - Ingeniería - Maestría en Ingeniería - Automatización Industrial
dc.publisher.department.spa.fl_str_mv	Departamento de Ingeniería Eléctrica y Electrónica
dc.publisher.faculty.spa.fl_str_mv	Facultad de Ingeniería
dc.publisher.place.spa.fl_str_mv	Bogotá, Colombia
dc.publisher.branch.spa.fl_str_mv	Universidad Nacional de Colombia - Sede Bogotá
institution	Universidad Nacional de Colombia
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spelling	Atribución-NoComercial-SinDerivadas 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Cortés Romero, John Alexanderd4c4ad5497c404645297a4b48010bf01Dorado Rojas, Sergio0e84918fa8f0b2807502f3f65f44d9f9Aguilar Pérez, Santiago1435005e6365bd37fb3bb817370d37e72022-06-29T18:30:04Z2022-06-29T18:30:04Z2022https://repositorio.unal.edu.co/handle/unal/81667Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, gráficas, tablasLas metodologías para diseño de controladores basadas en modelo requieren un alto nivel de conocimiento del sistema dinámico para poder diseñar una ley de control, en contraste de las metodologías basadas en error; estos enfoques pueden limitar la aplicación de metodologías de control óptimo, dado que para ciertas situaciones puede ser difícil establecer un modelo que describa al sistema dinámico adecuadamente, así mismo, para modelos muy rigurosos existen dificultadas asociadas a resolver el problema de optimización y para metodologías basadas en error el desempeño no siempre es el deseado. Como alternativa, este trabajo propone una metodología de control óptimo para sistemas diferencialmente planos no lineales, basado en control por rechazo activo de perturbaciones (ADRC - por sus siglas en inglés active disturbance rejection control), el cual es usado para estimar y rechazar las incertidumbres y perturbaciones (internas y externas) a partir de un modelo simplificado que permite plantear un problema de optimización. Luego, se sintetiza el controlador empleando la metodología de control predictivo basado en modelo (MPC - por sus siglas en inglés model predictive control). A través de distintos casos de estudio, se validan y evalúan algunas características de las estructuras asociadas a la metodología de control propuesta. Finalmente se logra establecer una metodología de control que otorga al sistema dinámico un comportamiento estable y robusto, mientras minimiza una función de costo de desempeño. (Texto tomado de la fuente).Methodologies for model-based controller design require a high level of knowledge of the dynamic system in order to design a control law, as opposed to error-based methodologies; these approaches may limit the application of optimal control methodologies, as for certain situations it may be difficult to establish a model that describes the dynamic system properly, also, for very rigorous models there are difficulties associated with solving the optimization problem and for error-based methodologies performance is not always desired. As an alternative, this paper proposes an optimal control methodology for differentially flat non-linear systems, based on active disturbance rejection control (ADRC), which is used to estimate and reject uncertainties and disturbances (internal and external) from a simplified model that allows to pose an optimization problem for design. The controller is then synthesized using model predictive control (MPC). Through different case studies, some characteristics of the structures associated with the proposed control methodology are validated and evaluated. Finally, it is possible to establish a control methodology that gives the dynamic system a stable and robust behavior, while minimizing a performance cost function.MaestríaMagíster en Ingeniería - Automatización IndustrialTeoría y aplicación de controlxiv, 94 páginasapplication/pdfspaUniversidad Nacional de ColombiaBogotá - Ingeniería - Maestría en Ingeniería - Automatización IndustrialDepartamento de Ingeniería Eléctrica y ElectrónicaFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede Bogotá620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaProgrammable controllersNonlinear systemsAutomatic controlControladores programablesSistemas no linealesControl automáticoDifferential flatnessPlanitud diferencialSistemas no linealesControl por rechazo activo de perturbacionesControl predictivo basado en modeloActive disturbance rejection controlModel predictive controlMetodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)Optimal control methodology for differentially flat nonlinear systems, based on Active Disturbance Rejection Control (ADRC) and Model Predictive Control (MPC)Trabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMAboelhassan, A., Diab, A. 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Applied Mathematical Sciences, 3 , 491-508.EstudiantesInvestigadoresPúblico generalORIGINAL1032489050.2022.pdf1032489050.2022.pdfTesis de Maestría en Ingeniería - Automatización industrialapplication/pdf4545564https://repositorio.unal.edu.co/bitstream/unal/81667/4/1032489050.2022.pdfc5887f75f71298a4ea43ff7e56974849MD54LICENSElicense.txtlicense.txttext/plain; charset=utf-84074https://repositorio.unal.edu.co/bitstream/unal/81667/5/license.txt8153f7789df02f0a4c9e079953658ab2MD55THUMBNAIL1032489050.2022.pdf.jpg1032489050.2022.pdf.jpgGenerated Thumbnailimage/jpeg5622https://repositorio.unal.edu.co/bitstream/unal/81667/6/1032489050.2022.pdf.jpgb2bd9f97b013c5075eff3d6e52da8793MD56unal/81667oai:repositorio.unal.edu.co:unal/816672023-08-05 23:04:06.348Repositorio Institucional Universidad Nacional de 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EVESURBIFBPUiBMQSBTRUNSRVRBUsONQSBHRU5FUkFMLiAqTEEgVEVTSVMgQSBQVUJMSUNBUiBERUJFIFNFUiBMQSBWRVJTScOTTiBGSU5BTCBBUFJPQkFEQS4gCgpBbCBoYWNlciBjbGljIGVuIGVsIHNpZ3VpZW50ZSBib3TDs24sIHVzdGVkIGluZGljYSBxdWUgZXN0w6EgZGUgYWN1ZXJkbyBjb24gZXN0b3MgdMOpcm1pbm9zLiBTaSB0aWVuZSBhbGd1bmEgZHVkYSBzb2JyZSBsYSBsaWNlbmNpYSwgcG9yIGZhdm9yLCBjb250YWN0ZSBjb24gZWwgYWRtaW5pc3RyYWRvciBkZWwgc2lzdGVtYS4KClVOSVZFUlNJREFEIE5BQ0lPTkFMIERFIENPTE9NQklBIC0gw5psdGltYSBtb2RpZmljYWNpw7NuIDE5LzEwLzIwMjEK

Metodología de control óptimo para sistemas no lineales diferencialmente planos, basado en control por rechazo activo de perturbaciones (ADRC) y control predictivo basado en modelo (MPC)

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