Diseño y simulación de controladores robustos aplicados a un robot móvil y un robot manipulador

Abstract

This document is focused on the design and simulation of robust controllers applied for trajectory tracking of a nonholonomic mobile robot and position control of each articulation of a manipulator robot of three degrees of freedom, the designs of the controllers were based on the respective dynamic models. The objective of this work is to implement a control system capable of improving the performance of both systems, in terms of accuracy in the face off disturbances, considering uncertainty and non-linearity. A comparative analysis is made between the robust control schemes and the classical control techniques, using performance indicators IAE and ISE. The development and simulation of this work was made in MATLAB computational platform, Simulink for implementing controllers and V-Realm Builder for generating a simulated environment in which the movement of the robots can be appreciated