{"id":16866,"date":"2018-03-09T09:04:40","date_gmt":"2018-03-09T09:04:40","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/metodos-geometricos-en-teoria-de-control-no-lineal-con-aplicaciones-a-sistemas-roboticos-dinamicos\/"},"modified":"2018-03-09T09:04:40","modified_gmt":"2018-03-09T09:04:40","slug":"metodos-geometricos-en-teoria-de-control-no-lineal-con-aplicaciones-a-sistemas-roboticos-dinamicos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/metodos-geometricos-en-teoria-de-control-no-lineal-con-aplicaciones-a-sistemas-roboticos-dinamicos\/","title":{"rendered":"M\u00e9todos geom\u00e9tricos en teor\u00eda de control no lineal con aplicaciones a sistemas rob\u00f3ticos din\u00e1micos"},"content":{"rendered":"

Tesis doctoral de Sonia Mart\u00ednez D\u00edaz <\/strong><\/h2>\n

Esta tesis pretende contribuir al estudio de los problemas de control para los sistemas mec\u00e1nicos aprovechando sus propiedades estructurales geom\u00e9tricas. La primera contribuci\u00f3n descrita en esta disertaci\u00f3n es el desarrollo de tests de accesibilidad y controlabilidad para sistemas de control mec\u00e1nicos con ligaduras y simetr\u00eda, basados en descomposiciones geom\u00e9tricamente relevantes de las conexiones afines de levi-civita y nohol\u00f3noma. estos resultados simplifican tests anteriores obtenidos en la literatura de sistemas de control con conexi\u00f3n af\u00edn y dan lugar al concepto de controlabilidad en la fibra para sistemas rot\u00f3ticos din\u00e1micos. Despu\u00e9s, como aplicaci\u00f3n ulterior de estos resultados, desarrollamos algoritmos de control de movimientos para sistemas mec\u00e1nicos con simetr\u00eda, resolviendo el problema de la reconfiguraci\u00f3n punto a punto, el problema de la estabilizaci\u00f3n de un punto, y el problema de la interpolaci\u00f3n de estados. Para hacer esto, obtenemos una descripci\u00f3n de las trayectorias de estos sistemas que empiezan de velocidad no nula en t\u00e9rmino de una expansi\u00f3n en serie. La aproximaci\u00f3n t\u00e9cnica descansa en herramientas del c\u00e1lculo cronol\u00f3gico. Nuestra aproximaci\u00f3n al problema del seguimiento de trayectorias est\u00e1 basada en un an\u00e1lisis promediado libre de coordenadas para una clase de sistemas anal\u00edticos con input oscilatorios (gran amplitud, frecuencia alta). Introduciendo dos escalas temporales, podemos obtener un sistema promediado que puede invertirse para hacer que el sistema general siga en promedio cualquier trayectoria deseada diferenciable. la siguiente contribuci\u00f3n de la tesis es la propuesta de un marco geom\u00e9trico intr\u00ednseco para el estudio de problemas de control l\u00f3gico, que resulta ser muy conveniente para analizar las propiedades de simetr\u00eda de estos sistemas. Por otro lado, nos permite desarrollar un algoritmo de comparaci\u00f3n entre las soluciones de los sistemas vak\u00f3nomos y nohol\u00f3nomos. F<\/p>\n

 <\/p>\n

Datos acad\u00e9micos de la tesis doctoral \u00abM\u00e9todos geom\u00e9tricos en teor\u00eda de control no lineal con aplicaciones a sistemas rob\u00f3ticos din\u00e1micos<\/strong>\u00ab<\/h3>\n
    \n
  • T\u00edtulo de la tesis:<\/strong>\u00a0 M\u00e9todos geom\u00e9tricos en teor\u00eda de control no lineal con aplicaciones a sistemas rob\u00f3ticos din\u00e1micos <\/li>\n
  • Autor:<\/strong>\u00a0 Sonia Mart\u00ednez D\u00edaz <\/li>\n
  • Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n
  • Fecha de lectura de la tesis:<\/strong>\u00a0 14\/05\/2002<\/li>\n<\/ul>\n

     <\/p>\n

    Direcci\u00f3n y tribunal<\/h3>\n
      \n
    • Director de la tesis<\/strong>\n
        \n
      • Manuel De Le\u00f3n Rodr\u00edguez<\/li>\n<\/ul>\n<\/li>\n
      • Tribunal<\/strong>\n
          \n
        • Presidente del tribunal: alberto Ibort latre <\/li>\n
        • eduardo Martinez hern\u00e1ndez (vocal)<\/li>\n
        • Van der schaft abraham jan (vocal)<\/li>\n
        • Marrero gonz\u00e1lez Juan Carlos (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n

           <\/p>\n","protected":false},"excerpt":{"rendered":"

          Tesis doctoral de Sonia Mart\u00ednez D\u00edaz Esta tesis pretende contribuir al estudio de los problemas de control para los sistemas […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[18550,583,128,126,7742],"tags":[6173,53073,3233,26186,53072,53074],"class_list":["post-16866","post","type-post","status-publish","format-standard","hentry","category-carlos-iii-de-madrid","category-geometria","category-geometria-diferencial","category-matematicas","category-robotica","tag-alberto-ibort-latre","tag-eduardo-Martinez-hernandez","tag-manuel-de-leon-rodriguez","tag-marrero-gonzalez-juan-carlos","tag-sonia-Martinez-diaz","tag-van-der-schaft-abraham-jan"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/16866","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=16866"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/16866\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=16866"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=16866"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=16866"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}