{"id":73879,"date":"2005-06-05T00:00:00","date_gmt":"2005-06-05T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/tecnicas-de-control-y-fusion-sensorial-multifrecuenciales-y-su-aplicacion-a-la-robotica-movil\/"},"modified":"2005-06-05T00:00:00","modified_gmt":"2005-06-05T00:00:00","slug":"tecnicas-de-control-y-fusion-sensorial-multifrecuenciales-y-su-aplicacion-a-la-robotica-movil","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/tecnicas-de-control-y-fusion-sensorial-multifrecuenciales-y-su-aplicacion-a-la-robotica-movil\/","title":{"rendered":"T\u00e9cnicas de control y fusi\u00f3n sensorial multifrecuenciales y su aplicaci\u00f3n a la rob\u00f3tica m\u00f3vil"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Leopoldo Armesto \u00e1ngel <\/strong><\/h2>\n<p>La presente tesis doctoral versa sobre las t\u00e9cnicas de control multifrecuencia y fusi\u00f3n sensorial y su aplicaci\u00f3n al campo de la rob\u00f3tica m\u00f3vil. En concreto, la tesis profundiza en temas tales como:  modelado de sistemas multifrecuencia: se generan algunos de los diferentes modelos multifrecuencia lti m\u00e1s conocidos (lifting, operadores de kranc y bmio) a partir del modelado de tornero (deltas), demostr\u00e1ndose sus equiValencias.  retenedores multifrecuencia: dise\u00f1o de una metodolog\u00eda para la obtenci\u00f3n de retenedores multifrecuencia a partir de una funci\u00f3n primitiva. Dentro de la gran variedad de funciones primitiva presentadas, cabe destacar aquellas que generan los equivalentes discretizados de retenedores cl\u00e1sicos, como zoh, foh, impulsional, etc. Y otros m\u00e1s novedosos tales como los basados en funciones de b\u00e9zier, splines, exponenciales y senoidales. As\u00ed mismo, introducen unos nuevos retenedores que basados en el comportamiento din\u00e1mico del sistema en bucle cerrado, que permiten, en \u00faltima instancia, generar la se\u00f1al de error de un bucle de control a periodo r\u00e1pido, a\u00fan a pesar de la ausencia de medidas.  controladores multifrecuencia: en concreto, se trabaja en el dise\u00f1o de reguladores lqg multifrecuenciales mediante dos t\u00e9cnicas de modelado distintas: el lifting y el modelado peri\u00f3dico (deltas). Se demuestra, que los reguladores obtenidos son equivalentes, proporcionando la misma evoluci\u00f3n del sistema cada metaperiodo. As\u00ed mismo, tambi\u00e9n se trabaja en el dise\u00f1o de filtros de kalman multifrecuencia. Merece la pena destacar la demostraci\u00f3n de la convergencia del filtro peri\u00f3dico multifrecuencia a su equivalente continuo (bucy-kalman).  t\u00e9cnicas de fusi\u00f3n sensorial multifrecuencia: se incorpora una metodolog\u00eda para la conversi\u00f3n de filtros recursivos no lineales monofrecuencia a filtros recursivos no lineales multifrecuencia. Dentro, de esta metodolog\u00eda, se concretan tres filtros distintos: el filtro<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>T\u00e9cnicas de control y fusi\u00f3n sensorial multifrecuenciales y su aplicaci\u00f3n a la rob\u00f3tica m\u00f3vil<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 T\u00e9cnicas de control y fusi\u00f3n sensorial multifrecuenciales y su aplicaci\u00f3n a la rob\u00f3tica m\u00f3vil <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Leopoldo Armesto \u00e1ngel <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Valencia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 06\/05\/2005<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Josep Tornero Montserrat<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: pedro Albertos p\u00e9rez <\/li>\n<li>Luis Bas\u00e1\u00f1ez villaluenga (vocal)<\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<li>sebasti\u00e1n Dormido bencomo (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Leopoldo Armesto \u00e1ngel La presente tesis doctoral versa sobre las t\u00e9cnicas de control multifrecuencia y fusi\u00f3n sensorial [&hellip;]<\/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":[332,11013,16820,7742,1124,2535],"tags":[71938,160261,46812,8973,16055,7746],"class_list":["post-73879","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-ingenieria-de-control","category-politecnica-de-valencia","category-robotica","category-tecnologia-de-la-instrumentacion","category-tecnologia-de-los-ordenadores","tag-josep-tornero-montserrat","tag-leopoldo-armesto-angel","tag-luis-basanez-villaluenga","tag-miguel-angel-salichs-sanchez-caballero","tag-pedro-albertos-perez","tag-sebastian-dormido-bencomo"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/73879","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=73879"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/73879\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=73879"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=73879"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=73879"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}