{"id":7827,"date":"1995-01-01T00:00:00","date_gmt":"1995-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/1995\/01\/01\/modelizacion-bond-graph-y-control-robusto-de-estructuras-roboticas-flexibles-experimentales\/"},"modified":"1995-01-01T00:00:00","modified_gmt":"1995-01-01T00:00:00","slug":"modelizacion-bond-graph-y-control-robusto-de-estructuras-roboticas-flexibles-experimentales","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/modelizacion-bond-graph-y-control-robusto-de-estructuras-roboticas-flexibles-experimentales\/","title":{"rendered":"Modelizacion bond-graph y control robusto de estructuras roboticas flexibles experimentales."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Joseba Landaluze Moraza <\/strong><\/h2>\n<p>La primera parte de la memoria de tesis describe las estructuras flexibles led-1 y led-2, sus actuadores y sensorizacion. A continuacion se incluye la modelizacion bond-graph de ambos prototipos. Se presenta la validacion para ensayos modales asi como para desplazamientos nominales. A partir de los modelos completos no lineales construidos se deducen otros modelos nominales, mas simples, asi como una evaluacion de sus incertidumbres no estructuradas. Tambien se analizan las fricciones de las estructuras electromecanicas, aplicando los resultados con el prototipo led-2, materializando un lazo interno no lineal para compensar dichas fricciones.  en la ultima parte de la memoria se describe la aplicacion de las tecnicas de control robusto a las estructuras flexibles led-1 y led-2. Para cada uno de los brazos del prototipo led-1, y tomados como plantas siso, se dise\u00f1an controladores pd, con y sin realimentacion del par flector, ltr, hinf y h2. A continuacion se extienden las tecnicas mencionadas y se aplican al prototipo led-2, tomando todo el como un sistema mimo. A los controladores sintetizados se les aplica la tecnica de analisis mu, y como conclusion se dise\u00f1a un controlador mu. Se presentan los resultados exp.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelizacion bond-graph y control robusto de estructuras roboticas flexibles experimentales.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelizacion bond-graph y control robusto de estructuras roboticas flexibles experimentales. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Joseba Landaluze Moraza <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Valladolid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1995<\/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>Pastora Isabel Vega Cruz<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal:  De Prada Moraga Cesar <\/li>\n<li>Eduardo Fernandez Camacho (vocal)<\/li>\n<li>Jos\u00e9 Ram\u00f3n Per\u00e1n Gonz\u00e1lez (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 Joseba Landaluze Moraza La primera parte de la memoria de tesis describe las estructuras flexibles led-1 y [&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 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