{"id":83217,"date":"2000-03-02T00:00:00","date_gmt":"2000-03-02T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/tecnicas-supervisadas-de-control-adaptativa-con-muestreo-no-periodico-para-un-robot-simple-planar\/"},"modified":"2000-03-02T00:00:00","modified_gmt":"2000-03-02T00:00:00","slug":"tecnicas-supervisadas-de-control-adaptativa-con-muestreo-no-periodico-para-un-robot-simple-planar","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/tecnicas-supervisadas-de-control-adaptativa-con-muestreo-no-periodico-para-un-robot-simple-planar\/","title":{"rendered":"T\u00e9cnicas supervisadas  de control adaptativa con muestreo no peri\u00f3dico para un robot simple planar."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Ana Rosa Almansa Martin <\/strong><\/h2>\n<p>En esta tesis se presenta un controlador adaptativo para un robot planar 3r basado en un esquema de control no lineal por linealizaci\u00f3n de la planta mediante la introducci\u00f3n de un modelo matem\u00e1tico del robot en el lazo precompensador. los par\u00e1metros desconocidos del modelo sone stimados on-line, logrando convergencia asint\u00f3tica a la trayectoria deseada simplemente a\u00f1adiendo un lazo adicional de realimentaci\u00f3n pd. Se estudia su convergencia y estabilidad.  se presentan asimismo dos variantes de supervisi\u00f3n de dicho control conel fin de disminuir el error de seguimiento transitorio. La primera consiste en el ajuste de uno de los par\u00e1metros de dise\u00f1o del algoritmo de estimaci\u00f3n reduciendo  el valor de una funci\u00f3n coste cuadr\u00e1tica de los errores de seguimiento medidos en instantes pasados y predichos para instantes futuros. La segunda consiste en la supervisi\u00f3n del per\u00edodo de meustreo del control.  tambi\u00e9n se incluye el estudio de la influencia del ruido en las se\u00f1ales realiementadas, y el posible uso de una zona muerta para paliar la tendencia a la insetabilidad originada por dicho ruido en el esquema adaptativo. en un contexto m\u00e1s general, se muestra un paralelismo entre el control adaptativo cl\u00e1sico y otras t\u00e9cnicas de aprendizaje, mostr\u00e1ndose c\u00f3mo el esquema de adaptaci\u00f3n propuesto puede ser implementado equivalentemente mediante redes neuronales (ann). Finalmente, se ha implementado un programa de software de simulaci\u00f3n para probar y validar las distintas variantes y estrategias de control propuestas. Se incluyen los resultados y an\u00e1lisis comparativos de las simulaciones efectuadas.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>T\u00e9cnicas supervisadas  de control adaptativa con muestreo no peri\u00f3dico para un robot simple planar.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 T\u00e9cnicas supervisadas  de control adaptativa con muestreo no peri\u00f3dico para un robot simple planar. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Ana Rosa Almansa Martin <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Pa\u00eds vasco\/euskal herriko unibertsitatea<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/02\/2000<\/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> Sen Parte Manuel De La<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal:  Sandoval mart\u00edn Juan  Mar\u00eda <\/li>\n<li> Alastruey merino Carlos Francisco (vocal)<\/li>\n<li> De prada moraga c\u00e9sar (vocal)<\/li>\n<li>\u00e1ngel Gallego maza (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Ana Rosa Almansa Martin En esta tesis se presenta un controlador adaptativo para un robot planar 3r [&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":[332,11013,6264,126,12909,7742,13355,1124,2535],"tags":[49935,176490,95775,9247,13358,13357],"class_list":["post-83217","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-ingenieria-de-control","category-investigacion-operativa","category-matematicas","category-pais-vasco-euskal-herriko-unibertsitatea","category-robotica","category-sistemas-de-control","category-tecnologia-de-la-instrumentacion","category-tecnologia-de-los-ordenadores","tag-alastruey-merino-carlos-francisco","tag-ana-rosa-almansa-martin","tag-angel-gallego-maza","tag-de-prada-moraga-cesar","tag-sandoval-martin-juan-maria","tag-sen-parte-manuel-de-la"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/83217","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=83217"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/83217\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=83217"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=83217"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=83217"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}