Ingeniería Mecatrónica (Mag.)

URI permanente para esta colecciónhttp://54.81.141.168/handle/123456789/9097

Explorar

Filtros

2017 - 20192

Ajustes

Asesorsearch.filters.applied.operator.equals: search.filters.advisor.Reger, Johann

Resultados de Búsqueda

Mostrando 1 - 2 de 2
  • No hay miniatura disponible
    ÍtemTexto completo enlazado
    Implicit IDA-PBC Design and Implementation for a Portal Crane System
    (Pontificia Universidad Católica del Perú, 2019-11-12) Vidal Sandoval, Jesus Enrique; Villota Cerna, Elizabeth Roxana; Cieza Aguirre, Oscar B.; Reger, Johann
    Interconnection and damping assignment passivity-based control (IDA-PBC) is a wellknown technique which regulates the behavior of nonlinear systems, assigning a target port-Hamiltonian (pH) structure to the closed-loop. In underactuated mechanical systems (UMSs) its application requires the satisfaction of matching conditions, which in many cases demands to solve partial differential equations (PDEs). Only recently, the IDA-PBC has been extended to UMSs modeled implicitly, where the system dynamics in pH representation are described by a set of differential-algebraic equations (DAEs). In some system classes this implicit approach allows to circumvent the PDE problem and also to design an output-feedback law. The present thesis deals with the design and implementation of the total energy shaping implicit IDA-PBC on a portal crane system located at the laboratory of the Control Engineering Group at TU-Ilmenau. The implicit controller is additionally compared with a simplified (explicit) IDA-PBC [1]. This algorithm shapes the total energy and avoids the PDE problem. However, this thesis reveales a significant implementation flaw in the algorithm, which then could be solved.
  • No hay miniatura disponible
    ÍtemTexto completo enlazado
    Rapid continuous-time identification of linear and nonlinear systems using modulation function approaches
    (Pontificia Universidad Católica del Perú, 2017-03-09) Cieza Aguirre, Oscar Benjamín; Reger, Johann
    At the present, system identification through modulation functions has a wide range of methods. Many of them have reached maturity levels that surpass customary Kalmanfilter approaches for discrete-time identification. In this thesis, the modulation function technique is analyzed in view of its real-time capability, as well as the possible unification of the modulation function methods based on the frequency spectrum, and ability to deal with nonlinearities. Besides, to increase the rate of convergence, the optimal parameter estimation with constraints of Byrski et al. [BFN03] is applied on integrable and convolvable systems. Furthermore, the modulated white Gaussian noise influence on linear systems is examined. The proposed methods together with the Loab-Cahen modulation functions are compared in performance for linear and convolvable systems concerning three different inputs, three normalizations, identification parameters and computational cost.