NDLI: Diseño e implementación de un controlador de velocidad PID multivariable para un robot con configuración de triciclo

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Diseño e implementación de un controlador de velocidad PID multivariable para un robot con configuración de triciclo

Content Provider	Semantic Scholar
Author	Moreno, V.
Copyright Year	2015
Abstract	La robotica movil constituye un area de desarrollo y explotacion de interes creciente. Existen ejemplos de robotica movil de relevancia destacada en el ambito industrial y se estima un fuerte crecimiento en el terreno de la robotica de servicios. En la arquitectura software de todos los robots moviles suelen aparecer con frecuencia componentes que tienen asignadas competencias de gobierno, navegacion, percepcion, etcetera, todos ellos de importancia destacada. Sin embargo, existe un elemento, dificilmente prescindible en este tipo de robots, el cual se encarga del control de velocidad del dispositivo en sus desplazamientos. En el presente proyecto se propone desarrollar un controlador PID basado en el modelo y otro no basado en el modelo. Dichos controladores deberan operar en un robot con configuracion de triciclo disponible en el Departamento de Sistemas Informaticos y deberan por tanto ser programados en lenguaje C para ejecutar en el procesador digital de senal destinado para esa actividad en el mencionado robot (dsPIC33FJ128MC802). ABSTRACT Mobile robotics constitutes an area of development and exploitation of increasing interest. There are examples of mobile robotics of outstanding importance in industry and strong growth is expected in the field of service robotics. In the software architecture of all mobile robots usually appear components which have assigned competences of government, navigation, perceptionetc., all of them of major importance. However, there is an essential element in this type of robots, which takes care of the speed control. The present project aims to develop a model-based and other non-model-based PID controller. These controllers must operate in a robot with tricycle settings, available from the Department of Computing Systems, and should therefore be programmed in C language to run on the digital signal processor dedicated to that activity in the robot (dsPIC33FJ128MC802).
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://oa.upm.es/40291/10/TFG_Victor_Garvin_Moreno.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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