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Resumen

 

REFERENCE TRACKING CONTROL FOR THE CAPSUBOT SYSTEM

CONTROL POR SEGUIMIENTO DE REFERENCIA PARA EL SISTEMA CAPSUBOT
PhD. Anna Patete.
Jessica Barrera.
PhD. Iñaki Aguirre.
Ing. Jormany Quintero.

Abstract: This paper present a new technique to control, in closed loop, the Capsubot system. The technique combines the generalized minimum variance criterion with the sliding mode control concept in discrete-time. The control objective is to follow the reference signal, through the minimization of the controlled variable. The reference is chosen as the desired velocity dynamic for the internal mass in the Capsubot system. This will produce the appropriate movement for the Capsubot system. The nonlinear Capsubot model is simplified to a linear model, so the proposed control technique may be applied.

Keywords: Capsubot, control, sliding surface, minimum variance.

Resumen: En este documento se presenta una nueva técnica de control, en lazo cerrado, para el sistema Capsubot. La técnica combina el criterio de varianza mínima generalizada con el concepto de control por superficie deslizante en el dominio discreto. El objetivo de control es hacer seguimiento de la señal de referencia a través de la minimización de la varianza de la variable controlada, escogiéndose como señal de referencia una dinámica de velocidad adecuada de la masa interna del Capsubot, generándose así el movimiento adecuado del sistema Capsubot. El modelo no lineal del Capsubot es simplificado a un modelo lineal para poder aplicar la técnica de control propuesta.

Palabras clave: Capsubot, control, superficie deslizante, varianza mínima.