Estabilidad y control de sistemas mecánicos de base móvil
DOI:
https://doi.org/10.31349/RevMexFisE.18.69Keywords:
Enseñanza, Ecuación de Lagrange, Sistemas Dinámicos, Simulación.Abstract
En este trabajo se estudia la estabilidad de un péndulo invertido de dos grados de libertad y de base móvil,el cual se modeló mediante la formulación Euler-Lagrange. Este modelo permitió diseñar e implementaruna estrategia de control para el seguimiento de trayectorias articulares de referencia. Los sistemas mecánicos de bases fijas y móviles permiten ilustrar un concepto fundamental en las ciencias físicas, que es la diferencia entre limitaciones tecnológicas y limitaciones fundamentales.References
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Copyright (c) 2021 Diego Alberto Bravo Montenegro, Carlos Felipe Rengifo Rodas
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