Estabilidad y control de sistemas mecánicos de base móvil

D. A. Bravo M., C. F. Rengifo R.

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.

Keywords


Enseñanza; Ecuación de Lagrange; Sistemas Dinámicos; Simulación.

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DOI: https://doi.org/10.31349/RevMexFisE.18.69

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REVISTA MEXICANA DE FÍSICA E, year 18, issue 1, January-June 2021. Semiannual Journal published by Sociedad Mexicana de Física, A. C. Departamento de Física, 2º Piso, Facultad de Ciencias, Universidad Nacional Autónoma de México, Ciudad Universitaria, Alcaldía Coyacán, C.P. 04510 , Ciudad de México. Apartado Postal 70-348. Tel. (+52)55-5622-4946, https://rmf.smf.mx/ojs/rmf-e, rmf@ciencias.unam.mx. Chief Editor: José Alejandro Ayala Mercado.  INDAUTOR Certificate of Reserve: 04-2019-080216402500-203, ISSN: 2683-2216 (on line), 1870-3542 (print), both granted by Instituto Nacional del Derecho de Autor.  Responsible for the last update of this issue, Technical Staff of Sociedad Mexicana de Física, A. C., Fís. Efraín Garrido Román, 2º. Piso, Facultad de Ciencias, Universidad Nacional Autónoma de México, Ciudad Universitaria, Alcaldía Coyacán, C.P. 04510 , Ciudad de México. Date of last modification, January 04, 2021.

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