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

ISSN: 2683-2216 (on line), 1870-3542 (print)

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