Robot sigue-lineasuna plataforma para la enseñanza del control lineal basado en modelos
- Sala, Antonio 1
- Pitarch, José Luis 1
- Armesto, Leopoldo 1
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1
Universidad Politécnica de Valencia
info
- Carlos Balaguer Bernaldo de Quirós (coord.)
- José Manuel Andújar Márquez (coord.)
- Ramon Costa Castelló (coord.)
- Carlos Ocampo Martínez (coord.)
- Jesús Fernández Lozano (coord.)
- Matilde Santos Peñas (coord.)
- José Enrique Simó Ten (coord.)
- Montserrat Gil Martínez (coord.)
- Jose Luis Calvo Rolle (coord.)
- Raúl Marín Prades (coord.)
- Eduardo Rocón de Lima (coord.)
- Elisabet Estévez Estévez (coord.)
- Pedro Jesús Cabrera Santana (coord.)
- David Muñoz de la Peña Sequedo (coord.)
- José Luis Guzmán Sánchez (coord.)
- José Luis Pitarch Pérez (coord.)
- Oscar Reinoso García (coord.)
- Oscar Déniz Suárez (coord.)
- Emilio Jiménez Macías (coord.)
- Vanesa Loureiro Vázquez (coord.)
Verlag: Servizo de Publicacións ; Universidade da Coruña
ISBN: 978-84-9749-841-8
Datum der Publikation: 2022
Seiten: 310-316
Kongress: Jornadas de Automática (43. 2022. Logroño)
Art: Konferenz-Beitrag
Zusammenfassung
The line follower is a classic robot in many courses and subjects on robotics and mechatronics, given that a simple proportional controller stabilizes it with good performance. However, using it as a platform to explain state-space control, poles, zeros, controllability, etc., is not so common. Here, we pose such analysis. When the robot moves “backwards" it is an unstable process of non-minimum phase; basic control students do not have many possibilities of interacting with such kind of processes, which can be of interest for teaching.