Modeling and control of a self-contained trailer system

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A solution is proposed by means of a trailer-type mobile robot control system applied to a company in charge of transporting material, demonstrating that it is an applicable and viable solution. A mathematical model was defined, involving the integration of two control techniques: linear quadratic r...

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Detalles Bibliográficos
Autor: Medina Medina, Wilder
Formato: artículo
Fecha de Publicación:2018
Institución:Universidad de Lima
Repositorio:Revistas - Universidad de Lima
Lenguaje:español
OAI Identifier:oai:ojs.pkp.sfu.ca:article/2457
Enlace del recurso:https://revistas.ulima.edu.pe/index.php/Ingenieria_industrial/article/view/2457
Nivel de acceso:acceso abierto
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spelling Modeling and control of a self-contained trailer systemModelamiento y control de un sistema de tráiler autónomoMedina Medina, WilderA solution is proposed by means of a trailer-type mobile robot control system applied to a company in charge of transporting material, demonstrating that it is an applicable and viable solution. A mathematical model was defined, involving the integration of two control techniques: linear quadratic regulator (LQR) and fuzzy logic. Favorable results of the trajectory control and tracking system are shown, pointing out the improvements achieved when integrating both control techniques and the ability of the system to respond correctly to guide the robot by any type of trajectory.Se propone una solución mediante un sistema de control de ro­bot móvil tipo tráiler aplicado a una empresa que se encarga del trans­porte de material, y se demuestra que es una solución aplicable y viable. Se definió un modelo matemático que consiste en integrar dos técnicas de control: lineal LQR y lógica difusa. Se muestran resultados favorables del sistema de control y seguimiento de trayectoria, y se señalan las mejoras que se tienen al integrar ambas técnicas de control y que el sistema es capaz de responder correctamente a fin de guiar al robot por cualquier tipo de trayectoria.Universidad de Lima2018-10-15info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://revistas.ulima.edu.pe/index.php/Ingenieria_industrial/article/view/245710.26439/ing.ind2018.n036.2457Ingeniería Industrial; No. 036 (2018); 257-284Ingeniería Industrial; Núm. 036 (2018); 257-2842523-63261025-992910.26439/ing.ind2018.n036reponame:Revistas - Universidad de Limainstname:Universidad de Limainstacron:ULIMAspahttps://revistas.ulima.edu.pe/index.php/Ingenieria_industrial/article/view/2457/2787info:eu-repo/semantics/openAccessoai:ojs.pkp.sfu.ca:article/24572023-07-21T20:49:57Z
dc.title.none.fl_str_mv Modeling and control of a self-contained trailer system
Modelamiento y control de un sistema de tráiler autónomo
title Modeling and control of a self-contained trailer system
spellingShingle Modeling and control of a self-contained trailer system
Medina Medina, Wilder
title_short Modeling and control of a self-contained trailer system
title_full Modeling and control of a self-contained trailer system
title_fullStr Modeling and control of a self-contained trailer system
title_full_unstemmed Modeling and control of a self-contained trailer system
title_sort Modeling and control of a self-contained trailer system
dc.creator.none.fl_str_mv Medina Medina, Wilder
author Medina Medina, Wilder
author_facet Medina Medina, Wilder
author_role author
description A solution is proposed by means of a trailer-type mobile robot control system applied to a company in charge of transporting material, demonstrating that it is an applicable and viable solution. A mathematical model was defined, involving the integration of two control techniques: linear quadratic regulator (LQR) and fuzzy logic. Favorable results of the trajectory control and tracking system are shown, pointing out the improvements achieved when integrating both control techniques and the ability of the system to respond correctly to guide the robot by any type of trajectory.
publishDate 2018
dc.date.none.fl_str_mv 2018-10-15
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://revistas.ulima.edu.pe/index.php/Ingenieria_industrial/article/view/2457
10.26439/ing.ind2018.n036.2457
url https://revistas.ulima.edu.pe/index.php/Ingenieria_industrial/article/view/2457
identifier_str_mv 10.26439/ing.ind2018.n036.2457
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://revistas.ulima.edu.pe/index.php/Ingenieria_industrial/article/view/2457/2787
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidad de Lima
publisher.none.fl_str_mv Universidad de Lima
dc.source.none.fl_str_mv Ingeniería Industrial; No. 036 (2018); 257-284
Ingeniería Industrial; Núm. 036 (2018); 257-284
2523-6326
1025-9929
10.26439/ing.ind2018.n036
reponame:Revistas - Universidad de Lima
instname:Universidad de Lima
instacron:ULIMA
instname_str Universidad de Lima
instacron_str ULIMA
institution ULIMA
reponame_str Revistas - Universidad de Lima
collection Revistas - Universidad de Lima
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 13.936249
Modeling and control of a self-contained trailer system
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