Ciencias Exactas y Ciencias de la Salud

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Embedded DC motor control system for humanoid robot applications
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022-12-05) Durán Hernández, Juan de Dios; FUENTES AGUILAR, RITA QUETZIQUEL; 2229297; Fuentes Aguilar, Rita Quetziquel; puemcuervo, emipsanchez; Campos Macías, Leobardo Emmanuel; Hernández Melgarejo, Gustavo; Navarro Gutiérrez, Manuel; School of Engineering and Sciences; Campus Monterrey; Carbajal Espinosa, Oscar Eleno
Humanoid robots have been researched during the last few years because of the useful applications they can be implemented in the future. Some of these include medicine, education, military, industry, and support areas. A humanoid can be used to rescue people and animals from natural disasters, be a support in a production line, teach students, form part of military defense, and many other applications. Biped robots are known as the lower part of the humanoid robot and the principal characteristic is that it has 2 feet. To generate movements in a biped robot requires following specific trajectories in all actuators. A control algorithm is responsible to follow the specific references in the DC motors individually. Some basic motions for a biped robot are walking and squats because are the principal movements to travel and lift heavy things. Additionally, the analysis of the implementation of control algorithms to individual actuators for biped robot applications is not completely studied. This thesis proposes the development of an embedded system to apply controllers and the implementation of a second-order Super Twisting Sliding Mode control (STSMC) in the actuators for a constructed biped robot with 12 degrees of freedom actuated by 12 DC motors and an individual comparison with a PID (Proportional, Integrative, and Derivative control) controller. First, the DC motor model is identified using the least square method. Then, the model is validated to ensure representation in simulation. Next, the Sliding Mode control (SMC) is analyzed to evaluate the functional theory in simulation. Additionally, the STSMC is simulated and then implemented in one DC motor. Moreover, to generate walking and squatting patterns the model of the three-dimensional inverted pendulum is applied using the stability criterion. The inverse kinematics provides the joint angles to generate the trajectories. Finally, the mean squared error (MSE) is implemented to measure the effectiveness of the control algorithms. The results show that the PID and STSMC controls have an MSE average of 0.4704 and 0.0228 respectively when replicating the squat trajectory. Meaning an improvement of 1961%. The maximum error with the STSMC was was 0.5° when the joint reached the change of direction because of the inertial force. This error represents an error of 6.71mm at the end of the foot. This error is inside the allowed limits, the robot can reproduce the squat without falling. Finally, this research can be applied to manipulator robots that use DC motors to control the position.
Synthesis of a finite-time convergence controller for trajectory tracking of unmanned underwater vehicles
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-06) Narcizo Nuci, Néstor Alejandro; Salgado Jiménez, Tomás; 201232; Gómez Espinosa, Alfonso; emipsanchez; Salgado Jiménez, Tomás; González García, Josué; Escuela de Ingeniería y Ciencias; Campus Monterrey; García Valdovinos, Luis Govinda
Unmanned underwater vehicles have gained importance since they can perform tasks in underwater environments such as exploration and construction. Proper control of the vehicle trajectory is fundamental for successfully complete a task. When disturbances are frequent and the dynamics of the vehicle change, fast response of the control scheme is required and the classical controllers do not adapt to overcome these conditions. As the main contribution of this work, we propose the synthesis and implementation of a control scheme with finite-time convergence applied to the trajectory tracking including a time variable gain in the sliding surface of a 2nd Order Sliding Mode Control. In the first part, the parameterized trajectory considered five degrees of freedom: x,y,z, \phi, and \psi. In a second part, an emulation of a simultaneous scheme between two vehicles is proposed, taking advantage of the finite-time convergence of the proposed controller. The dynamic parameterization of the vehicle is based on the BlueROV2 vehicle by BlueRobotics, which counts with four horizontal and vectored thrusters, and two vertical thrusters. A finite-time second-order sliding-mode controller will be synthesized by applying a variable gain on the sliding surface. This gain will be parametrized by a Time Base Generator. The controller was tested to determine its performance, accuracy, and prompt response for trajectory tracking in space and was compared against classical controllers: a Proportional-Integral-Derivative Controller, a Feedback Linearization controller, and a Lyapunov function-based controller. In the second part, the controller was compared with two state-of-the-art controllers, that also count with finite-time convergence. The proposed control schemes will be evaluated in a simulator constructed in a Matlab/ Simulink environment with the actual parameters of the underwater vehicle, and where the parameters of the RMS values of the tracking error and the RMS values of the control signals are analyzed to evaluate the performance of the controllers. The results of this work demonstrated that it is possible to synthesize the 2nd Order Sliding Mode Controller with finite-time convergence and apply it in the trajectory tracking of underwater vehicles, in trajectories that involved the five degrees of freedom, and even in the presence of marine currents. The results of this thesis are expected to be implemented in future work related to trajectory tracking and collaborative tasks with underwater vehicles.

Ciencias Exactas y Ciencias de la Salud

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