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References tracking and perturbations reconstruction in a Cartesian robot

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Abstract

An exosystem needs to be nonlinear when it generates the perturbations to be reconstructed; however, an exosystem does not need to be nonlinear when it generates the references to be tracked. Resulting that the tracking of the references generated by an exosystem is an easier task. Hence, some studies on the references tracking should be made. Furthermore, to solve the references tracking, the perturbations are needed. In this research, the references tracking and the perturbations reconstruction in a Cartesian robot are discussed. For the perturbations reconstruction, an estimator is defined to force the reconstructed perturbations to track the perturbations of a Cartesian robot model. For the references tracking, a controller is defined to force a Cartesian robot model to track an exosystem. A theorem is addressed to prove the perturbations reconstruction. A theorem is addressed to prove the references tracking. A simulation in a Cartesian robot is used to confirm the validity and effectiveness of our controller with estimator in comparison with a feedback controller.

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Acknowledgements

Authors thank the Instituto Politécnico Nacional, Consejo Nacional de Humanidades Ciencias y Tecnologías, Secretaría de Investigación y Posgrado, and Comisión de Operación y Fomento de Actividades Académicas for their help in this study.

Funding

This research was funded by the Secretaría de Investigación y Posgrado (SIP), and the Comisión de Operación y Fomento de Actividades Académicas (COFAA), both from the Instituto Politécnico Nacional, and by the Consejo Nacional de Humanidades Ciencias y Tecnologías (CONAHCYT), México.

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Authors and Affiliations

  1. Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, 02250, Mexico City, Mexico

    José de Jesús Rubio, Daniel Andres Cordova, Mario Alberto Hernandez, Eduardo Orozco, Francisco Javier Rosas & Guadalupe Juliana Gutierrez

  2. Sección de Estudios de Posgrado e Investigación, ESIME Zacatenco, Instituto Politécnico Nacional, Av. IPN S/N, Col. Lindavista, 07738, Mexico City, Mexico

    Jesus Alberto Meda-Campaña

  3. Centro de Investigación en Computación, Instituto Politécnico Nacional, Av. Juan de Dios Bátiz, Col. San Pedro Zacatenco, 07738, Mexico City, Mexico

    Carlos Aguilar-Ibañez

Authors
  1. José de Jesús Rubio
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  2. Daniel Andres Cordova
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  3. Mario Alberto Hernandez
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  4. Eduardo Orozco
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  5. Francisco Javier Rosas
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  6. Guadalupe Juliana Gutierrez
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  7. Jesus Alberto Meda-Campaña
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  8. Carlos Aguilar-Ibañez
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Contributions

Investigation and formal analysis JdeJR, DAC; software and validation, MAH, EO, FJR; writing-original draft, review and editing GJG, JAM-C, CA-I. All authors have read and agreed to the published version of the manuscript.

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Correspondence to José de Jesús Rubio.

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de Jesús Rubio, J., Cordova, D.A., Hernandez, M.A. et al. References tracking and perturbations reconstruction in a Cartesian robot. Int J Intell Robot Appl (2024). https://doi.org/10.1007/s41315-023-00315-w

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