Desarrollo de un controlador inteligente con redes neurales artificiales para un sistema Ball and Plate realimentado por visión artificial
In the following project, the development of an intelligent controller with artificial neural networks for a Ball and Plate system fed by artificial vision is detailed. For the development of this project, a mathematical model was found which consists of kinetic energy, potential energy and non-line...
| Autor Principal: | Barrera Pazmiño, Jorge Gustavo |
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| Otros Autores: | Garzón López, Jorge Luis |
| Formato: | bachelorThesis |
| Idioma: | spa |
| Publicado: |
2018
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| Materias: | |
| Acceso en línea: |
http://dspace.ups.edu.ec/handle/123456789/15285 |
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| Sumario: |
In the following project, the development of an intelligent controller with artificial neural networks for a Ball and Plate system fed by artificial vision is detailed. For the development of this project, a mathematical model was found which consists of kinetic energy, potential energy and non-linear Lagrange equations and the linearized model was used to design the compensator for the system. The simulation of the results was carried out using the non-linear model through the Matlab software and the results were analyzed by step responses and trajectory follow-up. The objective of this project is to control a ball in motion on a platform and place it in the desired position, the position of the ball can be controlled by the control of the set point, which will be maneuvered through the X-Y coordinates. That is, controlling a ball that rolls freely. More precisely, a stabilization control can be done, in which the objective is to take the ball from a specific position and keep it in the desired position, or to make a track tracking control in which the goal is to make the ball follows a predefined path. The Absolute Error Integral (IEA) equation was used to calculate the error. Through the use of Matlab's Simulink package, graphs were made detailing the comparisons of the system in real time vs simulation of the mathematical model. |
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