Diseño de un sistema de control de tráiler autónomo
Resumen
El presente trabajo define un diseño de control que consiste en integrar dos técnicas: una lineal LQR y una red neurodifusa, de tal manera que este sistema híbrido brinde un rango de trabajo amplio para que el tráiler siga cualquier trayectoria en direcciones de avance y retroceso simulando las reales condiciones de una conducción humana. Se propone también el seguimiento de cualquier trayectoria mediante el diseño de un método general para calcular los valores deseados de los estados del sistema, de tal manera que, con solo definir una función matemática de la ruta que se va a seguir, se conozcan los valores para el control del robot tipo tráiler. Se lograron resultados favorables del sistema aplicándolo en un ambiente controlado.
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