RESUMO
A novel adaptive super-twisting control algorithm, for Unmanned Surface Vehicles (USV) tracking control is presented. The proposed adaptive law is obtained using a Lyapunov approach, to analyze the system closed-loop stability. Furthermore, several conditions are given to guarantee robustness in presence of unknown bounded disturbances/uncertainties, chattering mitigation and the finite-time convergence. This adaptive control strategy has the advantage that the controller gains, which are in terms of a single control parameter, requires adjusting a small number of parameters compared with other adaptive strategies, moreover and its dynamics is smooth, improving the controller performance. To assess the proposed control methodology effectiveness, a trajectory tracking control is designed and implemented on an unmanned surface vehicle under the action of bounded unknown uncertainties and external perturbations. Numerical simulations and experimental results conducted with a vessel prototype demonstrate the performance and advantages under payload variations and external environmental conditions. Finally, a comparative study between the proposed approach with other adaptive super-twisting works has been conducted.
RESUMO
La gestión del conocimiento tiene el propósito de conservar y orientar las competencias claves de cualquier organización al desarrollo de productos y servicios con alto valor científico y tecnológico agregado, como respuesta proactiva a un entorno dinámico y complejo. El Organismo Internacional de Energía Atómica e instituciones nucleares de los Países Miembros reconocen que el uso pacífico de la tecnología nuclear descansa en la acumulación del conocimiento nuclear y que su gestión efectiva se orienta al aseguramiento de la disponibilidad continua de información científica y tecnológica y del personal calificado. Recientemente instituciones nucleares cubanas también han iniciado proyectos orientados a la implementación de procesos de gestión del conocimiento organizacional y nuclear. En este trabajo se presentan retos y perspectivas para la gestión del conocimiento nuclear en Cuba y en el contexto mundial.
The knowledge management has as one of its goals to keep and to drive the key organizational competences to the development of products and services with high scientific and technological value, as proactive reply to a dynamic and complex environment. The International Atomic Energy Agency and nuclear institutions of Member Countries recognize that the pacific use of nuclear technology is supported on the nuclear knowledge collection and that its effective management is oriented to guarantee the continuous availability of scientific and technological information and high qualified people. Recently some nuclear Cuban institutions have started some projects to implement nuclear and organizational knowledge management process. In this paper some challenges and perspectives are presented for the nuclear knowledge management in Cuba and in the world context.