Nonlinear control system applied to atomic force microscope including parametric errors

The performance of the optimal linear feedback control and of the state-dependent Riccati equation control techniques applied to control and to suppress the chaotic motion in the atomic force microscope are analyzed. In addition, the sensitivity of each control technique regarding to parametric uncertainties are considered. Simulation results show the advantages and disadvantages of each technique. © 2013 Brazilian Society for Automatics - SBA.

Control design applied to a non-ideal structural system with behavior chaotic

In this paper we study the behavior of a structure vulnerable to excessive vibrations caused by an non-ideal power source. To perform this study, the mathematical model is proposed, derive the equations of motion for a simple plane frame excited by an unbalanced rotating machine with limited power (non-ideal motor). The non-linear and non-ideal dynamics in system is demonstrated with a chaotic behavior. We use a State-Dependent Riccati Equation Control technique for regulate the chaotic behavior, in order to obtain a periodic orbit small and to decrease its amplitude. The simulation results show the identification by State-Dependent Riccati Equation Control is very effective. © 2013 Academic Publications, Ltd.

Fenômenos não-lineares, incluindo-se os não-ideias, em captura de energia utilizando-se dispositivos piezoelétricos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Comportamento dinâmico não linear e controle de sistemas eletromecânicos em macro e micro escalas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Caos e controle de microviga em balanço de um microscópio de força atômica, operando em modo intermitente, na ressonância

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Tm-afm nonlinear motion control with robustness analysis to parametric errors in the control signal determination

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

SIG e álgebra de mapas na elaboração de um mapa de potencial de erosão em áreas de silvicultura

Cette étude visait à générer une carte du potentiel d'érosion pour la Ferme Santa Edwirges, située à Lorena /SP. Les résultats ont etés classifiés en faible, modéré, élève et très élève potentiel d'érosion et la carte obtenue a été comparé par rapport aux autres cartes existantes pour la zone d'étude. La méthodologie proposée se basant sur une application qualitative simple L’équation Universelle de Perte de Sol (USLE ou EUPS), en considérant les parties de l'équation: érodibilité, la topographie et l'utilisation des terres. Les donnés ont etés intégrés par l'algèbre de carte dans l’environnement SIG de ArcGIS. Pour la représentation de chacune de ces parcelles, nous avons utilisé une carte des formations superficielles de la ferme, généré à partir d'une ré-interprétation de la carte géologique, une carte de la pente et une carte d'utilisation des terres, attribuant un poids d’important pour chaque catégorie de ces cartes dans le processus d'érosion et dans l'algèbre proposée. Les résultats obtenus sont compatibles avec les zones identifiées comme les plus critiques sur terrain. La ferme a été identifiée comme de potentiel d'érosion modérée et la partie sud de la ferme le plus critique, suivi du groupe conduit par la zone de cisaillement, par contre les plaines proches des rivières ont eté identifié comme la zone plus stable avec moins de potentiel d'érosionDe la comparaison des résultats de ce travail et d'autres qui ont fait antérieurement dans la zone d’intéresse, qui ont utilisé les paramètres géotechniques dans la représentation de l'érosivité des sols, nous avons pu voir des résultats similaires, en particulier dans les zones à potentiel élevé et faible pour l'érosion. De la discussion et analyse des résultats, la méthodologie proposée à eté validée

Dinâmica e controle de um sistema Maglev simplificado

Pós-graduação em Engenharia Mecânica - FEIS

Le poids de la notion Tesniérienne de centralité du verbe dans les analyses linguistiques

This paper examines the historical role that Tesnière’s theory on the centrality of the verb exerted on some theoretical branches that study the way utterances are built in language. The main goal of this paper is to evaluate the impact that such a proposal had in changing the view of the clause being purely logical (a proposition) or purely syntactic (abstractly equated) to a view that embodies semantics and pragmatics to the syntactic organization of the utterance. A close examination of research dedicated to the grammatical and lexicographic description of Portuguese helps to illustrate the here proposed assessment and contributes to support the claim of the influence of Tesnière on current linguistic analyses.

SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Nonlinear state estimation and control for chaos suppression in MEMS resonator

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Suppression of vibrations in a nonlinear half-car model using a magneto-rheological damper

The present work investigates the nonlinear response of a half-car model. The disturbances of the road are assumed to be sinusoidal. After constructing the bifurcation diagram, we use the 0-1 test to identify chaotic motions. The main objective of this study is to eliminate chaotic behavior of the chassis and reduce its vibrations. To accomplish this, a semi-active vehicle suspension control system, using magneto-rheological dampers, is proposed. The proposed semi-active control strategy consists of two nonlinear control laws: a feedforward control, and a feedback control. They are obtained by considering the SDRE (State Dependent Riccati Equation) control, where the control parameter is the voltage applied to the coils of the magneto-rheological dampers. Numerical results show that the proposed control method is effective in significantly reducing of the chassis vibration, increasing, therefore, passenger comfort.

Chaos control and sensitivity analysis of a double pendulum arm excited by an RLC circuit based nonlinear shaker

In this paper the dynamical interactions of a double pendulum arm and an electromechanical shaker is investigated. The double pendulum is a three degree of freedom system coupled to an RLC circuit based nonlinear shaker through a magnetic field, and the capacitor voltage is a nonlinear function of the instantaneous electric charge. Numerical simulations show the existence of chaotic behavior for some regions in the parameter space and this behaviour is characterized by power spectral density and Lyapunov exponents. The bifurcation diagram is constructed to explore the qualitative behaviour of the system. This kind of electromechanical system is frequently found in robotic systems, and in order to suppress the chaotic motion, the State-Dependent Riccati Equation (SDRE) control and the Nonlinear Saturation control (NSC) techniques are analyzed. The robustness of these two controllers is tested by a sensitivity analysis to parametric uncertainties.