A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

A new sufficient condition for optimal impulsive control problems

In this article we introduce the concept of MP-pseudoinvexity for general nonlinear impulsive optimal control problems whose dynamics are specified by measure driven control equations. This is a general paradigm in that, both the absolutely continuous and singular components of the dynamics depend on both the state and the control variables. The key result consists in showing the sufficiency for optimality of the MP-pseudoinvexity. It is proved that, if this property holds, then every process satisfying the maximum principle is an optimal one. This result is obtained in the context of a proper solution concept that will be presented and discussed. © 2012 IEEE.

Vibration Control Applied in a Semi-Active Suspension using Magneto Rheological Damper and Optimal Linear Control Design

In this paper we study the behavior of a semi-active suspension witch external vibrations. The mathematical model is proposed coupled to a magneto rheological (MR) damper. The goal of this work is stabilize of the external vibration that affect the comfort and durability an vehicle, to control these vibrations we propose the combination of two control strategies, the optimal linear control and the magneto rheological (MR) damper. The optimal linear control is a linear feedback control problem for nonlinear systems, under the optimal control theory viewpoint We also developed the optimal linear control design with the scope in to reducing the external vibrating of the nonlinear systems in a stable point. Here, we discuss the conditions that allow us to the linear optimal control for this kind of non-linear system.

An Optimal Control Framework for Resources Management in Agriculture

An optimal control framework to support the management and control of resources in a wide range of problems arising in agriculture is discussed. Lessons extracted from past research on the weed control problem and a survey of a vast body of pertinent literature led to the specification of key requirements to be met by a suitable optimization framework. The proposed layered control structure—including planning, coordination, and execution layers—relies on a set of nested optimization processes of which an “infinite horizon” Model Predictive Control scheme plays a key role in planning and coordination. Some challenges and recent results on the Pontryagin Maximum Principle for infinite horizon optimal control are also discussed.

On some extension of optimal control theory

Some problems of Calculus of Variations do not have solutions in the class of classic continuous and smooth arcs. This suggests the need of a relaxation or extension of the problem ensuring the existence of a solution in some enlarged class of arcs. This work aims at the development of an extension for a more general optimal control problem with nonlinear control dynamics in which the control function takes values in some closed, but not necessarily bounded, set. To achieve this goal, we exploit the approach of R.V. Gamkrelidze based on the generalized controls, but related to discontinuous arcs. This leads to the notion of generalized impulsive control. The proposed extension links various approaches on the issue of extension found in the literature.

On the properness of an impulsive control extension of dynamic optimization problems

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Metodologia para rastreamento com modificação dos zeros e rejeição de distúrbio aplicada a sistemas incertos

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

An Intelligent Controller Design for Magnetorheological Damper Based on a Quarter-car Model

This paper presents the control strategies of nonlinear vehicle suspension using a magnetorheological (MR) damper. We used two different approaches for modeling and control of the mechanical and electrical parts of the suspension systems with the MR damper. First, we have formulated and resolved the control problem in order to design the linear feedback dumping force controller for a nonlinear suspension system. Then the values of the control dumping force functions were transformed into electrical control signals by the application of a fuzzy logic control method. The numerical simulations were provided in order to show the effectiveness of this method for the semi-active control of the quarter-car suspension.

Coincidence points of fiber maps on S-n-bundles

In this note we study coincidence of pairs of fiber-preserving maps f, g : E-1 -> E-2 where E-1, E-2 are S-n-bundles over a space B. We will show that for each homotopy class vertical bar f vertical bar of fiber-preserving maps over B, there is only one homotopy class vertical bar g vertical bar such that the pair (f, g), where vertical bar g vertical bar = vertical bar tau circle f vertical bar can be deformed to a coincidence free pair. Here tau : E-2 -> E-2 is a fiber-preserving map which is fixed point free. In the case where the base is S-1 we classify the bundles, the homotopy classes of maps over S-1 and the pairs which can be deformed to coincidence free. At the end we discuss the self-coincidence problem. (C) 2010 Elsevier B.V. All rights reserved.

Traços de personalidade e habilidades sociais em universitários

O presente estudo teve como objetivo analisar as relações entre habilidades sociais e traços de personalidade englobados por socialização, no modelo dos Cinco Grandes Fatores. O Inventário de Habilidades Sociais (IHS) foi utilizado para a mensuração de habilidades sociais, e para avaliação do nível de socialização foi escolhida a Escala Fatorial de Socialização (EFS). A amostra foi composta por 126 estudantes universitários com média de idade de 21 anos (DP=3,37), e 53,5% eram homens. Os resultados da IHS e EFS foram comparados para os sexos, encontrando-se diferenças estatisticamente significativas para seis das dez medidas realizadas no estudo. Foram encontradas correlações significativas entre amabilidade, auto-afirmação e o total do IHS. Pró-sociabilidade correlacionou-se com auto-afirmação e autocontrole. Confiança nas pessoas apresentou correlações significativas com enfrentamento, auto-afirmação e autocontrole. Os resultados indicam que, efetivamente, a personalidade pode influenciar diferentes aspectos da habilidade social.

Macro mineral requirements by grazing zebu bovines

The objective of this study was to determine requirements of calcium (Ca), phosphorus (P), magnesium (Mg), potassium (K) and sodium (Na) for grazing zebu bovines. The experiment area was composed of Brachiaria decumbens paddocks. Twenty-seven non-castrated animals, with initial live weight of 311.0 kg and at an average age of 14 months were used. Three animals were slaughtered, after adaptation period, so they were used as control for estimates of empty body weight and initial body composition of animals in the experiment. Out of the 24 remaining animals, four were sent to the maintenance group with restrict grazing time to limit energy intake close to the maintenance level. The other 20 animals were distributed in four treatments: mineral mixture, self-control intake and three-times-a-week-offer frequency (offered on Mondays, Wednesdays and Fridays) and daily. Concentrations of all studied macro elements in empty body and empty body gain decreased as live weight increased. The ratios obtained for g Ca/100 g of retained protein and g P/100 g of retained protein were 9.18 and 4.72, respectively. Total dietary requirement of calcium was lower than the one recommended by NRC (2000), but P requirement was very close to that.

Intelligent alarm processing

This paper presents the analysis that have been carried out in the alarm system of the DCRanger EMS. The intention of this study is to present the problem of alarm processing in electric energy control centers, its various aspects and operational difficulties due to operator needs. Some tests are produced in order to identify the desirable features an alarm system should possess in order to be of effective help in the operative duty. © 2006 IEEE.

Controle ótimo H 'INFINITO' com modificação de zeros para o problema de rastreamento em sistemas discretos usando LMI

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Uma abordagem para problemas e controle ótimo via métodos de Runge-Kutta e análise de erro

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise não-diferenciável e condições necessárias de otimalidade para problema de controle ótimo com restrições mistas

Pós-graduação em Matemática - IBILCE