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

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Control of Limit Cycle Oscillation in a Three Degrees of Freedom Airfoil Section Using Fuzzy Takagi-Sugeno Modeling

This work presents a strategy to control nonlinear responses of aeroelastic systems with control surface freeplay. The proposed methodology is developed for the three degrees of freedom typical section airfoil considering aerodynamic forces from Theodorsen's theory. The mathematical model is written in the state space representation using rational function approximation to write the aerodynamic forces in time domain. The control system is designed using the fuzzy Takagi-Sugeno modeling to compute a feedback control gain. It useds Lyapunov's stability function and linear matrix inequalities (LMIs) to solve a convex optimization problem. Time simulations with different initial conditions are performed using a modified Runge-Kutta algorithm to compare the system with and without control forces. It is shown that this approach can compute linear control gain able to stabilize aeroelastic systems with discontinuous nonlinearities.

Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

This paper describes an experimental study into the vibration control of a servo system comprising a servo motor and a flexible manipulator. Two modes of the system are controlled by using the servo motor and an accelerometer attached to the tip of the flexible manipulator. The control system is thus non-collocated. It consists of two electrical dynamic absorbers, each of which consists of a modal filter and, in case of an out-of-phase mode, a phase inverter. The experimental results show that each absorber acts as a mechanical dynamic vibration absorber attached to each mode and significantly reduces the settling time for the system response to a step input.

Nonlinear control in an electromechanical transducer with chaotic behaviour

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

Simulação em tempo real de sistemas de distribuição de energia elétrica utilizando-se estruturas com descrição de hardware em software

Pós-graduação em Engenharia Elétrica - FEIS

Multi-task control strategy for grid-tied inverters based on conservative power theory

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

The exposure to Trichilia catigua (catuaba) crude extract impairs fertility of adult female rats but does not cause reproductive damage to male offspring

Ethnopharmacological relevance: Trichilia catigua is broadly used in folk medicine due to its mental and physical tonic activities and stimulant effects. In animal models, its antidepressant-like effects have been associated with the dopaminergic (DA) system modulation, which has an important role on maternal behavior and male offspring reproductive development.Aim of the study: Since little is known about the adverse effects of the exposure to T. catigua crude extract (CAT) in rats, specially regarding maternal homeostasis and offspring development, the aim of the present study was to evaluate whether CAT exposure may influence maternal toxicity parameters and behavior or disrupt male offspring physical and reproductive development.Material and methods: Dams were treated daily (by gavage) with 400 mg/kg of CAT or vehicle (control=CTR) throughout pregnancy and lactation. Fertility and maternal behavior tests were conducted in dams. Male offspring reproductive and behavioral parameters were analyzed.Results: Dams exposed to CAT showed increased pre- and post-implantation losses rates when compared to CTR group. No significant changes regarding maternal behavior or male offspring parameters were observed.Conclusion: In conclusion, maternal exposure to CAT interfered with implantation during the initial phases of pregnancy but did not induce changes on maternal behavior or male offspring reproductive and behavioral parameters.

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 angle control of a sectioned airfoil by using shape memory alloys

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Retificador entrelaçado com elevado fator de potência para operação de um veículo trólebus alimentado por redes em CA Ou CC

This paper presents the development and the main results for an interleaved boost rectifier operating as a special input power stage for a trolleybus type vehicle, allowing its feeding by alternate current (AC) or direct current (DC) distribution power systems. When feeding with two wires (single phase) alternate current distribution system, the converter accomplish active power factor correction, providing a relatively sinusoidal current with low total harmonic distortion (THD) and fully complying with IEC 61000-3-4 standards. In addition, a management control system promotes the required automatic operation changes for the proposed rectifier when the vehicle is changing from the DC distribution power system to the AC distribution power system and vice-versa, keeping its original electrical DC system characteristics for the adjustable speed driver sub-system. The main experimental results for a prototype rated at 150kW are presented, considering its application for a trolleybus with DC adjustable speed driver, demonstrating the proposed converter benefits and the possibility of AC feeding system for trolleybus type vehicle.

Leveraging wireless devices for networked control systems in industrial applications

Networked control systems (NCSs) are distributed control system in which sensors, actuators and controllers are physically separated and connected through communication networks. NCS represent the evolution of networked control architectures providing greater modularity and control decentralization, ease maintenance and diagnosis and lower cost of implementation. A recent trend in this research topic is the development of NCS using wireless networks(WNCS)which enable interoperability between existing wiredand wireless systems. This paper presents the feasibility analysis of using serial to wireless converter as a wireless sensor link in NCS. In order to support this investigation, relevant performance metrics for wireless control applications such as jitter, time delay and messages lost are highlighted and calculated to evaluate the wireless converter capabilities. In addition the control performance of an implemented motor control system using the converter is analyzed. Experimental results led to the conclusion that serial ZigBee device isrecommended against the Bluetooth as it provided better metrics for control applications. However, bothdevices can be used to implement WNCS providing transmission rates and closed control loop times which are acceptable for NCS applications.Moreoverthe use of thewireless device delay in the PID controller discretization can improve the control performance of the system.

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.

Algoritmo neurogenético com vistas para o planejamento de rotas de robôs móveis autônomos

Pós-graduação em Ciência da Computação - IBILCE

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing.