LMI-based digital redesign of linear time-invariant systems with state-derivative feedback

A simple method for designing a digital state-derivative feedback gain and a feedforward gain such that the control law is equivalent to a known and adequate state feedback and feedforward control law of a digital redesigned system is presented. It is assumed that the plant is a linear controllable, time-invariant, Single-Input (SI) or Multiple-Input (MI) system. This procedure allows the use of well-known continuous-time state feedback design methods to directly design discrete-time state-derivative feedback control systems. The state-derivative feedback can be useful, for instance, in the vibration control of mechanical systems, where the main sensors are accelerometers. One example considering the digital redesign with state-derivative feedback of a helicopter illustrates the proposed method. © 2009 IEEE.

Projeto de controladores robustos para sistemas sujeitos a falhas estruturais usando realimentação estática de saída

Pós-graduação em Engenharia Elétrica - FEIS

Detecção robusta de falhas através de filtros H ‘infinito': implementação prática em um helicóptero 3-DOF de bancada e em um servosistema

Pós-graduação em Engenharia Elétrica - FEIS

Controle robusto h-infinito chaveado para sistemas lineares

Pós-graduação em Engenharia Elétrica - FEIS

Projeto de controle robusto para acomodação de falhas no módulo do helicóptero 3-DOF

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Multicontroladores para melhoria da robustez e acomodação de falhas em sistemas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Detecção de falhas em sistemas incertos com atraso no sinal de controle

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

Detecção e acomodação de falhas em sistemas incertos com atraso no sinal de controle utilizando modo deslizante

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

Estudo da vibração de corpo inteiro em pilotos de helicoptera esquilo AS-350 L1

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Caracterização da qualidade de água e sedimento relacionados com a ocorrência de plantas aquáticas em cinco reservatórios da bacia do rio Tietê

Pós-graduação em Agronomia (Proteção de Plantas) - FCA

Análise dos atendimentos do SAMU 192: componente móvel da Rede de Atenção às Urgências e Emergências

Pós-graduação em Enfermagem (mestrado profissional) - FMB

Controle robusto chaveado de sistemas lineares variantes no tempo com aplicação em falhas estruturais

Pós-graduação em Engenharia Elétrica - FEIS

Influence of structural nonlinearities in stall-induced aeroelastic response of pitching airfoils

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

First-year experience of a Brazilian tertiary medical center in supporting severely ill patients using extracorporeal membrane oxygenation

OBJECTIVES: The aim of this manuscript is to describe the first year of our experience using extracorporeal membrane oxygenation support. METHODS: Ten patients with severe refractory hypoxemia, two with associated severe cardiovascular failure, were supported using venous-venous extracorporeal membrane oxygenation (eight patients) or veno-arterial extracorporeal membrane oxygenation (two patients). RESULTS: The median age of the patients was 31 yr (range 14-71 yr). Their median simplified acute physiological score three (SAPS3) was 94 (range 84-118), and they had a median expected mortality of 95% (range 87-99%). Community-acquired pneumonia was the most common diagnosis (50%), followed by P. jiroveci pneumonia in two patients with AIDS (20%). Six patients were transferred from other ICUs during extracorporeal membrane oxygenation support, three of whom were transferred between ICUs within the hospital (30%), two by ambulance (20%) and one by helicopter (10%). Only one patient (10%) was anticoagulated with heparin throughout extracorporeal membrane oxygenation support. Eighty percent of patients required continuous venous-venous hemofiltration. Three patients (30%) developed persistent hypoxemia, which was corrected using higher positive end-expiratory pressure, higher inspired oxygen fractions, recruitment maneuvers, and nitric oxide. The median time on extracorporeal membrane oxygenation support was five (range 3-32) days. The median length of the hospital stay was 31 (range 3-97) days. Four patients (40%) survived to 60 days, and they were free from renal replacement therapy and oxygen support. CONCLUSIONS: The use of extracorporeal membrane oxygenation support in severely ill patients is possible in the presence of a structured team. Efforts must be made to recognize the necessity of extracorporeal respiratory support at an early stage and to prompt activation of the extracorporeal membrane oxygenation team.

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.