Banca de QUALIFICAÇÃO: LUCAS SOLANO CADENGUE

Uma banca de QUALIFICAÇÃO de MESTRADO foi cadastrada pelo programa.
STUDENT : LUCAS SOLANO CADENGUE
DATE: 24/06/2021
TIME: 09:00
LOCAL: Sala virtual
TITLE:

Intelligent Control of Omnidirectional Robots using Recurrent Neural Networks

KEY WORDS:

Nonlinear Control, Intelligent Control, Recurrent Neural Networks, Feedback Linearization, Sliding Modes, Mobile Robots.

PAGES: 44
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUMMARY:

 Due to their great efficiency, security and flexibility, mobile robots are being increasingly used in industry. However, their positioning control is a  great challenge due to the non-linear nature of this plant and the difficulty of estimating certain parameters, for example, the friction effects. In this work, non-linear controllers, utilizing Feedback Linearization (FBL) and Sliding Modes (SMC) are applied to the trajectory control of an omnidirectional robot produced by Festo, the Robotino. In addition, these controllers are incorporated with compensation techniques in order to assist the control by estimating uncertainties and making it more efficient and robust. The strategy used for this is the Recurrent Neural Networks, widely used in time series prediction, its use was compared to traditional neural networks and a performance gain in the controller was verified through simulations.

BANKING MEMBERS:
Presidente - 1445637 - WALLACE MOREIRA BESSA
Interno - 1451883 - FABIO MENEGHETTI UGULINO DE ARAUJO
Externo à Instituição - PHILIPPE EDUARDO DE MEDEIROS - UFRPE