Banca de DEFESA: ROSANA CIBELY BATISTA REGO

Uma banca de DEFESA de DOUTORADO foi cadastrada pelo programa.
STUDENT : ROSANA CIBELY BATISTA REGO
DATE: 23/02/2022
TIME: 09:00
LOCAL: Sala virtual Google Meet
TITLE:

Lyapunov-based Intelligent Control

KEY WORDS:

Neural networks; Intelligent control: Neuro-control; Control Lyapunov function.

PAGES: 119
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

Nonlinear dynamical systems play a crucial role in control systems because, in prac- tice, most of the plants are nonlinear. However, achieving control for nonlinear systems is not simple though many methods have been developed. There are still some problems to be solved, as robust control balance in humanoid robots and the modeling inaccuracies of the autonomous underwater vehicle, which has a small-pitch-angle. Usually, a Lyapunov function is used to perform a control and stability analysis of a nonlinear system. The procedure for obtaining a Lyapunov function is not a simple task. There have been many efforts and numerical methods in the literature on how to estimate Lyapunov functions for several kinds of systems. An artificial neural network is a useful tool for generat- ing functions. Motivated by this, we investigated the capability of a neural network to compute Lyapunov functions and provide a deep neural network to compute a control Lyapunov function without any linear approximation for nonlinear systems. Moreover, we examined the equilibrium point stability and obtained an estimation of its region of attraction contained in the set. Numerical examples and experimental simulations using some nonlinear systems, such as the inverted pendulum and the rotary inverted pendulum, are performed and compared with some conventional control techniques.

BANKING MEMBERS:
Presidente - 1451883 - FABIO MENEGHETTI UGULINO DE ARAUJO
Interno - 1328152 - CARLOS EDUARDO TRABUCO DOREA
Externo à Instituição - ADEMAR GONÇALVES DA COSTA JÚNIOR - IFPB
Externo à Instituição - MARCUS VINICUS SILVÉRIO COSTA - UFERSA
Externo à Instituição - TAKASHI YONEYAMA - ITA