Banca de DEFESA: JOÃO GUTEMBERG BARBOSA DE FARIAS FILHO

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
DISCENTE : JOÃO GUTEMBERG BARBOSA DE FARIAS FILHO
DATA : 30/09/2016
HORA: 09:00
LOCAL: Auditório do NPITI
TÍTULO:

Model Predictive Control with Compensation of Nonlinearities for Quadcopter Control

PALAVRAS-CHAVES:

Nonlinear Model Predictive Control, Robotics, Qhadcopter, UAV.

PÁGINAS: 137
GRANDE ÁREA: Engenharias
ÁREA: Engenharia Mecânica
SUBÁREA: Projetos de Máquinas
ESPECIALIDADE: Controle de Sistemas Mecânicos
RESUMO:

This study analises the application of Model Predictive Control (MPC) with the proposed Nonlinear Compensation Method in order to control a quadcopter. This method is based on the use of the system nonlinear model to predict and insert nonlinearities in the predictive control formulation by means of an affine structure. With respect to the control of a quadcopter, the proposed controller is compared, using numerical simulations, to the traditional linear predictive controller. After that, experiments were made with a real quadcopter mounted in a test bench. As a result, the use of the proposed method brought a considerable perfomance improvement when the system state were farther apart from the operation point in which it was linearized.

MEMBROS DA BANCA:
Presidente - 1328152 - CARLOS EDUARDO TRABUCO DOREA
Interno - 1577068 - KURIOS IURI PINHEIRO DE MELO QUEIROZ
Interno - 1242315 - PABLO JAVIER ALSINA
Interno - 1445637 - WALLACE MOREIRA BESSA
Externo à Instituição - ANDRE GUSTAVO SCOLARI CONCEICAO - UFBA