Banca de QUALIFICAÇÃO: PEDRO HENRIQUE DE MEDEIROS LEITE

Uma banca de QUALIFICAÇÃO de MESTRADO foi cadastrada pelo programa.
STUDENT : PEDRO HENRIQUE DE MEDEIROS LEITE
DATE: 10/12/2019
TIME: 09:00
LOCAL: Sala DCA 01
TITLE:

Design of a state-feedback Takagi-Sugueno fuzzy controller for a two degree of freedom robotic system

KEY WORDS:

controller tuning, optimization methods, Takagi-Sugeno fuzzy controller, state feedback control

PAGES: 40
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

This paper presents the proposal of a master qualification exam theme for a two de- gree of freedom robotic system composed of two SRV02 servos and four metal bars of the quanser company, in view of which PID family control comes from factory in this The system proposes a state feedback control strategy and uses this type of fuzzy logic control strategy to obtain a better control of the system trajectory. In this way two types of controllers will be made: a state feedback controller by obtaining the linear system model and a state feedback Takagi-Sugeno fuzzy controller for the system without linea- rization, given the capacity of the fuzzy controllers. in dealing with nonlinearities present in real plants and for being able to represent the expert’s knowledge, which is inaccu- rate and mathematically inaccurate. The tuning of all controllers will be based on the GI, ISE, ITEA and IEA performance indices that will be used by the AG, ACO and PSO optimization methods.

BANKING MEMBERS:
Presidente - 1451883 - FABIO MENEGHETTI UGULINO DE ARAUJO
Interno - 1445637 - WALLACE MOREIRA BESSA
Externo à Instituição - OSCAR GABRIEL FILHO - PETROBRAS