Banca de DEFESA: PEDRO HENRIQUE DE MEDEIROS LEITE

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
STUDENT : PEDRO HENRIQUE DE MEDEIROS LEITE
DATE: 23/07/2021
TIME: 09:00
LOCAL: Sala virtual Google Meet
TITLE:

Design of conventional Takagi-Sugeno fuzzy drivers and type 2 interval PDC with state feedback for a serial robotic system with two links

KEY WORDS:

Fuzzy logic, Takagi-Sugeno Controller, State Feedback Control,  Interval Type 2 Fuzzy, Distributed Parallel Compensation, Performance Index.

PAGES: 89
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

Robotics is one of the most promising fields of study for the 21st century. The employability of robotic systems is high, ranging from the automotive sector, such as welding robots in the automotive industry, to medicine (for example, robot surgeons). In this master’s thesis, a robo- tic system that consists of a two-link serial arm was analyzed and controllers were designed for this non-linear system using fuzzy logic. In particular, Takagi-Sugeno controllers were develo- ped based on conventional fuzzy logic (also known as type 1) and type 2 interval fuzzy logic, together with the distributed parallel compensation technique (PDC), in which the nonlinear system was divided in regions of linear subsystems with state feedback, in which each response of the subsystem has its share of contribution in the final response of the system. The control of the system was analyzed from the IAE, ITEA, ISE and ITSE performance indexes and also by the accommodation time and the percentage of outstanding. In this context, based on these performance criteria, a comparison was made between the fuzzy type 1 PDC and fuzzy type 2 interval PDC controllers, both with state feedback to know who is the best.

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