Seguimento de referência para sistemas lineares incertos sujeitos a restrições

• Ano de defesa: 2016
• Autor(a) principal: Silveira Júnior, José Ilton Sarmento
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal do Rio Grande do Norte; Brasil; UFRN; PROGRAMA DE PÓS-GRADUAÇÃO EM ENGENHARIA ELÉTRICA E DE COMPUTAÇÃO
• Palavras-chave em Português: Controle Robusto; Rastreamento de referência; Controle sob restrições; Sistemas incertos; Conjuntos invariantes; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA E DE COMPUTAÇÃO
• Link de acesso: https://repositorio.ufrn.br/jspui/handle/123456789/21296

In recent decades, robust controllers, have been studied by experts in control systems to deal with problems inherent to dynamic systems subject to disturbances and variations of its parameters. However, beyond these problems, another important characteristic that is present in most practical cases is the existence of constraints, which may result from limitations in the system states, the control input or output. Both mentioned factors, if not dealt with properly in the controller synthesis step, can cause degradation of performance of the controlled system or even lead it to instability. Thus, this work presents a proposal of a robust controller that uses the theory of invariant sets perform the reference tracking, ensuring that the system complies with the constraints despite the effect of bounded disturbances and variations of parameters. Invariant Polyhedra are used to ensure compliance with the constraints to systems both with state feedback and output feedback. Reidentification procedure of system parameters is used to cancel the error of constant references tracking in both the cases.