Detalhes bibliográficos
| Ano de defesa: |
2011 |
| Autor(a) principal: |
Andrade, Francisco Vanier de |
| Orientador(a): |
Não Informado pela instituição |
| Banca de defesa: |
Não Informado pela instituição |
| Tipo de documento: |
Dissertação
|
| Tipo de acesso: |
Acesso aberto |
| Idioma: |
por |
| Instituição de defesa: |
Não Informado pela instituição
|
| Programa de Pós-Graduação: |
Não Informado pela instituição
|
| Departamento: |
Não Informado pela instituição
|
| País: |
Não Informado pela instituição
|
| Palavras-chave em Português: |
|
| Link de acesso: |
http://www.repositorio.ufc.br/handle/riufc/15544
|
Resumo: |
The present work proposes a comparative study of two control techniques applied for mobile robots trajectories: GPC (Generalized Predictive Control) and PID (Proportional – Integral ‐ Derivative). The control system uses a cascade configuration composed by an internal loop for controlling the speed of motors, and an external loop for position and orientation control, being used to get the reference speed motors. This cascade control system can run a monovariable cinematic controller. It was used a multi‐variable predictive controller to compare the behavior with the single‐variable controllers. It was developed simulators for mobile robot using GPC and PID controllers. The theory was applied to a little differential mobile robot, designed to this proposes. It was used as actuators DC motors, and speed e positional sensors, encoders and sonar, respectively. Once the controllers adjust are referenced by model, was used two identification methods: Recursive Minimum Square and Neural Networks. The control methods employed had permitted the trajectories following by the mobile robot. |
