Aplicação de sistemas neuro-fuzzy e evolução diferencial na modelagem e controle de veículo de duas rodas

• Ano de defesa: 2017
• Autor(a) principal: Pereira, Bruno Luiz
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal de Uberlândia; Brasil; Programa de Pós-graduação em Engenharia Mecânica
• Palavras-chave em Português: sistema neuro-fuzzy; neuro-fuzzy system; modelagem neuro-fuzzy; neuro-fuzzy modeling; controle neuro-fuzzy; neuro-fuzzy control; evolução diferencial; differential evolution; controle inteligente; intelligent control; veículo de duas rodas; two-wheeled vehicle; CNPQ::ENGENHARIAS::ENGENHARIA MECANICA
• Link de acesso: https://repositorio.ufu.br/handle/123456789/20877; http://dx.doi.org/10.14393/ufu.di.2017.46

This work proposes the neuro-fuzzy modeling and control applied to the static stability of a two-wheeled inverted pendulum vehicle, using differential evolution as optimization technique. During the modeling phase, the uncertainties related to the parameters and also to the neuro-fuzzy model response are determined. It is possible to verify that the neuro-fuzzy system is capable of satisfactorily adjusts to the data experimentally extracted from the vehicle. In the determination of the neuro-fuzzy controller, three strategies of parameter adjustment are tested, two of them being proposed in this text, and the results are compared between them and those obtained through classical controllers, and it is verified experimentally and through tests that the proposed approaches present a great capacity to adapt to the constraints imposed on the plant, guaranteeing the static stability and the energy efficiency of the system.