Estudo comparativo aplicado ao planejamento e controle de trajetórias de robôs móveis
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...
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| Tipo de recurso: | tesis de maestría |
| Estado: | Versión publicada |
| Fecha de publicación: | 2011 |
| País: | Brasil |
| Institución: | Universidade Federal do Ceará (UFC) |
| Repositorio: | Repositório Institucional da Universidade Federal do Ceará (UFC) |
| Idioma: | portugués |
| OAI Identifier: | oai:repositorio.ufc.br:riufc/15544 |
| Acceso en línea: | http://www.repositorio.ufc.br/handle/riufc/15544 |
| Access Level: | acceso abierto |
| Palabra clave: | Engenharia elétrica Controle preditivo Redes neurais Robôs móveis |
| Sumario: | 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. |
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