Navegando por Orientadores "SOUZA, Jorge Roberto Brito de"

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Controladores robustos do tipo LQG/LTR de ordem reduzida para sistemas MIMO com saídas independentes de seus modos não dominantes
(Universidade Federal do Pará, 2014-02-17) FERNANDES, Pedro Baptista; SOUZA, Jorge Roberto Brito de; http://lattes.cnpq.br/6023752002342215
This thesis’ main goal is to introduce an efficient, practical and easy to implement solution to a recurring problem in projects of LQG/LTR multivariable robust controllers: the high order these controllers may obtain depending on the complications presented by the system hampering its control in a satisfactory way. For this goal to be achieved, a system model reduction technique with very simple methodology is introduced, dispensing any needs of complex programming for its use. This methodology however, is only applicable to a very specific class of system. Summarizing, the system must have state variables decoupled from the rest of the system, that is, variables that don’t not influenced by others and that also don’t cause major effects on the system’s outputs. It was chosen a sixth order multivariable system having two inputs and two outputs for the model order reduction be tested. This system has the special characteristics mentioned before and also demands a dynamic compensator project as well as the integrators addition to its outputs so it can be controlled adequately. This text intends to show the procedure for the whole project, since the reduced order model achievement to the LQG/LTR controller implementation. Then, the obtained controller is tested through several simulations and the attained results are discussed for effectiveness and practicality evaluation of the proposed method for reduced order controller project.
Acesso aberto (Open Access)
Projeto e construção de um robô móvel AGV/ROV não-holonômico com habilidade para navegação autônoma do tipo wall-following
(Universidade Federal do Pará, 2009-12-21) CHASE, Otavio Andre; SOUZA, Jorge Roberto Brito de; http://lattes.cnpq.br/6023752002342215
This dissertation aims to present the design and construction of a terrestrial mobile robot called LOGBOT with traction type differential movement - with two wheels and an impeller to maintain the stability of its structure with the surface. The robot control modes have the telemetry and autonomous. In the control by telemetry – Remotely Operated Vehicle, communication with the robot control station operator is made by radio at a distance of one kilometer to outdoors, and one hundred meters indoors. In autonomous control mode – Autonomous Guided Vehicle, the robot has the ability to navigate in indoor environments and unfamiliar with the use of the corridor wall as your reference trajectory to be traveled. The sequence of movements for execution of the path is sent to the control station that performs analysis of performance of the robot. To perform these tasks in standalone mode, your program includes a reactive intelligent agent that detects behaviors of the environment and decides a course of action to be performed by the robot, aiming to avoid obstacles and to control the speed of the wheels of mobile robots. The problem of odometer error and its correction based on the use of external sensory information were assessed. Techniques of hierarchical control of the robot as a whole and speed control closed loop of the robot's wheels were used. The results showed that the LOGBOT mobile robot is able to navigate in indoor environments in the form of a corridor, with stability and accuracy.