abstract: There has been exciting progress in the area of Unmanned Aerial Vehicles (UAV) in the last decade, especially for quadrotors due to their nature of easy manipulation and simple structure. A lot of research has been done on achieving autonomous and robust control for quadrotors. Recently researchers have been utilizing linear temporal logic as mission specification language for robot motion planning due to its expressiveness and scalability. Several algorithms have been proposed to achieve autonomous temporal logic planning. Also, several frameworks are designed to compose those discrete planners and continuous controllers to make sure the actual trajectory also satisfies the mission specification. However, most of these works use first-order kinematic models which are not accurate when quadrotors fly at high speed and cannot fully utilize the potential of quadrotors. This thesis work describes a new design for a hierarchical hybrid controller that is based on a dynamic model and seeks to achieve better performance in terms of speed and accuracy compared with some previous works. Furthermore, the proposed hierarchical controller is making progress towards guaranteed satisfaction of mission specification expressed in Linear Temporal Logic for dynamic systems. An event-driven receding horizon planner is also utilized that aims at distributed and decentralized planning for large-scale navigation scenarios. The benefits of this approach will be demonstrated using simulations results. / Dissertation/Thesis / Masters Thesis Computer Science 2016

Bakgrund och problem: Till följd av samhällets och företags ökade medvetenhet avseende hållbarhet har det banat ny väg för idéer om vad som utgör styrinformation i företag. Hållbarhet har blivit allt mer integrerat inom företag vilket har förändrat dess interna processer. Förändringar i de interna processerna har lett till att det inte enbart handlar om finansiell information längre, utan nu även hållbarhetsinformation. Som följd av detta har arbetsuppgifter omformats och utmanats vilket har ändrat controllerns arbete. Hållbarhet har fått ett sådant stort fokus att det har tillkommit en ny roll vid namn hållbarhetscontroller. Vad en hållbarhetscontroller är har inte diskuterats tidigare i litteraturen, vilket följande studie ämnar att göra.  Syfte: Syftet med denna studie är att bidra med kunskap om vad en hållbarhetscontroller är och gör i en organisation. Detta kommer att undersökas genom att utreda vilka arbetsuppgifter och kunskaper en hållbarhetscontroller utför och besitter för att ytterligare förstå sig på rollen.  Metod: Studien utgår från en kvalitativ metod som omfattar en explorativ undersökning. Den empiriska datainsamlingen gjordes genom semistrukturerade intervjuer, som har hållits med åtta hållbarhetscontrollers samt en hållbarhetsstrateg. Vidare har det använts elektroniska källor och dokument i form av arbetsannonser. Det teoretiska materialet är hämtat från vetenskaplig litteratur och det utgörs av controllerns bakgrund, arbetsuppgifter, roll, kunskaper samt hållbarhet. Slutsats: Utifrån studien anses hållbarhetscontrollers vara en kombination av en traditionell controller och business controller, därmed en hybrid. Detta då den arbetar med verksamhetens hållbarhetsredovisning men också som en affärspartner som bistår ledningen med underlag. Hållbarhetscontrollers fundamentala roll är hållbarhetsredovisningen vilket kopplas till en kamrer. Rollen analytiker var den roll som framkom tydligast i hållbarhetscontrollern och därmed konstaterades vara den viktigaste. Rollen som pedagog ser vi idag vara mindre då hållbarhet har blivit så pass integrerat, däremot innebär rollen idag att agera mer som en coach till följd av det stora fokuset på hållbarhet. Studien kunde därmed se att rollen har skiftat från att vara en traditionell “bean counter” till en affärspartner till organisationen. Hållbarhetscontrollern arbetar likt en controller där det som skiljer sig åt är att fokuset ligger på sociala och miljömässiga aspekter. Till följd av detta innebär det att kunskap kring hållbarhet och dess riktlinjer och ramverk var den viktigaste kunskapen för att besitta rollen. Vidare behövs god kunskap för verksamheten och ett innovativt tänkande vilket är viktigt för att ständigt kunna utveckla hållbarhetsarbetet och applicera nya riktlinjer i verksamhetens kontext. Antalet hållbarhetscontrollers på marknaden ökar gradvis och med hjälp av denna studie kommer fler företag få en inblick i varför företag väljer att ha en hållbarhetscontroller i deras verksamhet. / Background and problem discussion: As a result of the company's and society's growing awareness of sustainability, it has established new ideas about what constitutes control information in companies. Increasingly, sustainability has been integrated within the organization, and the company's internal processes have changed. The change in the internal processes has developed it to be more than just financial information and sustainable information. Tasks have thus been reshaped and challenged, which has also changed the controller's work. Sustainability has received such a significant focus that a new role has been created, called a sustainability controller. A sustainability controller has not been discussed before in literature, which is the following study's intentions. Purpose: This study aims to contribute knowledge about what a sustainability controller is and does in an organization. This matter is investigated on what tasks and knowledge a sustainability controller performs and possesses to understand the role further. Methodology: The study is based on a qualitative method that includes an exploratory study. The empirical data collection was done through semi-structured interviews, which have been held with eight sustainability controllers and a sustainability strategist—furthermore, utilizing electronic sources and documents in the form of job advertisements. The theoretical material is obtained from the scientific literature on background checks, tasks, roles, knowledge, and sustainability. Conclusion: According to this study, sustainability controllers are considered a hybrid of traditional controllers and business controllers. It works with a business's sustainability reporting and being a business partner that assists the management with data. The fundamental role of sustainability controllers is the sustainability report, which is linked to a bean counter. The role analyst emerged most clearly in the sustainability controller and was the most significant. Today's role as an educator is minor as sustainability has become so integrated; however, the role needs to act more as a coach due to the significant focus on sustainability. Thus, the study could see that the role has shifted from being a traditional bean counter to a more business partner to the organization. The sustainability controller works like a controller where what differs is that the focus is on social and environmental aspects. As a result, knowledge about sustainability, the guidelines, and the framework was essential to possess the role. Furthermore, good knowledge is expected for the business and innovative thinking, which is vital to constantly develop sustainability work and apply new guidelines in the business context. The number of sustainability controllers on the market will gradually increase. With the help of this study, more companies will gain insight into why companies choose to have a sustainability controller in their operations.

Submitted by Lara Oliveira (lara@ufersa.edu.br) on 2017-06-29T22:59:45Z No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Rejected by Vanessa Christiane (referencia@ufersa.edu.br), reason: Corrigir referência. on 2017-07-03T12:21:49Z (GMT) / Submitted by Lara Oliveira (lara@ufersa.edu.br) on 2017-07-04T14:22:25Z No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Approved for entry into archive by Vanessa Christiane (referencia@ufersa.edu.br) on 2017-07-04T16:48:02Z (GMT) No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Approved for entry into archive by Vanessa Christiane (referencia@ufersa.edu.br) on 2017-07-04T16:58:07Z (GMT) No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Made available in DSpace on 2017-07-04T17:03:31Z (GMT). No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) Previous issue date: 2017-02-17 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This dissertation proposes the development of a Fuzzy-PID hybrid controller for the height stability control of a four-engine type UAV. The work also contemplates the development of a classical PID controller, used to compare with the hybrid one purposed. The AuRoRA platform is used for the realization of tests with both of the control structures, being this one provided with the parameters of the Drone used. With the test results, it was possible to conclude that both of the controllers, the classical PID and the Fuzzy-PID, are able to perform the Drone height control, and the hybrid control obtained some advantages such as the ability of self-adjust with the system variation, that dispenses the manual tuning of the gains, besides presenting an improvement in the Drone height stability / Esta dissertação propõe o desenvolvimento de um controlador híbrido Fuzzy-PID para o controle de estabilidade de altura de um VANT do tipo quadrirrotor. O trabalho ainda contempla o desenvolvimento de um controlador PID clássico, utilizado para fins de comparação com o controlador híbrido proposto. A plataforma AuRoRA é utilizada para a realização dos testes com ambas as estruturas de controle, sendo a mesma munida dos parâmetros do Drone utilizado. Com os resultados dos testes, foi possível verificar que ambos controladores, PID clássico e Fuzzy-PID, são capazes de realizar o controle de altura do Drone, tendo o controle híbrido obtido algumas vantagens como a capacidade de auto ajuste mediante variações no sistema, o que dispensa as sintonias manuais dos ganhos, além de apresentar uma melhoria na estabilidade da altura do Drone / 2017-06-29

Cette thèse aborde trois problèmes liés à l’ABS dans le cadre de la dynamique de la roue : l’estimation de la rigidité de freinage étendue (XBS) des pneus lors du freinage d’urgence, la commande de l’ABS basée sur l’estimation de l’XBS, et l’estimation de la vitesse et de l’accélération angulaires de la roue à partir des mesures provenant d’un codeur avec des imperfections. L’objectif général de ce travail est de développer des outils visant à améliorer la performance des systèmes de freinage, en utilisant des techniques adaptées de l'automatique non linéaire. La première partie de la thèse est consacrée à la construction d’un observateur adaptatif commuté pour l’XBS, c’est-à-dire un observateur adaptatif dont les gains d’estimation commutent entre deux valeurs possibles en fonction du signe de la sortie mesurée du système. La stabilité de l’observateur est analysée en utilisant des outils pour des systèmes commutés et en cascade, ainsi que des concepts tels qu’excitation permanente et transformations singulières d’échelle de temps. La deuxième partie de la thèse est dédiée à la conception d’une loi de commande pour l’ABS. L’objectif de contrôle est formulé en termes de l’XBS et une loi de commande hybride est conçue afin de faire en sorte que les trajectoires du système satisfassent les conditions requises pour l’estimation de l’XBS. La stabilité du contrôleur est analysée en utilisant l'application de Poincaré. La troisième partie de la thèse aborde la construction d’un algorithme pour estimer la vitesse et l’accélération angulaires de la roue et éliminer des perturbations qui sont introduites par les imperfections du codeur, et dont l’amplitude et la fréquence sont une fonction de la position, la vitesse, et l’accélération angulaires (réelles) de la roue. L’algorithme est basé sur la méthode connue comme « time-stamping algorithm », ainsi que sur des techniques de filtrage est d’estimation de paramètres. Des essais expérimentaux et des simulations numériques illustrent la performance des algorithmes d’estimation et de contrôle présentés dans cette thèse. Dans tous les cas nos résultats sont comparés par rapport à l’état de l’art. / This thesis addresses three problems related to the antilock braking system (ABS) in the context of the wheel dynamics: the estimation of the tyre extended braking stiffness (XBS) during an emergency braking situation, the control of the ABS based on the estimation of the XBS, and the estimation of the angular velocity and acceleration of the wheel from the measurements of an incremental encoder with imperfections. The general objective of this work is to develop tools aimed at improving the performance of braking systems by using techniques adapted from nonlinear control theory. The first part of the manuscript is devoted to the construction of a switched adaptive observer for the XBS, that is, an adaptive observer whose estimation gains switch between two possible values based on the sign of the system’s measured output. The stability of the observer is analyzed using tools for switched and cascaded systems, as well as concepts such as persistency of excitation and singular time-scale transformations. The second part of the manuscript is dedicated to the design of a control algorithm for the ABS. The control objective is formulated in terms of the XBS and a hybrid controller is designed so that the trajectories of the system satisfy the conditions required for the estimation of the XBS. The stability of the controller is analyzed using the Poincaré map. The third part of the manuscript focuses on the construction of an algorithm to estimate angular velocity and acceleration of the wheel and remove perturbations which are introduced by the encoder imperfections and whose amplitude and frequency are a function of the wheel's (real) position, velocity, and acceleration. The algorithm is based on the method known as time-stamping algorithm, as well as filtering and parameter estimation techniques. Experimental tests and numerical simulations illustrate the performance of the estimation and control algorithms presented in this thesis. In all cases our results are compared with respect to the state of the art.

Orientador: Carlos Roberto Minussi / Resumo: Nesta pesquisa apresentam-se os principais conceitos gerais de estabilidade elétrica, assim como suas divisões e classificações, onde são desenvolvidas as condições de operação de um sistema elétrico de potência, que são relevantes nos estudos de estabilidade angular do rotor, tensão e frequência. Para os estudos de estabilidade da frequência e de tensão é preciso conhecer os equipamentos como os reguladores de tensão e frequência, em consequência é apresentada a modelagem matemática de vários componentes dinâmicos como o sistema de excitação, estabilizador do sistema de potência (PSS), sistema de regulação de velocidade, sistema de regulação de tensão (AVR), máquina síncrona, turbina a vapor e turbina hidráulica. É necessário a modelagem de eles para projetar seus respectivos controladores. Nesta pesquisa também se faz a introdução ao controlador Fuzzy e controlador PID convencional assim como os métodos de sintonia, depois projetamos um controlador que combine os dois controladores e tenha mais vantagens como o controlador híbrido PID-Fuzzy. Depois de desenvolver a modelagem do regulador de tensão e frequência, fazemos o projeto do controlador PID-Fuzzy, previamente projetado o controle PID. As simulações dos sistemas de regulação de tensão e frequência sem controlador, com controlador PID e com controlador PID-Fuzzy foram realizadas aplicando a ferramenta computacional de Matlab-Simulink no domínio do tempo contínuo e as respostas foram investigadas e discutidas. / Abstract: This research presents the main general concepts of electrical stability, as well as their divisions and classifications, where the operating conditions of an electrical power system are developed, which are relevant in the studies of angular stability of the rotor, voltage and frequency. For frequency and voltage stability studies it is necessary to know equipment such as voltage and frequency regulators, consequently the mathematical modeling of several components is presented as dynamic as the excitation system, power system stabilizer (PSS) , speed regulation system, voltage regulation system (AVR), synchronous machine, steam turbine and hydraulic turbine. We need the modeling of them to design their respective controllers. In this investigation we also do the introduction to the Fuzzy controller and conventional PID controller as well as the tuning methods then we designed a controller that combines the two controllers and has more advantages as the hybrid PID-Fuzzy controller. After developing the modeling of the voltage and frequency regulator, we design the PID-Fuzzy controller, previously designed the PID control. The simulations of the voltage and frequency regulation systems without controller, with PID controller and with PID-Fuzzy controller were performed applying the Matlab-Simulink computational tool in the continuous time domain and the answers were investigated and discussed. / Mestre