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Previous issue date: 2016-09-30 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior (CAPES) / O trabalho trata da aplica??o do Controle Preditivo com o proposto
M?todo da Compensa??o de N?o-Linearidades para o controle de um quadric?ptero.
Esse m?todo consiste de utilizar o modelo n?o-linear do sistema
para prever e inserir n?o-linearidades na formula??o do controle preditivo
por meio de uma estrutura afim. Dentro do contexto de controle de um
quadric?ptero, o controlador proposto ? comparado, atrav?s de simula??es
num?ricas, com o controlador preditivo linear tradicional. Posteriormente
experimentos s?o feitos com um quadric?ptero real montado em uma bancada
de testes. Como resultado o uso do m?todo proposto trouxe um ganho de
desempenho consider?vel quando o estado do sistema se distanciou do ponto
de opera??o em que foi linearizado. / This study analises the application of Model Predictive Control
(MPC) with the proposed Nonlinear Compensation Method in order to
control a quadcopter. This method is based on the use of the system?s
nonlinear model to predict and insert nonlinearities in the predictive control
formulation by means of an affine structure. With respect to the control of a
quadcopter, the proposed controller is compared, using numerical simulations,
to the traditional linear predictive controller. After that, experiments were
made with a real quadcopter mounted in a test bench. As a result, the use of
the proposed method brought a considerable perfomance improvement when
the system?s state were farther apart from the operation point in which it
was linearized.
| Identifer | oai:union.ndltd.org:IBICT/oai:repositorio.ufrn.br:123456789/22183 |
| Date | 30 September 2016 |
| Creators | Farias Filho, Jo?o Gutemberg Barbosa de |
| Contributors | 55768245553, http://lattes.cnpq.br/0143490577842914, Queiroz, Kurios Iuri Pinheiro de Melo, 01187266418, http://lattes.cnpq.br/7489022506091803, Alsina, Pablo Javier, 42487455420, http://lattes.cnpq.br/3653597363789712, Conceicao, Andre Gustavo Scolari, 58908218068, http://lattes.cnpq.br/6840685961007897, Bessa, Wallace Moreira, Dorea, Carlos Eduardo Trabuco |
| Publisher | PROGRAMA DE P?S-GRADUA??O EM ENGENHARIA MECATR?NICA, UFRN, Brasil |
| Source Sets | IBICT Brazilian ETDs |
| Language | Portuguese |
| Detected Language | English |
| Type | info:eu-repo/semantics/publishedVersion, info:eu-repo/semantics/masterThesis |
| Source | reponame:Repositório Institucional da UFRN, instname:Universidade Federal do Rio Grande do Norte, instacron:UFRN |
| Rights | info:eu-repo/semantics/openAccess |
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