Escolar Documentos
Profissional Documentos
Cultura Documentos
Von Zuben
DCA/FEEC/Unicamp
2 Controle Robusto
x2
+1 1
p=1
n
pp
x p
= xi
1 +1 x1 i =1
1
x2 n
+1 p=2 p = 1 x 1 = xi
i =1
1 +1 x1
1
n
p=2 x = xi
2
x2 2
i =1
+1
p=+
x1
1 +1 p = + x
= max xi
i
1
x p
1
3 Controle Adaptativo
yd
u y
Controlador Planta
Malha de realimentao 1
tcnicas de controle adaptativo podem tambm ser vistas como uma forma
automtica de realizar tarefas que engenheiros de controle normalmente
executam visando obter parmetros adequados para controladores.
3.1.2Reguladores Auto-Ajustveis
4 Controle Inteligente
Julgamento de
Valor (JV)
Percepo Gerao de
Sensorial (PS) Comportamento (GC)
Modelo do
Ambiente (MA)
Sensores Atuadores
Ambiente
Operador u y
Humano Planta
Informao
Sensorial
-
um +
X : :
: :
BP e = um-u
Figura 4 - Arquitetura de um controle baseado em redes neurais para imitar um operador humano
r u y
x : : Planta
: :
atrasos
x : :
: :
BP
+
alvo
obstculo
veculo
autnomo
controle nebuloso
variveis: T (temperatura), u (entrada de calor)
projetar um controlador nebuloso que mantenha a temperatura de um
tanque constante
5 Referncias
Controle Clssico
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LEVIS, A.H., MARCUS, S.I., PERKINS, W.R., KOKOTOVIC, P., ATHANS, M., BROCKETT, R.W. & WILLSKY, A.S.
Challenges to Control: A Collective View, Report of the Workshop Held at the University of Santa Clara on
September 18-19, 1986, IEEE Transactions on Automatic Control, vol. AC-32, no. 4, pp. 275-285, 1987.
Controle Robusto
BERNSTEIN, D.S. & HADDAD, W.M. LQG control with an H performance bound: A Riccati equation approach, IEEE
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DAILEY, R.L. Lesson Seven: Robust Control, in Masten, M.K. (ed.) Modern Control Systems, IEEE Press, 1995.
DOYLE, J.C., FRANCIS, B.A. & TANNENBAUM, A.R. Feedback Control Theory, Macmillan Publishing Company, 1992.
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Problems, IEEE Transactions on Automatic Control, vol. 34, no. 8, pp. 831-847, August 1989.
FRANCIS, B.A. A Course in H Control Theory, Lecture Notes in Control and Information Sciences, vol. 88, Springer-
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IGLESIAS, P.A. & GLOVER, K. State-space approach to discrete-time H control, International Journal of Control, vol.
54, no. 5, pp. 1031-1073, 1991.
KAMINER, I., KHARGONEKAR, P.P. & ROTEA, M.A. Mixed H2/H Control for Discrete-time Systems via Convex
Optimization, Automatica, vol. 29, no. 1, pp. 57-70, January 1993.
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SCHERER, C. H-Control by State-Feedback and Fast Algorithms for the Computation of Optimal H-Norms, IEEE
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ZAMES, G. Feedback and Optimal Sensitivity: Model Reference Transformations, Multiplicative Seminorms, and
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ZHOU, K. & DOYLE, J.C. Essentials of Robust Control, Prentice Hall, 1998.
Controle Adaptativo
ASTRM, K.J. Theory and Applications of Adaptive Control - A Survey, Automatica, vol. 19, pp. 471-486, 1983.
ASTRM, K.J. Lesson 9: Adaptive Control, in Masten, M.K. (ed.) Modern Control Systems, IEEE Press, 1995.
ASTRM, K.J. & WITTENMARK, B. Adaptive Control, 2nd edition, Addison Wesley Publishing Company, 1995.
ASTRM, K.J. & WITTENMARK, B. On Self-Tuning Regulators, Automatica, vol. 9, pp. 185-199, 1973.
CHALAM, V. Adaptive Control Systems, Marcel Dekker, 1987.
LANDAU, Y.D. Adaptive Control: The Model Reference Approach, New York: Marcel Dekker, 1979.
LJUNG, L. System Identification - Theory for the User, Prentice Hall, 1987.
NARENDRA, K.S. & ANNASWAMY, A.M. Stable Adaptive Systems, Prentice Hall, 1989.
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Controle Inteligente
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Networks for Control, Cambridge: MIT Press, 1990.
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dynamical systems, International Journal of Control, vol. 55, no. 1, pp. 193-224, 1992.
BROWN, M. & HARRIS, C. Neurofuzzy Adaptive Modelling and Control, Prentice Hall, 1994.
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Control, vol. 55, no. 6, pp. 1299-1317, 1992.
COX, E. The Fuzzy Systems Handbook, Academic Press/Morgan Kaufmann, Paperback, 750 pages, October 1998.
HAYKIN, S., Neural Networks - A Comprehensive Foundation, 2nd edition, Prentice Hall, 1999.
FOGEL, D.B., FUKUDA, T. & GUAN, L. (eds.) Special Issue on Computational Intelligence, Proceedings of the IEEE,,
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HARRIS, C.J., MOORE, C.G. & BROWN, M. Intelligent Control Aspects of Fuzzy Logic and Neural Nets, World
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