Escolar Documentos
Profissional Documentos
Cultura Documentos
Topico10 03 PDF
Topico10 03 PDF
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 realimentação 1
• técnicas de controle adaptativo podem também ser vistas como uma forma
automática de realizar tarefas que engenheiros de controle normalmente
executam visando obter parâmetros adequados para controladores.
3.1.2Reguladores Auto-Ajustáveis
4 Controle Inteligente
Julgamento de
Valor (JV)
Percepção Geração de
Sensorial (PS) Comportamento (GC)
Modelo do
Ambiente (MA)
Sensores Atuadores
Ambiente
Operador u y
Humano Planta
Informação
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
obstáculo
veículo
autônomo
• controle nebuloso
¾ variáveis: T (temperatura), u (entrada de calor)
¾ projetar um controlador nebuloso que mantenha a temperatura de um
tanque constante
5 Referências
Controle Clássico
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“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
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FRANCIS, B.A. “A Course in H∞ Control Theory”, Lecture Notes in Control and Information Sciences, vol. 88, Springer-
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Controle Adaptativo
ASTRÖM, K.J. “Theory and Applications of Adaptive Control - A Survey”, Automatica, vol. 19, pp. 471-486, 1983.
ASTRÖM, K.J. “Lesson 9: Adaptive Control”, in Masten, M.K. (ed.) Modern Control Systems, IEEE Press, 1995.
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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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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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Cybernetics, vol. 20, no. 2, pp. 404-435, 1990.
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