Controle a estrutura variável de um barco empurrando uma carga flutuante subatuada

• Autor(a) principal: Rosario, Rafael Vida de Castro
• Data de Publicação: 2017
• Tipo de documento: Dissertação
• Idioma: por
• Título da fonte: Biblioteca Digital de Teses e Dissertações da UERJ
• Texto Completo: http://www.bdtd.uerj.br/handle/1/11858
• topic: Electronic Engineering; Variable structure control; Feedback (Electronics); Boats; Marine systems; Feedback linearization; Manipulation tasks; Uncertain systems; Underactuated systems; Engenharia eletrônica; Controle por estrutura variável; Realimentação (Eletrônica); Embarcações; Sistemas marítimos; Linearização por realimentação; Tarefas de manipulção; Sistemas incertos; Sistemas subatuados; CNPQ::ENGENHARIAS

This thesis formulates and solves the problem of control of a boat pushing an underactuated floating load. The dynamic model of this system and its properties are described to allow the design of the control system. This problem is challenging due to the unstable dynamics and the absence of actuators on the load. Partial feedback linearization was chosen to linearize and simplify both the nonlinear dynamics and controller design. Variable structure control (VSC) was chosen in view of its robustness to parametric uncertainties and disturbances. The strategies developed were tested by simulation and experiments with a small boat in a tank. In this experiments, the position and orientation of the ship are measured by an accurate image capture system Vicon MX. As preliminary steps, trajectory tracking of ships and the control of pushing mobile robots were studied.