Controle de sistemas dinâmicos não lineares via linearização por realimentação com compensação Fuzzy de incertezas

Abstract

Through the advancement of technology, and consequently of computation, non-linear control methods are developing more and more in the scientific environment, promoting a solid theoretical and experimental basis in this area. The objective of this work is the application of the technique of nonlinear control linearization by feedback linearization for the control of nonlinear dynamic systems. Since this technique has a great limitation, which is the need for precise knowledge of the parameters and the dynamics of the plant to be controlled, a fuzzy compensator has been developed to provide an additional control effort in order to compensate for all the uncertainties present in the system. The fuzzy compensator stands out because it does not require prior knowledge of the system model. In addition to the theoretical development of the Feedback Linearization technique and the fuzzy compensator, a linear controller of the PID type will be used for comparison purposes with the non-linear techniques discussed. To prove the effectiveness of the technique presented, it will be applied to the position control problem of a seesaw propeller system, which in a simplified way has a certain analogy with one of the degrees of freedom of an unmanned aerial vehicle. Numerical simulations and experimental results will be presented to show the performances of the controllers addressed in the present work.