Use este identificador para citar ou linkar para este item: http://repositorio.ufla.br/jspui/handle/1/37613
Título: Controle fuzzy tolerante a falhas para robôs móveis
Título(s) alternativo(s): Fault tolerant fuzzy control for wheeled mobile robots
Autores: Pereira, Daniel Augusto
Pereira, Daniel Augusto
Barbosa, Bruno Henrique Groenner
Pereira, Eduardo Bento
Palavras-chave: Robôs móveis autônomos
Robôs móveis autônomos - Detecção de falhas
Fault detection
Wheeled mobile robots
Data do documento: 12-Nov-2019
Editor: Universidade Federal de Lavras
Citação: MENDES, L. M. Controle fuzzy tolerante a falhas para robôs móveis. 2019. 55p. Dissertação (Mestrado em Engenharia de Sistemas e Automação) – Universidade Federal de Lavras, Lavras, 2019.
Resumo: The problem of fault detection caused by actuators with application to trajectory tracking of wheeled mobile robots (WMRs) is addressed in this thesis. For the considered application, a wheeled mobile robot -having nonlinear kinematics- is required to follow a predefined trajectory in a stipulated time. An environment free of obstacles is used for this task. The goal has to be accomplished despite the presence of faults that may occurr in the actuators of the robot. The proposal presented here uses a Fuzzy Logical Controller to the trajectory tracking problem. For the fault detection problem in the actuators of the WMRs, the states and a loss of effectiveness (LOE) parameter are estimated by a Kalman Filter. The calculated LOE value is used to reconfigure the control signal generated by the Fuzzy Controller guaranteeing the Fault-Tolerant Control (FTC). In the need of a cooperative work for two or more robots with the goal to conclude the trajectory, an algorithm which consider severe faults was developed. The proposed solution grants the aim to be completed by the fault-free robots, leaving those with severes faults behind. Simulations were made in order to validate the proposed solutions. As a main result of the Fault-Tolerant Control, an error of aproximadetely 0,3% of the trajectory goal time was reached
URI: http://repositorio.ufla.br/jspui/handle/1/37613
Aparece nas coleções:Engenharia de Sistemas e automação (Dissertações)

Arquivos associados a este item:
Arquivo Descrição TamanhoFormato 
DISSERTAÇÃO_Controle fuzzy tolerante a falhas para robôs móveis.pdf2,73 MBAdobe PDFVisualizar/Abrir


Os itens no repositório estão protegidos por copyright, com todos os direitos reservados, salvo quando é indicado o contrário.