Papers by Magno Enrique Mendoza Meza
Proceedings of the 26th International Congress of Mechanical Engineering, 2021
Resumo O intuito deste projeto e o desenvolvimento de sistemas de controle lineares para o contro... more Resumo O intuito deste projeto e o desenvolvimento de sistemas de controle lineares para o controle da posicao de levitacao de uma esfera metalica no levitador magnetico produzido no projeto intitulado “Construcao de um Levitador Magnetico para Aplicacao em Ambiente Academico” (Edital 01/2014). O levitador magnetico e um sistema inerentemente nao linear e instavel. Inicialmente o controlador selecionado e da familia do PID. O controlador PID e amplamente utilizado em aplicacoes industriais, devido a sua robustez e baixa complexidade de projeto. Objetivos Projetar, simular e implementar um controlador PID para um levitador magnetico; Pesquisa tecnica para escolha do controle PID; Adquirir experiencia acerca do desenvolvimento de sistemas na plataforma Arduino. Metodologia O projeto teve inicio com a realizacao de um estudo referente a teoria de controle de sistemas lineares com foco na aplicacao ao levitador magnetico, em paralelo a familiarizacao com o ambiente de desenvolvimento da...
An important task for a professor in control engineering is to transfer knowledge to students in ... more An important task for a professor in control engineering is to transfer knowledge to students in classroom in a formal and logical way. One of this knowledge is the responsefrequency methodology that is used to design different types of compensators. This article introduces an interactive graphical user interface to design compensators (phase-lead, phase-lag, phase lag-lead) by the technique called Trial and error and by the Analytical technique for the listed above compensators, as well as for the PI, PD and PID. MATLAB®/GUIDE was used to create this interactive interface, which was adequated to help professors and students in the study, analysis and design of different compensators; to have an insight about the indirect relationship between performance parameters on time with the frequency performance parameters and generates a summarized report in LATEX with all plots and data simulations. Fifty percent of all students that use this interface agree that it works very well to impr...
Proceedings of the 26th International Congress of Mechanical Engineering, 2021
The purpose of this article is to introduce an application to draw the asymptotes of Bode diagram... more The purpose of this article is to introduce an application to draw the asymptotes of Bode diagram module and phase from each constituent elementary factors of any transfer function for minimum and non-minimal phase systems without transport delay. The Bode diagram is the most used tool in the frequency response method. Python was used to program the application to perform the operations as well as the Qt5 Design for the simple graphical interface for the application and all this in the Linux operating system. The application purpose is to assist students in learning the concept and drawing of Bode diagram. For students the non-minimum phase system Bode diagram is more difficult to draw than a minimum phase system due to the presence of zeros and/or poles on right half of s-plane. The phase asymptotes of a quadratic factor was closest to the real phase curve around the corresponding undamped natural frequency and this can be observed in the example showed in this article. This exampl...
Proceedings of the 15th IFAC World Congress, 2002, 2002
Threshold policies are defined and analysed for different t i p of (in(species and predator-prey ... more Threshold policies are defined and analysed for different t i p of (in(species and predator-prey type models. It is shown that such policie' l i t designed by suitable choice of so called virtual equilibrium points. The ~11np1(st threshold policies are discontinuous, which leads to some drawbatks It 1-, 1 1 9~ shown how to design continuous threshold policies that retain niost CJf rhc advantages of their discontinuous versions but do not have the majoi di au back of chatter in the control. Threshold policies are also seen to be robust t o unccwaintv of model parameters, and initial conditions, as well as t o delays bPtaeeii stock assessment and policy enactment. The models which are controlled are the1 Noy-Meir herbivore-vegetation model, subject to linear consumption curves, the. two species Rosenzweig-MacArthur model, and a three-dimensional chemostat model.
Este livro apresenta conceitos sobre sistemas de controle discretos no tempo para o projeto de co... more Este livro apresenta conceitos sobre sistemas de controle discretos no tempo para o projeto de controladores, observadores e identificação de sistemas lineares. A transformada Z é apresentada de maneira resumida por ser a ferramenta essencial para análise dos sistemas de controle em tempo discreto. Os métodos de projeto de controladores abordados são: a resposta em frequência, a realimentação de estados com o controle ótimo, o controle preditivo por modelo, entre outros. Mostram-se exemplos práticos de implementação de alguns controladores e observadores em um microcontrolador Arduino para um circuito RLC série.
Proceedings of the 26th International Congress of Mechanical Engineering, 2021
2018 Global Fluid Power Society PhD Symposium (GFPS), 2018
This paper represents the implementation of a control technique known as Backstepping for solutio... more This paper represents the implementation of a control technique known as Backstepping for solution of the problem of trajectory tracking of an underactuated Hovercraft. The Hovercraft is a vehicle sustained by air cushion in its base, so it doesn’t have contact with the soil. The Hovercraft can move around over a solid or aquatic surface. The desired trajectory is presented as a virtual vehicle with the same dynamics as the actual one. The control methodology uses Backstepping to design the virtual velocity controls to globally asymptotically stabilize the positions at the origin. Controls for the torques also was designed the velocities of the vehicles. Numerical simulations were performed in order to demonstrate the effectiveness of the developed control design. This demonstration was done by means of the comparison of the reference trajectory and obtained theoretically. The considered Hovercraft converges to the reference trajectory for near initial conditions as well as for distant initial conditions. It results in a good performance of the proposed control strategy to solve the problem of trajectory tracking of an underactuated Hovercraft. In addition, the accommodation time was obtained to be smaller in exchange for an increase of the effort control due to increase of the gain of the controller.
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
Many Hybrid Remotely Operated Vehicles (HROVs) have been designed according the biomicry principl... more Many Hybrid Remotely Operated Vehicles (HROVs) have been designed according the biomicry principles for performance improvements. To obtain an appropriated navigation control of a HROV it is necessary to know its accurate mathematical model. In order to avoid troubles in the design of control due to the lack of precision in HROV model parameters, in this paper it is proposed an integrative sliding mode control combined with a backstepping control. This approach control has the main property of overcoming the imprecision of model parameters. To design the sliding mode control is necessary to calculate the switching surface, which is determined utilizing two similar transformations of the linearized model. This discontinuous control has two parts: First, the control which drives any trajectory to switching surface and second, the control when states of model are on the switching surface, called equivalent control; in this case, this control was replaced by the backstepping controller. The system was simulated with input disturbances. This control proved to be robust in the presence of limited system nonlinearities, as well as limited disturbances.
This work focuses on simulation and comparison of two control skyhook techniques applied to a qua... more This work focuses on simulation and comparison of two control skyhook techniques applied to a quarter-car of the active suspension. The objective is to provide comfort to the driver. The main idea of skyhook control is to imagine a damper connected to an imaginary sky, thus, the feedback is performed with the resultant force between the imaginary and the suspension damper. The first control technique is the Mandani fuzzy skyhook and the second control technique is a Takagi-Sugeno fuzzy skyhook controller, in both controllers the inputs are the relative velocity between the two masses and the vehicle body velocity, the output of the Mandani fuzzy skyhook is the coefficient of imaginary damper viscous-friction and the Takagi-Sugeno fuzzy skyhook is the force. Finally, we compared the techniques. The Mandani fuzzy skyhook showed a more comfortable response to the driver, followed closely by the Takagi-Sugeno fuzzy skyhook.
Mathematical Methods in the Applied Sciences, 2019
2021 14th IEEE International Conference on Industry Applications (INDUSCON)
This paper presents the dynamics of a quadrotor and a control law is designed to the desired traj... more This paper presents the dynamics of a quadrotor and a control law is designed to the desired trajectory tracking. The quadrirotor is an underactuated system and because of that it presents a greater difficulty in controlling its position. The proposed control law is based on feedback linearization control together with the Linear Quadratic Tracking method (LQT from English and RLQ from Portuguese). Feedback linearization control uses an input-output decoupling and this makes possible to design a linear control for the quadrotor to perform the desired trajectory tracking. The simulation results showed that the proposed control presents satisfactory results in the trajectory tracking. The control technique approach developed in this work, in which the joint application of feedback linearization with the RLQ is presented is not commonly found in the control literature for quadrotor application, therefore, the quadrirotor flight control area is being extended with the control law proposed in this work.
Blucher Design Proceedings
ROV (Remotely Operated Vehicle) é um equipamento versátil e amplamente utilizado nas variadas ope... more ROV (Remotely Operated Vehicle) é um equipamento versátil e amplamente utilizado nas variadas operações das plataformas de petróleo, inclusive tendo aplicabilidade no campo militar. É um veículo submarino não tripulado, controlado pela superfície através de um cabo umbilical responsável pela alimentação e comunicação com o mesmo, e extremamente importante devido sua capacidade de atingir locais e profundidades praticamente inacessíveis para mergulhadores humanos, tornando-se prático e, principalmente, seguro. A proposta deste paper é apresentar uma revisão bibliográfica de temas correlacionados ao design e projeto de um ROV bioinspirado modular, que será concretizado através de um projeto de iniciação científica em andamento. Procura-se incorporar a eficiência animal no sistema, além de buscar o máximo de hibridismo possível no projeto, que vão desde, mas não se atendo somente a, braços robóticos, esteiras rolantes e propulsores, permitindo sua operação nos mais diversos ambientes. Será autônomo com possibilidade de funcionamento via baterias (portanto, configurando-se também como um AUV-Autonomous Underwater Vehicle, ou Veículo Submarino Autônomo), possuindo, porém, acesso a um cabo umbilical caso desejado. Esta característica amplia a gama de aplicações do equipamento, trazendo ainda mais versatilidade ao projeto. Como será possível operar tanto como um ROV, quanto como um AUV, denomina-se então como um HROV (Hybrid Remotely Operated Vehicle ou Veículo Híbrido Remotamente Operado).
Procceedings of the 24th ABCM International Congress of Mechanical Engineering
Procceedings of the 24th ABCM International Congress of Mechanical Engineering
International Journal of Computer Theory and Engineering
Preprints of the 15th triennial world congress (IFAC), Jul 21, 2002
Abstract: Threshold policies are defined and analysed for different types of one species and pred... more Abstract: Threshold policies are defined and analysed for different types of one species and predator-prey type models. It is shown that such policies can be designed by suitable choice of so called virtual equilibrium points. The simplest threshold policies are discontinuous, which leads to some drawbacks. It is also shown how to design continuous threshold policies that retain most of the advantages of their discontinuous versions but do not have the major drawback of chatter in the control.
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Papers by Magno Enrique Mendoza Meza