Papers by Reginaldo Cardoso
Comparison of two sliding mode control techniques applied to a ROV vertical motion
Proceedings of the 25th International Congress of Mechanical Engineering, 2019
Controlling tracking trajectory of a robotic vehicle for inspection of underwater structures
Ocean Engineering, 2018
Abstract This work presents nonlinear, multivariable control strategies, based on backstepping me... more Abstract This work presents nonlinear, multivariable control strategies, based on backstepping methodology and Control Lyapunov Function (CLF) for trajectory tracking problem of a Hybrid Remotely Operated Vehicle (HROV), which is under development at the Federal University of ABC (UFABC) since 2012. The main objective of the vehicle is to inspect underwater structures by measuring plates thickness. The design control for underactuated HROV presents some limitations in the vehicle trajectory. The control consists on the combination of two methodologies, which are the backstepping and the CLF. It also makes robustness study of controllers consider disturbance acting on the vehicle. The proposed control responded appropriately to the trajectories selected as reference and presents robustness for non-modeled external disturbances.
Proceeding Series of the Brazilian Society of Computational and Applied Mathematics, 2015
Application of SDRE control to Hybrid Remotely Operated Vehicle
Proceedings of the 26th International Congress of Mechanical Engineering
Modeling and Station-Keeping Control of an Underwater Vehicle Manipulator System Through Reactions Wheels
Volume 7B: Dynamics, Vibration, and Control
An Underwater Vehicle-Manipulator System (UVMS) is a complex and highly non-linear multibody dyna... more An Underwater Vehicle-Manipulator System (UVMS) is a complex and highly non-linear multibody dynamic system used in Inspection, Maintenance and Repair (IMR) operations. Beyond the disturbances caused by the hydrodynamic forces, the UVMS is also subjected to the dynamic coupling between the Underwater Unmanned Vehicle (UUV) and the manipulator. This coupling affects the attitude and position of the UUV, which should remain stationary while the manipulator moves. The correct compensation of such coupling could be achieved through precise model-based control or, e.g., with signals produced by a force/torque sensor mounted between the UUV and the manipulator. However, the former approach is almost impossible to achieve, and the latter is very difficult to implement. Given these problems, this paper proposes a station-keeping control scheme based on Reactions Wheels (RWs) as inertial actuators for the attitude stabilization of a UUV under the action of the disturbances induced by the man...
Backstepping and integrative sliding mode control for trajectory tracking of a hybrid remotely operated vehicle
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....
Comparison of Two Fuzzy Skyhook Control Strategies Applied to an Active Suspension
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.
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.
Técnicas de projeto de controladores para uma suspensão ativa
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Papers by Reginaldo Cardoso