Trabalho em anais de eventoOpen Access
Controle Robusto Baseado em Eventos Aplicado a um Sistema Ball on Plate
CASAS, Vitoriano Medeiros; PEDROSA FILHO, Eduardo Guimaraes; SOUZA, Luiz Antonio Sobrinho de; ARAÚJO, Rodrigo Farias
Resumo
Resumo
Modern control systems are often implemented in a decentralized manner, where the mechanism that generates the input signal is located far from the actuator that receives it, potentially having to share a network with other similar systems. Furthermore, the need for controllers capable of ensuring stability in the presence of certain nonlinearities, such as input saturation, and under the influence of disturbances makes the use of robust control techniques necessary. In light of this issue, the present work proposes the application of an event-triggered robust controller to a real plant, ensuring stability in the presence of saturation. The obtained results are compared with those previously achieved by the same authors to demonstrate the differences in performance and the communication network savings achieved by implementing the event-triggered control structure.
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palavras-chave
Palavras-chave
event-triggered controlrobust controlinput saturationdecentralized controlnetworked control systemsdisturbance rejectionnonlinear systems
Status
Published
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Trabalho em anais de evento