Applied Robust Control

• Grant number: 17/22130-4
• Support Opportunities: Regular Research Grants
• Start date: June 01, 2018
• End date: August 31, 2020
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Bruno Augusto Angélico
• Grantee: Bruno Augusto Angélico
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

Modern robust control techniques have been developed frequently in the literature. However, in the vast majority of cases, the validation of such controllers is done via simple simulations. Within this context, this project aims to explore practical implementation aspects of robust control techniques in mechatronic systems. The focus will be on the application of robust H2 controllers with parametric uncertainties synthesized via LMIs and in sliding mode control.Thus, with the development of the project it is expected to produce scientific and technological knowledge, which will be shaped by the development of methods, techniques and tools that allow the design and implementation of modern robust controllers in physical systems. (AU)

Scientific publications

(22)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

NEVES, GABRIEL P.; ANGELICO, BRUNO A.; IEEE. A discrete LQR applied to a self-balancing reaction wheel unicycle: Modeling, construction and control. 2021 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2021-01-01. (17/22130-4, 16/00729-9)

BOBROW, FABIO; ANGELICO, BRUNO AUGUSTO; PEREIRA DA SILVA, PAULO SERGIO. Modeling and Nonlinear Control Utilizing Unit Complex Numbers. JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, AUG 2021. (17/22130-4)

LIMA, FLAVIO H. B.; POLEZE, EDUARDO; DAS NEVES, GABRIEL P.; ANGELICO, BRUNO A.; IEEE. LMI Based Robust H2 Control of a Ball Balancing Robot with Omni-wheels. 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), v. N/A, p. 6-pg., 2019-01-01. (17/22130-4)

TORIUMI, FABIO YUKIO; ANGELICO, BRUNO AUGUSTO. Passivity-Based Nonlinear Control Approach for Tracking Task of an Underactuated CMG. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 26, n. 5, p. 2285-2293, OCT 2021. (17/22130-4)

NEVES, GABRIEL P.; TORIUMI, FABIO Y.; ANGELICO, BRUNO A.; OLIVEIRA, RICARDO C. L. F.; IEEE. A new approach for quasi-LPV modeling and state-feedback control of nonlinear systems with application on a 5-DOF pendulum.. 2021 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2021-01-01. (17/18785-5, 17/22130-4)

ANGELICO, BRUNO A.; BRUGNOLLI, MATEUS M.; DAS NEVES, GABRIEL P.; IEEE. Digital H-infinity Robust Control of Mechanical System with Implicit Observer. 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), v. N/A, p. 6-pg., 2019-01-01. (17/22130-4)

DE OLIVEIRA, ARTHUR C. B.; ANGELICO, BRUNO A.; TSUZUKI, MDG; JUNQUEIRA, F. Hierarchical Integrative Sliding Mode Control of a 3-DOF Helicopter. 2018 13TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON), v. N/A, p. 6-pg., 2018-01-01. (17/22130-4)

TORIUMI, FABIO Y.; ANGELICO, BRUNO A.. Robust Nonlinear Control Applied to a Control Moment Gyroscope with SISO Configuration. IFAC PAPERSONLINE, v. 51, n. 25, p. 6-pg., 2018-01-01. (17/22130-4)

DAS NEVES, GABRIEL PEREIRA; ANGELICO, BRUNO AUGUSTO. Model-free control of mechatronic systems based on algebraic estimation. ASIAN JOURNAL OF CONTROL, MAY 2021. (17/22130-4)

TORIUMI, FABIO Y.; ANGELICO, BRUNO A.. Lyapunov-Based Nonlinear Control Applied to a Control Moment Gyroscope. JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, JAN 2021. (17/22130-4)

NEVES, GABRIEL P.; ANGELICO, BRUNO A.; OLIVEIRA, RICARDO C. L. F.. 712 gain-scheduled state-feedback design with experimental validation in a control moment gyroscope represented as a polynomial LPV model. MECHATRONICS, v. 89, p. 9-pg., 2023-02-01. (17/22130-4)

DAS NEVES, GABRIEL PEREIRA; ANGELICO, BRUNO AUGUSTO. Model-free control of mechatronic systems based on algebraic estimation. ASIAN JOURNAL OF CONTROL, v. 24, n. 4, p. 10-pg., 2021-05-25. (17/22130-4)

LIMA, FLAVIO H. B.; POLEZE, EDUARDO; DAS NEVES, GABRIEL P.; ANGELICO, BRUNO A.; TSUZUKI, MDG; JUNQUEIRA, F. Ball Balancing Robot: construction, modeling and control design. 2018 13TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON), v. N/A, p. 5-pg., 2018-01-01. (17/22130-4)

CHINELATO, CAIO IGOR GONCALVES; NEVES, GABRIEL PEREIRA DAS; ANGELICO, BRUNO AUGUSTO. Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function. IEEE ACCESS, v. 8, p. 10-pg., 2020-01-01. (17/22130-4)

TORIUMI, FABIO YUKIO; ANGELICO, BRUNO AUGUSTO; IEEE. Sliding Mode Control Applied to a Multivariate Underactuated Control Moment Gyroscope. 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), v. N/A, p. 6-pg., 2019-01-01. (17/22130-4)

TORIUMI, FABIO Y.; ANGELICO, BRUNO A.. Lyapunov-Based Nonlinear Control Applied to a Control Moment Gyroscope. JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, v. 32, n. 2, p. 256-265, APR 2021. (17/22130-4)

TORIUMI, FABIO YUKIO; ANGELICO, BRUNO AUGUSTO. Nonlinear Controller Design for Tracking Task of a Control Moment Gyroscope Actuator. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 25, n. 1, p. 438-448, FEB 2020. (17/22130-4)

TORIUMI, FABIO Y.; ANGELICO, BRUNO A.; IEEE. Optimum Decentralized Control of a CMG with Minimum Variance using Particle Swarm Optimization. 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), v. N/A, p. 6-pg., 2019-01-01. (17/22130-4, 13/25605-2)

NEVES, GABRIEL P.; ANGELICO, BRUNO A.; AGULHARI, CRISTIANO M.. Robust H-2 controller with parametric uncertainties applied to a reaction wheel unicycle. International Journal of Control, v. 93, n. 10, p. 2431-2441, OCT 2 2020. (16/00729-9, 17/22130-4)

CARVALHO, LEONARDO DE PAULA; TORIUMI, FABIO YUKIO; ANGELICO, BRUNO AUGUSTO; DO VALLE COSTA, OSWALDO LUIZ. Model-based fault detection filter for Markovian jump linear systems applied to a control moment gyroscope. European Journal of Control, v. 59, p. 99-108, MAY 2021. (17/22130-4, 14/50851-0, 14/50279-4)

BOBROW, FABIO; ANGELICO, BRUNO A.; MARTINS, FLAVIUS P. R.; DA SILVA, PAULO S. P.. The Cubli: Modeling and Nonlinear Attitude Control Utilizing Quaternions. IEEE ACCESS, v. 9, p. 122425-122442, 2021. (17/22130-4)

CHINELATO, CAIO I. G.; ANGELICO, BRUNO A.; IEEE. Robust Exponential Control Barrier Functions for Safety-Critical Control. 2021 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2021-01-01. (17/22130-4)