Synthesis of linear and nonlinear controllers for an outdoor ground vehicle

• Grant number: 11/22964-6
• Support Opportunities: Scholarships abroad - Research Internship - Master's degree
• Start date: April 01, 2012
• End date: June 30, 2012
• Field of knowledge: Engineering - Mechanical Engineering - Mechanical Engineering Design
• Principal Investigator: Ely Carneiro de Paiva
• Grantee: Rafael de Angelis Cordeiro
• Supervisor: José Raul Carreira Azinheira
• Host Institution: Faculdade de Engenharia Mecânica (FEM). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
• Institution abroad: Instituto Superior Técnico (IST), Portugal
• Associated to the scholarship: 10/14295-4 - Modelling and Control of an Outdoor Robotic Vehicle, BP.MS

Abstract

The following proposal aims a research internship abroad for Mr. Rafael de Angelis Cordeiro, master's student of mechanical engineer in the Faculty of Mechanical Engineer (FEM) at the University of Campinas (UNICAMP) with an FAPESP scholarship (FAPESP process 2010/14295-4). In this project, named "Modeling and control of an outdoor robotic vehicle", the objective is to develop a dynamic model and controllers for an autonomous outdoor ground vehicle focusing, mainly, applications for agricultural processes. The project is attached to a scientific cooperation between the FEM/UNICAMP, represented by the project adviser, Prof. Dr. Ely Caneiro de Paiva, and the Robotics Division (DRVC) of the Center for Information Technology Renato Archer (CTI) in the context of the VERO Project (Outdoor Ground Robotic Vehicle) led by CTI. Besides the cooperation of UNICAMP, the VERO Project involves the participation of three European research centers, including the Institute of Mechanical Engineer (IDMEC) of the Technical Superior Institute (IST) in Lisbon, Portugal. The project's adviser has a longtime partnership with the IST, effectively with Prof. Dr. José Raul Azinheira from IDMEC. The eleven years of partnership resulted in three funded projects, two of them involving the AURORA Project (development of an Unmanned Air Vehicle - UAV) and the last one involving the VERO Project (NAGUIVA project of international cooperation CNPq-FCT). The objective of this proposal is an internship in the IDMEC/IST for the master's student, with the advising of Prof. Dr. José Raul Azinheira. At this internship, the student would continue the research proposed by his master's project, focusing principally the synthesis techniques of controllers, to be applied in the VERO vehicle. (AU)

Scientific publications

(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)

CORDEIRO, RAFAEL A.; AZINHEIRA, JOSE R.; DE PAIVA, ELY C.; BUENO, SAMUEL S.; IEEE. Dynamic Modeling and Bio-Inspired LQR Approach for Off-Road Robotic Vehicle Path Tracking. 2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), v. N/A, p. 6-pg., 2013-01-01. (11/22964-6, 10/14295-4, 08/57870-9)