Projects

Decoupling and control of Uncertain and Nonlinear Systems:

This research project aims to propose new conditions for decoupling and control of uncertain and nonlinear systems. Takagi-Sugeno fuzzy models, flatness approach and Lyapunov theory are used to obtain linear matrix inequalities (LMI) conditions.

  • Situation: Ongoing.

  • Coordinator: Eduardo Stockler Tognetti.

  • Graduate students: Caio Gustavo Mesquita Ângelo and Tássio Melo Linhares (M.Sc. and Ph.D students of PGEA.

Modern control applied to industrial process:

This research project aims to study and develop new modern control based strategies applied to multivariable industrial process. Lyapunov theory and linear matrix inequalities conditions are used to design PID controllers.

  • Situation: Ongoing.

  • Coordinator: Eduardo Stockler Tognetti.

  • Graduate students: Guilherme Aleksanders de Oliveira and Victor Matheus Rodrigues de Carvalho (M.Sc. students of PGEA, Prof. Renato A. Borges (UnB), Prof. Eugênio Fortaleza (UnB) and Dr. Mario Cesar Massa de Campos (Petrobras/Cenpes).

Digital Control of Uncertain, LPV and Nonlinear Systems:

This research concerns the investigation of techniques for the design of digital controllers for sampled-data systems subject to uncertainties and time-varying parameters in the continuous-time domain. Using the Lyapunov theory new discretization methods and applications on Network Control Systems (NCS) will be addressed. The problem of H-inf controller and filter design for linear parameter-varying (LPV) systems where the measurement of the scheduling parameters may be affected by additive and multiplicative uncertainties is also concerned.

  • Situation: Ongoing.

  • Coordinator: Eduardo Stockler Tognetti.

  • Team: Eduardo Stockler Tognetti, Pedro L. D. Peres (Unicamp), Ricardo C. L. F. Oliveira (Unicamp), Márcio F. Braga (Unicamp), Cecília F. Moraes (Unicamp), Márcio J. Lacerda (Unicamp).

Advanced Control of Typical Industrial Processes - FAPDF 2015:

The objective of this research project is to develop and implement new conditions for the design of industrial process controllers by validating them experimentally. The models to be considered, which satisfactorily represent the main existing industrial processes, are nonlinear, uncertain and have multiple modes of operation. The points to be investigated include the study of the proportional-integral-derivative control problem of continuous and discrete time systems, estimation and filtering, uncertainties in parameters or measurements, saturation and performance criteria. The obtained conditions are based on the solution of optimization problems and, to illustrate the results and prove the efficiency, the developed techniques will be implemented in industrial controllers (PLCs) to control of pilot plants. Thus, the pilot plants will allow the researchers of the University of Brasilia to demonstrate the feasibility of the techniques developed by them to control typical industrial processes and to demonstrate the advantages in relation to the techniques currently used in the Brazilian industry.

  • Situation: Ongoing.

  • Grant: Fundação de Apoio à Pesquisa do Distrito Federal (FAPDF)

  • Coordinator: Henrique Cezar Ferreira

  • Team: Eduardo Stockler Tognetti, Adolfo Bauchspiess, João Yoshiyuki Ishihara, Renato Alves Borges.

Control of time-varying systems and Takagi-Sugeno fuzzy systems with nonlinearities - CNPq Universal 14/2013:

This research project aims to develop new theoretical conditions for the design of controllers for time-varying systems and Takagi-Sugeno fuzzy systems with nonlinearities. Problems related to continuous and discrete-time systems, H-inf and H-2 performance criteria, uncertain measurements and saturation will be investigated. The methodology is based on time-varying parameterdependent Lyapunov functions. The optimization problems will be described in terms of linear matrix inequalities and, to illustrate the results, numerical simulations will be performed.

  • Situation: Ended.

  • Grant: Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

  • Coordinator: Eduardo Stockler Tognetti.

Advanced Control Applied to Typical Industrial Processes - Edital Capes Pró-Equipamentos No. 11/ 2014:

The present subproject aims to modernize the existing infrastructure in the Department of Electrical Engineering (ENE) of the University of Brasília (UnB) in order to allow investigations in the area of control of industrial processes. In particular, advanced control strategies for processes containing critical variables from typical industrial plants, such as level and flow, will be investigated.

  • Situation: Ended.

  • Grant: Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

  • Coordinator: Henrique Cezar Ferreira

  • Team: Eduardo Stockler Tognetti, Adolfo Bauchspiess, João Yoshiyuki Ishihara, Geovany Araújo Borges, Renato Alves Borges, Francisco Assis de Oliveira Nascimento, Renato Mariz de Moraes, Guilherme Caribe de Carvalho.

Modeling, Analysis and Robust Control of Inverted Pendulum with Reaction Wheel and DC Motor - FUB/UnB/DPP 02/2013:

This research project aims to investigate, develop and implement algorithms for experimental platform for analysis and control of inverted pendulum with reaction wheel and DC motor. The central line of investigation is analysis, filtering and robust control of dynamical systems with structure constraints or affected by exogenous noise. From the theoretical point of view , the methodology is based on the construction of Lyapunov functions which allow to obtain synthesis and analysis conditions described primarily in terms of linear matrix inequality, or bilinear matrix inequalities. In the context of practical implementation, the project includes the purchase and installation of an experimental platform with three different configurations of the inverted pendulum: simple inverted pendulum with reaction wheel, double inverted pendulum (PENDUBOT), and rotary inverted pendulum (Furuta Pendulum) with also a DC motor to test the algorithms developed and investigated. Within this context, problems such as robust H-2 and H- infinity filters, control of dynamic systems in finite time, robust synthesis of PID controllers, state feedback controllers, saturation of signals, among others, are investigated in view of the implementation at the platform to be installed.

  • Situation: Ended.

  • Grant: University of Brasilia (DPP FUB UnB)

  • Team: Renato Alves Borges, Eduardo Stockler Tognetti and Taís Calliero Tognetti.

  • Coordinator: Renato Borges.

Highly Interacting Ambient Systems - PROBRAL 2012 (CAPES/ DAAD):

In Ambient Systems an increasing trend towards networked, especially wireless networked systems is observed. Wireless networks are applied to facilitate and to increase the information exchange among the different nodes of the ambient system network. This holds especially true when moving nodes are used. Interesting applications like Robotics and Ambient Assisted Living (AAL) which are treated in this project will profit from this development if the two major challenges can be met: compensation of network induced effects and usage of limited energy resources. The scientific goals of this project are: 1. Answering existing theoretical questions; 2. Revealing and bridging gaps between theory and praxis. The following problems are considered by studying humanoid as well as mobile robots and automated office buildings available at the research partner institutes in Germany and Brazil. Communication between mobile systems puts high demands on transmission quality, especially in control systems. A desired system performance is maintained by analysis of network effects (delays, losses) and selection of appropriate control structures. This requires deep theoretical research to improve the quality of service, e.g. in agricultural engineering communication is an emerging topic of research. State-of-the-art agricultural equipment relies a lot on complex data-exchange between tractors and accessory equipment to enable proper control of the harvesting-process. In a sensor network the placement of each component in a well-functioning compound is a crucial point. Important factors are the sensor coverage rate and energy efficient arrangement of energy harvesting sensors in an indoor environment. Generic methods are studied to allow an optimal arrangement. In Robotics, the focus of research will be to shift the complexity of robots into the robot environment while not sacrificing but rather increasing the level of reliability and safety of the whole system. The compound of robot and environment represents a highly interactive ambient system.

  • Situation: Ended.

  • Grant: oordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

  • Brazilian Team: Adolfo Bauchspiess, Geovany Araújo Borges, João Yoshiyuki Ishihara, Alex da Rosa, Antônio Padilha Lanari Bó, Renato Alves Borges, José Alfredo Ruiz Vargas, Eduardo Stockler Tognetti, Henrique Ferreira.

  • German Team: Lothar Litz, Thorsten Rodner, Stefan Schneider, Konstantin Machleidt, Jie Zhao, Karsten Berns, Philipp Bauer, Jochen Hirth, Michael Arndt.

  • Brazilian Coordinator: Adolfo Bauchspiess.

  • German Coordinator: Lothar Litz.

  • Graduate students: Luis Felipe da Cruz Figueiredo, Roberto de Souza Baptista, Henrique Marra Menegaz.