Projeto De Controlador Robusto Aplicado A Cadeira De Rodas Móveis Via Abordagem Por Lmis Para Sistemas Erps Com Realimentação Da Saída (Robust Controller Design Of A Wheelchair Mobile Via Lmi Approach To Erp Systems With Feedback Output)

Flávio Luiz Rossini (flrossini@hotmail.com)1, Ruberlei Gaino (rgaino@uel.br)3, Marcelo Carvalho Minhoto Teixeira (marcelo@dee.feis.unesp.br)2, Edvaldo Assunção (edvaldo@dee.feis.unesp.br)2, Rodrigo Cardim (rcardim@dee.feis.unesp.br)2, Márcio Roberto Covacic (marciocovacic@yahoo.com.br)3


1Centro Universitário de Maringá
2UNESP
3Universidade Estadual de Londrina

This paper appears in: Revista IEEE América Latina

Publication Date: May 2015
Volume: 13,   Issue: 5 
ISSN: 1548-0992


Abstract:
The article discusses the design of robust controller applied to Wheelchair Furniture via Linear Matrix Inequalities (LMI) systems for Strictly Positive Real (SPRs). The contributions of this work were the choice of a mathematical model for CRM with uncertainty about the position of the center of gravity (CG) of the same, the decoupling of the kinematic and dynamical systems, linearization of the models, the headquarters building of parametric uncertainties (vertices of the polytope), the proposal of the control loop and obtain the matrices that make SPRs systems and stabilize them, with a decay rate specified.

Index Terms:
Robust controller, Wheelchair Furniture, Decoupling of Systems, Control Loop, LMI.   


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