Master's Dissertation Defense Session No. 284 of PPGEEC - ROBUST STABILITY CRITERION FOR LINEAR SYSTEMS WITH DELAY: AN APPROACH BASED ON UNRESTRICTED PREDICTIVE CONTROL

STUDENT: MATEUS DOS SANTOS DE MENESES

DATE: 12/13/2024

TIME: 2:00 PM

LOCATION: https://conferenciaweb.rnp.br/ufba/defesas-ppgee

TITLE: ROBUST STABILITY CRITERION FOR LINEAR SYSTEMS WITH DELAY: AN APPROACH BASED ON UNRESTRICTED PREDICTIVE CONTROL

KEYWORDS: Unrestrained Predictive Controller; Time-Varying Delays; Modeling Uncertainties; Stability;

ABSTRACT: This work proposes to address the challenge of controlling systems subject to variable delays, considering parametric uncertainties of the model in the context of problems with known but varying future references. To address these issues, a method is proposed that combines a stability criterion for systems with time-varying delays and modeling uncertainties with a predictive controller for linear systems, incorporating future references. The main objective is to ensure a certain tolerance to the variable delays induced by communication networks, while taking into account the model uncertainties and future references. To this end, a new simplified robust stability criterion for systems with variable delay and potytopic uncertainties was proposed. The motivation of the proposed method is illustrated through simulations of remotely controlled mobile robots subjected to variable delay and modeling uncertainties. The obtained results provide information on the tuning of the parameters of the unconstrained predictive controller to illustrate the usefulness of the proposed method in the context of mobile robotics.

MEMBERS OF THE BOARD:

TITO LUIS MAIA SANTOS (ADVISOR)              UFBA

JOSE MARIO ARAUJO                                     IFBA

KURIOS IURI PINHEIRO DE MELO QUEIROZ     UFC

Em 06/12/2024