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Your search keyword '"Castelan, Eugênio B"' showing total 151 results
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151 results on '"Castelan, Eugênio B"'

1. A Constrained Tracking Controller for Ramp and Sinusoidal Reference Signals using Robust Positive Invariance

Author

Santos, Geovana Franca dos, Castelan, Eugenio B., and Lucia, Walter

Subjects
Mathematics - Optimization and Control, Electrical Engineering and Systems Science - Systems and Control
Abstract

This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed solution is derived by jointly exploiting the internal model principle, polyhedral robust positively invariant arguments, and the Extended Farkas' Lemma. In particular, by considering a generic class of output feedback controller equipped with a feedforward term, a proportional effect, and a double integrator, we offline design the controller's gains by means of a single bilinear optimization problem. A peculiar feature of the proposed design is that the sets of all the admissible reference signals and the plant's initial conditions are also offline determined. Simulation results are provided to testify to the effectiveness of the proposed tracking controller and its capability to deal with both state and input constraints., Comment: Preprint of the conference paper submitted to the 2024 American Control Conference

Published
2024

19. Control of Mobile Robot Considering Actuator Dynamics with Uncertainties in the Kinematic and Dynamic Models

Author

Martins, Nardênio A., Bertol, Douglas W., De Pieri, Edson R., Castelan, Eugênio B., Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Omatu, Sigeru, editor, Rocha, Miguel P., editor, Bravo, José, editor, Fernández, Florentino, editor, Corchado, Emilio, editor, Bustillo, Andrés, editor, and Corchado, Juan M., editor

Published
2009
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46. Dynamic controllers for local input‐to‐state stabilization of discrete‐time linear parameter‐varying systems with delay and saturating actuators.

Author

Souza, Carla, Castelan, Eugênio B., and Leite, Valter J. S.

Subjects
*LINEAR systems, *ACTUATORS, *DISCRETE-time systems
Abstract

Summary: We address the design of dynamic parameter‐dependent controllers with antiwindup action to locally stabilize in the input‐to‐state sense a class of discrete‐time linear parameter‐varying (LPV) systems. Such a class consists of systems with delayed state, saturating actuators, and subject to energy bounded disturbances. Moreover, the interval time‐varying delay can have a limited variation rate between two consecutive instants allowing to achieve less conservative design conditions. Differently from other conditions in the literature, the proposed convex synthesis methods allow to design dynamic controllers of different orders. Additionally, the user can choose to feed back only the current output of the system or its delayed ones. Thanks to the embedded (parameter dependent) antiwindup action, it is possible, for instance, to enlarge the region of admissible initial conditions or the maximum admissible disturbance energy. To illustrate the efficiency of our approach, we present numerical examples to compare with other methods from the literature. [ABSTRACT FROM AUTHOR]

Published
2021
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