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All Journal International Journal of Robotics and Control Systems
Angelo Marcelo Tusset
Federal University of Technology-Paraná (UTFPR)
Control & Systems Engineering Electrical & Electronics Engineering

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SDRE and LQR Controls Comparison Applied in High-Performance Aircraft in a Longitudinal Flight Guilherme P. Dos Santos; Adriano Kossoski; Jose M. Balthazar; Angelo Marcelo Tusset
International Journal of Robotics and Control Systems Vol 1, No 2 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i2.329

Abstract

This paper presents the design of the LQR (Linear Quadratic Regulator) and SDRE (State-Dependent Riccati Equation) controllers for the flight control of the F-8 Crusader aircraft considering the nonlinear model of longitudinal movement of the aircraft.  Numerical results and analysis demonstrate that the designed controllers can lead to significant improvements in the aircraft's performance, ensuring stability in a large range of attack angle situations. When applied in flight conditions with an angle of attack above the stall situation and influenced by the gust model, it was demonstrated that the LQR and SDRE controllers were able to smooth the flight response maintaining conditions in balance for an angle of attack up to 56% above stall angle.  However, for even more difficult situations, with angles of attack up to 76% above the stall angle, only the SDRE controller proved to be efficient and reliable in recovering the aircraft to its stable flight configuration.
Syngas Generation Process Simulation: A Comparative Study Reyner P. P. de Oliveira; Maria E. K. Fuziki; Priscila M. L. Z. Costa; Angelo Marcelo Tusset; Giane G. Lenzi
International Journal of Robotics and Control Systems Vol 2, No 1 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i1.584

Abstract

Methane reforming processes are of great importance for both the reduction of this greenhouse gas concentration in the atmosphere and for hydrogen production for energetic or chemical synthesis purposes. The use of Biogas in substitution for methane in reforming processes still provides a solution for the recovery of organic waste capable of producing Biogas. However, an in-depth analysis of the advantages of this substitution from the point of view of process yield is still lacking. Thus, the main contribution of the present research is the focus given to the comparison between methane and biogas as a reactant for the dry and steam reforming processes. In this work, a computational comparison of syngas production processes was performed, considering the system within the open-loop control. The software Aspen Hysys was used based on the minimization of Gibbs free energy in equilibrium. The parameters studied were: molar ratio of reagents (1-5), temperature (600-1000 °C), and pressure (1-5 bar). Dry methane reforming and steam methane reforming units were simulated, as well as both units using Biogas as a methane source. The plant was built in the simulator, and the results obtained indicated that high values in the molar ratio of CO2/CH4, CO2/Biogas, H2O/CH4, and H2O/Biogas, high temperatures, and low pressures favor the maximum conversion of methane. The use of Biogas in replacement of pure methane in the reform process proved to be advantageous for favoring the synthesis gas production reaction, besides adding value to a residue.
Active Control System Applied to Vibration Level Control in High-Speed Elevators Marcos Gonçalves; Jose M. Balthazar; Clivaldo Oliveira; Maria E. K. Fuziki; Giane G. Lenzi; Angelo Marcelo Tusset
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.768

Abstract

This work presents an active control system applied to vibration level reduction in high-performance vertical transport, aiming at improving the passengers’ comfort in high-speed elevators. The control system design includes the use of a Proportional Integral Derivative (PID) control. Three strategies were proposed in order to achieve a 90% reduction in the vibration amplitudes: (I) the consecutive reduction of 90% of the displacements, (II) the consecutive reduction of 90% of the velocity, and (III) the consecutive reduction of 90% of the acceleration. The presentation of these three proposals allows their application for the use of different sensors. The performance of each strategy was evaluated through mathematical modeling and numerical simulations of a vertical transport with 4 degrees of freedom, submitted to excitations arising from rail deformations. Vibration and comfort levels in the cabin were numerically analyzed, taking into account ISO 2631 and BS 6841 standards for elevator lateral acceleration level and comfort level felt by passengers. Numerical simulations showed that the force required to reduce the vibration levels is practically the same for the three proposed strategies. However, strategy (III) – the successive reduction of 90% of acceleration – proved to be more efficient at improving passengers’ comfort level when compared to the other two strategies.
Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component Jose A. G. Luz Junior; Jose M. Balthazar; Mauricio A. Ribeiro; Frederic C. Janzen; Angelo Marcelo Tusset
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.984

Abstract

This research aims to develop a dynamic model of a robotic manipulator with one degree of freedom by incorporating the LuGre friction model. The study combines a mathematical model with experimental data analysis, using the Stribeck curve and Non-linear Least Square method for Parameter Identification. The purpose of the study is to improve the accuracy of the model and enhance the performance of robotic manipulators. The LuGre model is chosen for its ability to capture the nonlinear behavior of friction, which is a significant source of error in robot control systems. The effectiveness of the proposed representation is evaluated by comparing the simulation results of the dynamic model with experimental data obtained from a prototype. The results indicate that the model accurately captures the nonlinear behavior of friction, and the proposed approach can be used to develop more accurate models for control purposes.
Co-Authors Adriano Kossoski Clivaldo Oliveira Frederic C. Janzen Giane G. Lenzi Giane G. Lenzi Guilherme P. Dos Santos Jose A. G. Luz Junior Jose M. Balthazar Jose M. Balthazar Jose M. Balthazar Marcos Gonçalves Maria E. K. Fuziki Mauricio A. Ribeiro Priscila M. L. Z. Costa Reyner P. P. de Oliveira