Funções de barreira de controle aplicadas à um robô móvel omnidirecional
Abstract
Funções de barreira de controle (FBCs) têm sido bastante estudadas recentemente e estão relacionada com segurança de sistemas de controle. A segurança é representada por restrições nos estados e nas saídas do sistema. A estrutura de controle final integra os objetivos de estabilização/rastreamento, descritos por uma função de Lyapunov de controle (FLC) ou por uma entrada de controle nominal, e as restrições de segurança, descritas por FBCs, por meio de uma programação quadrática (PQ). O objetivo e a principal contribuição deste trabalho é a aplicação desta estrutura de controle no robô móvel Robotino (Festo), que é usado em diversas instituições de ensino no Brasil e o no mundo, e diferentemente de muitos robôs móveis didáticos, apresenta uma estrutura mais robusta, maior potência de acionamento e é omnidirecional, sendo mais compatível com aplicações práticas reais. Diversos trabalhos apresentados na literatura propõem o controle do Robotino para satisfazer objetivos de estabilização/rastreamento, no entanto, nenhum destes trabalhos aplicam FBCs para que restrições de segurança sejam respeitadas. Os resultados, obtidos através de simulações computacionais, demonstram que os objetivos de estabilização/rastreamento, representados por trajetórias de referência, e as restrições de segurança, representadas por restrições de posições e de coordenadas do sistema robótico, foram satisfeitos.
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