Projeto de controladores para um sistema subatuado não-linear.

Abstract

This Final Course Work (TCC) addresses the development of control strategies for underactuated nonlinear mechanical systems using Lagrangian mechanics. Underactuated systems, characterized by having fewer actuators than degrees of freedom, present significant challenges due to their complex and nonlinear dynamics. This work focuses on the modeling of the cart-pole dynamic system, the implementation of stabilization controllers based on controlled Lagrangians and the feedback linearization technique, in addition to the stability analysis using the Lyapunov method. The controller results were demonstrated through simulations, performed with MATLAB and Simulink software, in which the control objectives were achieved and the effectiveness of the proposed control strategies was shown, ensuring the desired stability. This study contributes to the development of more robust and effective control methods, applicable in various technological and industrial contexts.