Identificação e controle iterativo aplicados a veículos autoguiados.

Abstract

Several approaches for the identification and control are presented in the literature. The optimal performance that can be attained for a closed loop system is an unknown variable. This variable must be specified a priori based on the knowledge that the controller's engineer has about the plant which dynamic behavior has to be modified. This knowledge about the plant can be represented in terms of its mathematical model. In order to obtain the optimal performance of the plant it is necessary to have a model that ideally represent its dynamic behavior. For several reasons this is not possible in practical terms. If a performance is specified, it is not guarantied that this performance is the best that can be attained with the controller's complexity and plant's model used. Nevertheless, there is one approach that searches for the maximum performance for operation in closed loop. This approach is known as Iterative Control. In the iterative schemes the search for the maximum performance is done based on the repetition of identification and control designing steps. The synergy between these steps is the key point of the iterative approaches. This thesis presents an iterative scheme that automatically tune the closed loop in order to obtain the maximum performance while keeping the stability of the system. The definition of the model structure is based on the proposed iterative control scheme and on the control criterium. Furthermore, this thesis presents a new approach for the model order estimation of linear models. The plant used in the experimental results is an autonomous vehicle which model is in the appendix. vi