ARAUJO, R. T.; http://lattes.cnpq.br/8434827733748660; ARAUJO, Rodrigo Toledo de.
Resumen:
This work proposes: the determination of an analytical model and a control law for
the airpendulum system through Lagrangian mechanics; The determination of a
data-driven model of the aeropendulum using Lagrangian Neural Networks. To carry out
this work, concepts such as networks neural networks, Lagrangian mechanics, Newtonian
mechanics, numerical integration, symbolic mathematics and analog control. The behavior
of the aeropendulum was modeled in three diferent ways: using Newtons and Kirchhofs
laws, using Lagrangian mechanics and using Lagrangian Neural Networks. Validation
of analytical solutions was carried out using Newtons and Kirchhofs laws and using
Lagrangian mechanics. Furthermore, using the Energy Shaping technique, a controller for
the angular position of the aeropendulum was designed and validated.