Banca de QUALIFICAÇÃO: ROSANA CIBELY BATISTA REGO

Uma banca de QUALIFICAÇÃO de DOUTORADO foi cadastrada pelo programa.
STUDENT : ROSANA CIBELY BATISTA REGO
DATE: 14/05/2021
TIME: 09:00
LOCAL: Sala virtual Google Meet
TITLE:

Lyapunov-based Intelligent Control

KEY WORDS:

Neural networks; Intelligent control: Neuro-control; Control Lyapunov function.

PAGES: 69
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

Nonlinear dynamical systems play a crucial role in control systems because, in practice, all the plants are nonlinear. However, achieving control for nonlinear systems is not simple though many methods have been developed. There are still some problems to be improved, as robust control balance in humanoid robots and the modelling inaccuracies of the autonomous underwater vehicle, which has a small-pitch-angle. Usually, a Lyapunov function is used to perform a control and stability analysis of a nonlinear system. The procedure for obtaining a Lyapunov function is not a simple task. There have been many efforts and numerical methods in the literature on how to estimate Lyapunov functions for several kinds of systems. An artificial neural network is a useful tool for generating functions. Motivated by this, we explore the capability of a neural network to compute Lyapunov functions and provide a deep neural network to compute a control Lyapunov function without any linear approximation for nonlinear systems. Moreover, we are interested in checking the equilibrium point stability and obtaining an estimation of its region of attraction contained in the set.

BANKING MEMBERS:
Presidente - 1451883 - FABIO MENEGHETTI UGULINO DE ARAUJO
Interno - 1328152 - CARLOS EDUARDO TRABUCO DOREA
Interno - 1445637 - WALLACE MOREIRA BESSA
Externo à Instituição - MARCUS VINICUS SILVÉRIO COSTA - UFERSA
Externo à Instituição - TAKASHI YONEYAMA - ITA