The document discusses intelligent control in mechatronic systems, emphasizing the need for controllers that can adapt and learn from their environment. It highlights various applications such as mobile robots, underwater robotics, and artificial pancreas systems, and presents techniques like artificial neural networks and sliding mode control. The document also addresses the significance of intelligent control in managing uncertainties and ensuring robust system performance.

1. Intelligent control
of mechatronic
systems
Wallace Moreira Bessa
Mechanical Engineering
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2. What is intelligent control?
Highlights of the talk
Some applications of intelligent control.
When do we need intelligent control?

3. What is a control scheme?
Controller
Sensory feedback
y
u
error
reference

4. e Intelligent
Controller
Compensator
e y
What is intelligent control?
r u
Sensory feedback

5. What is intelligence?

6. The controller must be able to adapt itself to
changes in the plant;
predictions
It should learn from experience and acquire
knowledge interacting with the environment;
Adaptation learning
and allow the controller
to improve its ability to make
about plant dynamics.
Features of intelligent control

7. Intelligent compensation
Artificial neural networks

8. Stability and convergence
Lyapunov stability theory

9. Sliding mode control

10. Sliding mode control
(*) W. M. Bessa, International Journal of Automation and Computing 6(2) 154-158, 2009.

11. Unstructured and dynamic environments:
> High level of uncertainties;
> Full information not available;
If versatility is required:
> External disturbances.
> Multiple users/operators.
Why intelligent control?

12. Why intelligent control?
(2) Sliding Mode Controller with Artificial Neural Networks
(1) Proportional-Integral-Derivative Controller
Operating range
Parameters set
Ease of tuning
Robustness
(1)
PID SMC + ANN
(2)

13. Mobile robots
(*) V.R. Moreira, G.S. Lima, W. M. Bessa, Intelligent control of an omnidirectional mobile robot, 2021.
Tracking a circular path

14. Container cranes
(*) W.M. Bessa, S. Otto, E. Kreuzer, R. Seifried, Journal of Vibration and Control 25(9), 1521-1535, 2019
Oscillation attenuation and trajectory tracking

15. Underwater robotics
Depth tracking
(*) W.M. Bessa, E. Kreuzer, J. Lange, M.-A. Pick, E. Solowjow, IEEE Robotics and Automation
Letters 2(4), 1871-1877, 2017

16. (*) J.D. dos Santos & W. M. Bessa, Electronics Letters 55(2), 78-80, 2019.
Electro-hydraulic actuators

17. Desired
glucose
level
Dynamic
physiology
Eating
Stress
Exercise
Insulin
pump
Sensed glucose level
Error Insulin
Artificial pancreas
Insulin pump and
glucose sensor
(*) J.L. de Farias & W. M. Bessa, Intelligent control of an artificial pancreas, 2021.

18. McKinsey & Company: "Predictive maintenance typically reduces machine downtime
by 30-50% and increases machine life by 20-40%."
Remaining
Useful Life
Failure?
Smart Condition Monitoring
Noise
Temperature
Vibration

19. Wallace Moreira Bessa
Mechanical Engineering
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