Este trabalho apresenta a aplicação de técnicas de controle preditivo para rastreamento de trajetórias de um robô paralelo. A estratégia de controle preditivo generalizado (GPC), que considera o modelo dinâmico linearizado, é usada para melhorar a precisão de rastreamento das trajetórias. O controlador preditivo generalizado é robustificado devido ao ruído de medição e dinâmicas não modeladas utilizando parametrização Youla. É realizada Uma simulação do robô Orthoglide considerando as incertezas dos parâmetros geométricos e dinâmicos, ruído nos sensores e atritos para duas trajetórias diferentes. Finalmente, o controlador GPC robus-tificado e a técnica de Controle de Torque Computado (CTC) são comparadas. Os resultados das simulações mostram que o controlador GPC robustificado apresenta um melhor desempenho para altas acelerações e também reduz o efeito do ruído no sinal de controle do robô paralelo.

This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.

Abstract: The Satellite Launch Vehicle electrical network, which is currently being developed in Brazil, is sub-divided for analysis in the following parts: Service Electrical Network, Controlling Electrical Network, Safety Electrical Network and Telemetry Electrical Network. During the pre-launching and launching phases, these electrical networks are associated electrically and mechanically to the structure of the vehicle. In order to succeed in the integration of these electrical networks it is necessary to employ techniques of electrical power distribution, which are proper to Launch Vehicle systems. This work presents the most important techniques to be considered in the characterization of the electrical power supply applied to Launch Vehicle systems. Such techniques are primarily designed to allow the electrical networks, when submitted to the single-phase fault to ground, to be able of keeping the power supply to the loads.

Abstract: The Satellite Launch Vehicle developed in Brazil employs a specialized unit at the launch center known as the Movable Integration Tower. On that tower, fixed and movable work floors are installed for use by specialists, at predefined periods of time, to carry out tests mainly related to the pre-launch phase of that vehicle. Outside of those periods it is necessary to detect unexpected movements of platforms and unauthorized people on the site. Within that context, this work presents an evaluation of different resolutions of convolution mask and tolerances in the efficiency of a proposed algorithm to supervise scenery changes on these work floors. The results obtained from this evaluation are satisfactory and show that the proposed algorithm is suitable for the purpose for which it is intended.