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
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
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