Suavização de oscilações em barra pulverizadora com input shaping e controle adaptativo robusto por modelo de referência

Abstract

The need for the sprayer boom to be parallel to the ground during operation requires active suspension systems with controllers that minimize oscillations associated with rolling movement. This work proposes the integration of the zero-vibration (ZV) input shaping technique with model-based adaptive controllers, the MRAC and the VS-MRAC, comparing their results. The robustness of VS-MRAC is evidenced with gains in tracking and control signal when it is integrated into input shaping, although control signal filtering should be added. MRAC does not present the switching problem, however it is more sensitive to simulated disturbances.