Medeiros, Adelardo Adelino Dantas deMorais, Daniel Silva de2021-07-022021-10-062021-07-022021-10-062018-12-12MORAIS, Daniel Silva de. Identificação, controle e predição de robôs de acionamento diferencial, levando em consideração o tempo de atraso e zona morta. 2018. 53 f. Trabalho de Conclusão de Curso (Graduação em Engenharia de Computação) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2018.https://repositorio.ufrn.br/handle/123456789/43647This work presents the modeling, identification and prediction of the dynamic system of non-holonomic mini-robots with two differential drive wheels. Using the strategy of changing control variables x, y and theta to l and theta it is possible to obtain a linear model, where l is the linear displacement of the robot. This strategy allowed the disappearance of the non-holonomic constraint, allowing linear control theory to be used to design the control of this type of robot. The main challenge is to calculate appropriate references in such a way that, if they are reached, the robot will go to the desired position or to the desired posture. For the identification of the model, the least squares method and Akaike criterion was used to decide the best candidate model. After the identification of the model, simulated and real tests were used for validation. The results showed that the model was identified with quality.Identificação de sistemasRobô móvelRestrição não holonômicaModelo linearbachelorThesisSistemas de Controle