José Oniram de Aquino Limaverde Filho

• Ph.D.
• Professor at University of Brasília

The tracking control design problem for a nonlinear ball and beam system is addressed. In this paper, the flatness property of the system is here exploited for design a state feedback control scheme aiming to stabilize the system's trajectory tracking error with respect to off-line planned trajectories. Differentially flat nonlinear systems can be...

O projeto de sistemas de controle representa um dos campos mais ativos de pesquisa devido às diversas aplicações, em especial, nas engenharias. Uma típica abordagem da teoria de controle em sistemas modernos consiste na análise da evolução temporal dos estados do sistema, os quais, na prática, nem sempre são possíveis de medir através de mecanismos...

The Kalman filter is one of the most widely used methods for state estimation and control purposes. However, it requires correct knowledge of noise statistics, which are unknown or not known perfectly in real-life applications and then they need to be identified. Considering such background, this paper introduces a new adaptive Kalman filter algori...

Differential flatness theory has been widely used for both tracking control and state estimation of nonlinear systems. Recently, the concept of flat inputs has been proved to be a valuable tool for control design if the system is non-differentially flat. However, flat inputs have not been used yet to solve state estimation problems for these system...

The present article introduces an adaptive filter of statistical basis developed for closed-loop control applications, whose goal is to reduce actuator wear while ensuring a similar control performance regarding the original closed-loop system. The main idea is to avoid the rapid change of the filtered signal when the system output has a derivative...

Differential flatness theory has proven useful in providing efficient solutions to advanced control and state estimation problems. However, its application to differentially flat systems whose flat output vector is not directly measurable may face practical limitations. Recently, the concept of flat inputs has emerged as a promising approach to ove...

The investment in non-dispatchable renewable energy sources (such as solar and wind) increased over the last decade in response to growing concerns about global warming. However, this phenomenon also increases the flexibility gap for the electrical grid regarding dispatchable energy sources, commonly combustion power plants. Considering such backgr...

The control of underactuated mechanical systems represents one of the most active areas of research in robotics and control system engineering, with a strong practical interest. Recently, methods based on differential flatness theory have been found to be useful in nonlinear control design for marine vehicles. However, to the best of the authors' k...

The ball and plate system serves as a popular nonlinear benchmark system in control engineering. In this paper, a robust flatness-based nonlinear control strategy combined with an integral action is proposed to address the trajectory tracking problem for a ball and beam system, considering the influence of unknown external input disturbances and pa...

O potencial econômico do uso de simulações numéricas vem sendo explorado na indústria petrolífera de maneira histórica devido ao investimento contínuo em novas técnicas de otimização da produção em reservatórios de petróleo. Por outro lado, o procedimento de identificação e calibração desses modelos representa um dos maiores desafios da indústria....

Proportional Integral Derivative (PID) control tuning based on Internal Model Control (IMC) is widely used in industrial control loops due to its simplicity and robustness. It is widespread in the petroleum, chemical, pharmaceutical, and food industries regarding tank-level control. For nonlinear plants, the main drawbacks of the IMC tuning techniq...

Hydrotreated naphtha is a complex hydrocarbon used to produce gasoline and it is composed of heavy and light naphtha based on sulfur content. The heavy cut must go through hydrodesulfurization (HDS), while the light cut meets the sulfur requirements of gasoline and should be removed to decrease load on HDS reactors. Prior to this study, a filter de...

Liquid level control has been a continuous challenge in a considerable number of industrial processes, especially when one has to simultaneously satisfy multiple control performance specifications. This paper presents a comparative study between Particle Swarm Optimization and Gray Wolf Optimization as tuning methodologies for a flatness-based cont...

The concept of flat inputs has been proved to be a valuable tool for control design if the system is non-differentially flat. Recently, flat inputs have also found to be useful to provide efficient solutions to solve state estimation problems for these systems. However, to the best of our knowledge no studies have yet investigated the impact of inc...

Gantry cranes systems are widely used in heavy load transportation industries, which increasingly requires engineering solutions to improve efficiency while considering safety precautions. Aiming to reduce the actuator wear of these systems, this article proposes to add a model-free adaptive filter in the control loop to mitigate the impact of meas...

O procedimento de identificação, calibração e ajuste de histórico de modelos de reservatório é um procedimento caro, visto o conhecimento requerido e a dificuldade de ajustar o modelo à curva de produção passada e manter sentido físico capaz de prever satisfatoriamente a produção futura do reservatório. Recentes avanços na otimização de produção em...

The vast knowledge required and the difficulty of adjusting the model to the past production curve while maintaining a physical sense capable of satisfactorily forecasting the reservoir production are well-known factors that result in high costs for identification, calibration and history matching of reservoir models. Recent advances in reservoir p...

Understand the flow dynamics in the reservoir is extremely important to maximize the net present value (NPV) of oil exploration in any reservoir. Water or gas breakthroughs are the main issue in reservoirs because, after this moment, water or gas production increases progressively reducing the oil production and, therefore, the NPV of the explorati...

Este artigo apresenta um estudo sobre a produção de petróleo sob o fenômeno do cone de água, levando em consideração a taxa de viscosidade entre fluidos e sua aplicação na configuração ideal de AICD (Autonomous Inflow Control Device). O cone de água é um dos fenômenos que prejudicam a produção de petróleo, ainda mais em campos maduros onde a injeçã...

Hybrid heave compensators mitigate the heave movement on offshore drilling platforms, which are constantly moved by the action of waves, winds and ocean currents causing an undesirable movement to the load. The hybrid compensator consists of an active and a passive compensator. In this article, a novel nonlinear active control to improve the attenu...

Nowadays, new horizontal wells prone to experience gas cone problem usually have multiple production zones. These wells are equipped with inflow control devices (ICDs) or autonomous inflow control devices (AICDs) to mitigate the production of the undesired fluid. In the proposed study, we use analytical calculation, numerical simulations and experi...

This paper presents a novel adaptive extended Kalman filter for nonlinear discrete-time systems that deals with variations in the process noise covariance. The process noise covariance is estimated at each sample time by calculating the innovation term covariance through exponential moving average. Numerical simulations were carried out to illustra...

This paper presents a control design for infinite dimensional systems with multiple inputs and multiple outputs. By using finite differences method, differential flatness theory and model simplifications, we propose to reduce the original problem to the control of a group of independent low order single input systems. The control strategy is illust...

One of the challenges of the installation of subsea equipment is the precise positioning of the equipment in a desired location on the seabed. This positioning procedure is still commonly performed manually by an operator. This article presents a trajectory tracking control system design for the positioning of a subsea equipment. This work will be...

This paper presents a backstepping approach for an active heave compensator actuated by a double acting cylinder. For practical applications, is desired to stabilize the system around the equilibrium point when subjected to unknown external disturbances. Knowing the governing equations, a robust backstepping control design is proposed by introducin...

This paper presents a flatness-based control approach for an active heave compensator actuated by a double acting cylinder. For practical applications, is desired to stabilize the system around the equilibrium point when subjected to unknown external disturbances. Knowing the governing equations, the control system is designed combining the flatnes...

The four-tank system is presented as didactic way to study concepts and properties of minimum and non-minimum phase of multivariable systems, being extensively explored in the process control literature. This work proposes a flatness-based control design for the four-tanks system. The nominal trajectories are planned exploiting the liouvillian char...

This paper proposes a flatness-based nonlinear predictive control strategy to solve the trajectory tracking problem for an underactuated quadrotor system model. It is shown that the present nonlinear model can be transformed to a controllable linear system on Brunovskys canonical form by using the differential flatness theory. Thus, a model predict...

The gas coning is the phenomenon characterized by the migration of the gas to the oil zone close to the wellbore. The article is dedicated to the gas coning control, thus avoiding the gas to reach the production zone of the well. It presents the numerical model used to simulate a two-dimensional section of an horizontal well, the proposition of a r...

This paper proposes a control strategy for the deep sea installation of wellhead equipments hanged by flow line structures, named risers. A fundamental step of this operation is the positioning of the equipment over the wellhead, which can be costly, time-consuming, and unfeasible in bad weather conditions. The approach taken considers the riser st...

A controller for the nonlinear system of a small horizontal axis fixed pitch wind turbine was developed by planning and tracking trajectory techniques. The control is performed by the differential flatness method, which has external resistances of the turbine's generator as inputs and the desired speed of the turbine as the system output. The plann...

O desenvolvimento e o crescimento na demanda por energia eólica fazem com que se desenvolvam cada vez mais pesquisas na área de otimização de potência de produção das turbinas eólicas. O presente artigo mostra o problema de stall encontrado para baixas rotações em turbinas eólicas causando imprecisão na curva de potência do sistema. Neste estudo fo...

The problem of tracking a desired trajectory for a nonlinear underactuated autonomous underwater vehicles (AUV's) model with only three actuators is addressed. This paper proposes to compute offline open loop trajectories exploiting the liouvillian character of the nonlinear model. A flatness-based control approach is applied in the system lineariz...

Trajectory tracking is an issue of vital practical importance for manoeuvreing marine vessels and dynamic position system in many offshore oil field operations. In this paper, a flatness based approach is proposed on the tracking control design for a simplified underactuated ship model. The open loop trajectories are planned in an off-line manner e...

Trajectory tracking is an issue of vital practical importance for manoeuvreing of marine vessels and dynamic position system in many offshore oil field operations. In this work, a flatness based approach is proposed on the tracking control design to define open loop trajectories for a simplified model of the underactuated Hovercraft. The flat outpu...

Automatic object detection in satellite images is still an unsolved problem that many researchers are trying to address. In this context road detection is of particular importance for transportation and environmental applications. In this paper we propose a novel algorithm for detection roads in high resolution pancromatic imagery. It first detects...