Title:	Controlador preditivo para uso em pulverizadores agrícolas com simulador operando em hardware-in-the-loop.
Authors:	SCHUTZ, D. R. OLIVEIRA, V. A. MERCALDI, H. V. PENALOZA, E. A. G. CRUVINEL, P. E.
Affiliation:	PAULO ESTEVAO CRUVINEL, CNPDIA.
Date Issued:	2022
Citation:	In: Simpósio Brasileiro de Automação Inteligente - SBAI, XV, 2021.
Pages:	871 - 878
Description:	In line with the need to increase the productivity in agriculture, several researches have been developed to improve agricultural application techniques for pest control. This paper presents a predictive controller embedded in a direct injection sprayer. A generalized predictive controller (GPC) with constraint algorithms were developed using a Toeplitz and Hankel matrix model which facilitates the implementation in an embedded manner. The main contributions are the modification of the GPAD algorithm (accelerated dual gradient projection) to include a scaling factor reducing the saturation region of the control signal, the use of the Toeplitz and matrix representation Hankel, as well as the use of low-cost hardware-in-the-loop. The results show the efficiency of the GPC applied to a spraying system and its effectiveness in obeying control constrainsts by means of the PGS (projected Gauss-Seidel) and GPAD algorithms and, encourage new research in agricultural pest control.
Keywords:	GPC controller Control saturation Algorithms PGS and GPAD Toeplitz and Hankel’s matrices
ISSN:	2175-8905
DOI:	10.20906/sbai.v1i1.2672
Type of Material:	Artigo em anais e proceedings
Access:	openAccess
Appears in Collections:	Artigo em anais de congresso (CNPDIA)