Max Dutra

The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation of thruster dynamics. Without compensation, the closed-loop positioning system can exhibit limit cycles. This undesired behaviour may compromise the overall system stability. In this work, a fuzzy sliding-mode compensation scheme is proposed for electrically actuated bladed thrusters, which are commonly employed in the dynamic positioning of underwater vehicles. The boundedness and convergence properties of the tracking error are analytically proven. The numerical results suggest that this approach shows a greatly improved performance when compared with an uncompensated counterpart.

About Me

Dr. Dutra holds a degree in Mechanical Engineering from Universidade Federal Fluminense (1987), a Master's degree in Mechanical Engineering from the Federal University of Rio de Janeiro (1990), and a Ph.D. in Mechanical Engineering from Universität Duisburg-Essen - Germany (1995). He is currently a Full Professor in the Mechanical Engineering Program at COPPE / UFRJ. Has experience in Mechanical Engineering, with emphasis on Robotics, working mainly on the following topics: mechatronic design, instrumented safety systems, accident analysis, forensic engineering, risk analysis, robotics, instrumentation, industrial automation, machine design, biomechanics, non-linear dynamics, multi-body systems, and home automation.

Max Dutra

Max Dutra

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About Me