Self-tuning control design strategy for an electronic throttle with experimental robustness analysis

This paper presents a new and specific use of a bidirectional interleaved converter to perform a power interface in hybrid microgrids. The converter is responsible for regulating the power flow between the direct-current (DC) microgrid and the rest of the hybrid microgrid by controlling the DC microgrid voltage. The authors present a detailed modeling of the mentioned system in order to develop the system control design and a stability analysis. In addition, the authors propose a new control design strategy aiming at improving the voltage control disturbance rejection characteristic, while maintaining a good dynamic behavior regarding the reference tracking functionality. In this hybrid microgrid topology, a back-to-back converter connects the main grid to the AC microgrid. The main objective of this converter is to provide a high-power-quality voltage to critical and sensitive loads connected to the microgrid. The interleaved converter adjusts the DC microgrid voltage according to the operational voltage of the back-to-back converter DC link. In the DC microgrid case, the variation of load and generation connection could lead to serious voltage sag and oscillations that could be harmful to the sensitive loads. The voltage controller must be capable of rejecting these disturbances in order to maintain a high-power-quality voltage. Furthermore, experimental results are provided in order to validate this specific application of the interleaved converter and the presented control design strategy.

Download Full-text

Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model

Electronics ◽

10.3390/electronics10212686 ◽

2021 ◽

Vol 10 (21) ◽

pp. 2686

Author(s):

Maria Tomas-Rodríguez ◽

Elías Revestido Herrero ◽

Francisco J. Velasco

Keyword(s):

Autonomous Underwater Vehicle ◽

Control Method ◽

Linear Time ◽

Control Design ◽

Underwater Vehicle ◽

Minimum Variance ◽

Use Of Self ◽

Self Tuning ◽

Heading Angle ◽

Iteration Technique

This paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original nonlinear problem and a self-tuning control method so that the controller is designed at each time point on the interval for trajectory tracking and heading angle control. This work makes use of self-tuning minimum variance principles. The benefit of this approach is that the nonlinearities and couplings of the system are preserved, unlike in the cases of control design based on linearized systems, reducing in this manner the uncertainty in the model and increasing the robustness of the controller. The simulations here presented use a torpedo-shaped underwater vehicle model and show the good performance of the controller and accurate tracking for certain maneuvering cases.

Download Full-text