Nonlinear model control of DC/AC voltage converter of an isolated three phase power network

In dealing with the problem of the SAPF’s nonlinear and strong coupling model, the internal model control of three-phase four-leg active power filter based on online ANN method is studied in this paper. With the ANN’s nonlinear mapping ability of self-learning and self-organizing modeling, the inverse system can be approximated by online LS-SVM. In order to have a good linearization control effect, the internal model control based on ANN is proposed for the combined pseudo-linear system. This method can be used to design effective controllers for nonlinear system with unknown mathematical models. At last, the simulation results show that a good steady-state performance can be obtained under the improved method

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A DSP-Based Implementation of a Nonlinear Model Reference Adaptive Control for a Three-Phase Three-Level NPC Boost Rectifier Prototype

IEEE Transactions on Power Electronics ◽

10.1109/tpel.2005.854034 ◽

2005 ◽

Vol 20 (5) ◽

pp. 1084-1092 ◽

Cited By ~ 55

Author(s):

L. Yacoubi ◽

K. Al-Haddad ◽

L.-A. Dessaint ◽

F. Fnaiech

Keyword(s):

Adaptive Control ◽

Nonlinear Model ◽

Model Reference Adaptive Control ◽

Model Reference ◽

Three Phase ◽

Boost Rectifier ◽

Model Reference Adaptive

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Model-predictive reference trajectory planning for redundant pneumatic collaborative robots

at - Automatisierungstechnik ◽

10.1515/auto-2019-0127 ◽

2020 ◽

Vol 68 (5) ◽

pp. 360-374

Author(s):

Annika Mayer ◽

Daniel Müller ◽

Adrian Raisch ◽

Oliver Sawodny

Keyword(s):

Nonlinear Model ◽

Joint Space ◽

Reference Trajectory ◽

Control Loop ◽

Collaborative Robots ◽

Model Control ◽

Continuum Robot ◽

Predictive Controller ◽

Human Operators ◽

Working Day

AbstractCollaborative robots have the potential to simplify the working day of the future. The goal in the development of these robots is to assist human operators by handling all sorts of tasks. A common underlying problem is to move the robot’s tool center point in a desired way. In this work we consider the generation of a feasible trajectory in joint space given a reference in task space. This is done at the example of the Bionic Handling Assistant (BHA), a compliant, redundant and pneumatically driven continuum robot. The trajectory for the BHA is obtained using a model control loop (MCL) which internally realizes a nonlinear model predictive controller (NMPC). We simplify the high dimensional and nonlinear model of the BHA to a computational efficient model which still covers the major effects of the original dynamics. This results not only in a feasible trajectory but also enables the model control loop to be real-time applicable. The proposed method is validated in simulation.

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