Frequency-stabilizing control scheme for islanded microgrids

Abstract Oscillatory base manipulators (OBMs) are a kind of mechanical systems suffering from unexpected base oscillations. The oscillations affect tremendously system stability. Various control methods have been explored, but most of them require measurement or prediction of the oscillations. This study is concerned with a novel OBM-the autoloader, which are used in modern, autonomous main battle tanks. The base oscillation of the autoloader is hard to be obtained in practice. Furthermore, control synthesis for autoloaders is complicated with intrinsic payload uncertainty and actuator saturation. To address these issues, a novel robust control scheme is proposed in this work relying on the implicit Lyapunov method. Moreover, a novel two-Degree-of-Freedom manipulator operating on a vibrating base is constructed to realize the proposed control. To the best of the authors' knowledge, this is the first study considering both control and hardware implementation for the OBM-like autoloaders. Experimental results demonstrate that, although without prior information of the base oscillation, the proposed controller exhibits good robustness against the base oscillation and payload uncertainty.

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Experimental study on power system stabilizing control scheme for the SMES with solid-state phase shifter (SuperSMES)

IEEE Transactions on Applied Superconductivity ◽

10.1109/77.783301 ◽

1999 ◽

Vol 9 (2) ◽

pp. 326-329 ◽

Cited By ~ 11

Author(s):

D. Kamolyabutra ◽

Y. Mitani ◽

T. Ise ◽

K. Tsuji

Keyword(s):

Experimental Study ◽

Solid State ◽

Power System ◽

Phase Shifter ◽

Stabilizing Control ◽

Control Scheme

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Dynamic analysis and stabilizing control of three-axis spherical gimbal

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819874559 ◽

2019 ◽

Vol 234 (5) ◽

pp. 609-621

Author(s):

Wu-Sung Yao ◽

Po-Wen Hsueh ◽

Hsien-Tang Yeh

Keyword(s):

Control System ◽

Unmanned Aerial Vehicle ◽

Controller Design ◽

Iterative Learning ◽

Stabilizing Control ◽

Mathematic Modeling ◽

Control Scheme ◽

Aerial Vehicle ◽

Stable Control ◽

Experimental Disturbance

Nowadays, stabilized gimbals have been popular products on the present market for unmanned aerial vehicle. Rejecting multi-periodic vibration disturbance is a key point for accuracy motion of the gimbal under the flight operation of unmanned aerial vehicle. In this study, a stable control scheme of a three-axis spherical gimbal is proposed, where a new method for synthesizing multi-iterative learning control algorithm is exported. To design the controller, the mathematic modeling of the three-axis control system is earned and determined by spectrum analysis of the proposed gimbal. Performance and stability of the control system are analyzed and are evaluated in an experimental disturbance rejecting control system. Both computer simulation and experimental results are presented to illustrate the effectiveness of the proposed iterative learning controller design.

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Lyapunov Function-Based Stabilizing Control Scheme for Wireless Power Transfer Systems with LCC Compensation Network

2021 IEEE Applied Power Electronics Conference and Exposition (APEC) ◽

10.1109/apec42165.2021.9487420 ◽

2021 ◽

Author(s):

Abu Shahir Md. Khalid Hasan ◽

Indra Bhogaraju ◽

Mehdi Farasat ◽

Michael Malisoff

Keyword(s):

Lyapunov Function ◽

Wireless Power Transfer ◽

Power Transfer ◽

Wireless Power ◽

Stabilizing Control ◽

Control Scheme

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Nonlinear stabilizing control of a rotary double inverted pendulum: a modified backstepping approach

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331216645174 ◽

2016 ◽

Vol 39 (11) ◽

pp. 1721-1734 ◽

Cited By ~ 8

Author(s):

Abdul Jabbar ◽

Fahad Mumtaz Malik ◽

Shahzad Amin Sheikh

Keyword(s):

Inverted Pendulum ◽

Coupled System ◽

System Model ◽

Control Law ◽

Second Stage ◽

Backstepping Approach ◽

Stabilizing Control ◽

Control Scheme ◽

Backstepping Controller ◽

Two Stages

Modified backstepping control is proposed for an under-actuated rotary double inverted pendulum. The system has actuated rotary base joint with which two unactuated links are attached. The proposed control design is a three step process for de-coupled system model. In the first stage, a backstepping controller is designed for each of the active and passive joints. In the second stage, compensation is introduced in the respective control efforts to cater for uncertain terms based on Lyapunov function for each joint. Finally, the controllers obtained in the two stages are combined to form a total control law. The performance of the proposed control scheme is evaluated by convergence analysis and simulations.

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A local stabilizing control scheme using an approximate feedback linearization

IEEE Transactions on Automatic Control ◽

10.1109/9.333783 ◽

1994 ◽

Vol 39 (11) ◽

pp. 2311-2314 ◽

Cited By ~ 5

Author(s):

Kwanghee Nam ◽

Seongno Lee ◽

Sangchul Won

Keyword(s):

Feedback Linearization ◽

Stabilizing Control ◽

Control Scheme

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Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2012-71066 ◽

2012 ◽

Author(s):

Emmanouil Spyrakos-Papastavridis ◽

Gustavo Medrano-Cerda ◽

Jian S. Dai ◽

Darwin G. Caldwell

Keyword(s):

Global Stability ◽

Inverted Pendulum ◽

Physical Structure ◽

Stability Study ◽

Dynamical Model ◽

Hamiltonian Equations ◽

Stabilizing Control ◽

Control Scheme ◽

Simulation Results ◽

Insight Into

This paper presents a dynamical model of a compliant double-inverted pendulum that is used to approximate the physical structure of the compliant humanoid (COMAN) robot, using both the Hamiltonian and the Lagrangian approaches. A comparison between the two aims at providing insight into the various advantages and/or disadvantages associated to each approach. Through manipulation of the resulting formulae, it is shown that the Hamiltonian equations possess certain characteristics, such as the allowance of the tracking of global stability, that render this method of representation suitable for legged robotics applications. Finally, an asymptotically stabilizing control scheme is presented together with simulation results.

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