A Control Solution for a Tethered Kite Trajectory Tracking With Application to Ship Propulsion

2020 ◽  
Vol 142 (12) ◽  
Author(s):  
Baptiste Cadalen ◽  
Jocelyn Sabatier ◽  
Patrick Lanusse ◽  
Fabien Griffon ◽  
Yves Parlier
Keyword(s):  
Trajectory Tracking ◽  
Linear Models ◽  
Controller Design ◽  
Production Systems ◽  
Control Strategies ◽  
Traction Force ◽  
Green Energy ◽  
Ship Propulsion ◽  
Innovative Solution ◽  
Automatic Pilot

Abstract In the field of clean and green energy production systems, airborne wind energy (AWE) systems are really promising technologies. Replacing lightweight tethers with expensive towers, is an innovative solution to get energy from higher altitudes than classical wind turbines. But AWE systems can also be used to produce a traction force through a fast-flying airfoil, or kite. In this paper, the traction force is supposed to be used for ship propulsion. Such an application is permitted if the kite is kept on an appropriate trajectory. This paper thus considers the design of an automatic pilot for trajectory tracking. Its design requires a path-planning and a control strategies that are described here. In terms of control strategy, a robust CRONE controller is designed based on a family of linear models that stands for the nonlinear model of the kite and obtained numerically around several trajectories and for various flight conditions. Efficient trajectories for ship traction being periodic, a method involving tools dedicated to time-varying periodic systems is then used to validate the approach used for CRONE controller design.

scholarly journals Livestock movement informs the risk of disease spread in traditional production systems in East Africa

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Divine Ekwem ◽  
Thomas A. Morrison ◽  
Richard Reeve ◽  
Jessica Enright ◽  
Joram Buza ◽  
...  
Keyword(s):  
Disease Transmission ◽  
Production Systems ◽  
Control Strategies ◽  
Herd Size ◽  
Transmission Risk ◽  
Disease Spread ◽  
Transmission Potential ◽  
Spatial And Temporal Scales ◽  
Transmission Distance ◽  
Risk Of Disease

AbstractIn Africa, livestock are important to local and national economies, but their productivity is constrained by infectious diseases. Comprehensive information on livestock movements and contacts is required to devise appropriate disease control strategies; yet, understanding contact risk in systems where herds mix extensively, and where different pathogens can be transmitted at different spatial and temporal scales, remains a major challenge. We deployed Global Positioning System collars on cattle in 52 herds in a traditional agropastoral system in western Serengeti, Tanzania, to understand fine-scale movements and between-herd contacts, and to identify locations of greatest interaction between herds. We examined contact across spatiotemporal scales relevant to different disease transmission scenarios. Daily cattle movements increased with herd size and rainfall. Generally, contact between herds was greatest away from households, during periods with low rainfall and in locations close to dipping points. We demonstrate how movements and contacts affect the risk of disease spread. For example, transmission risk is relatively sensitive to the survival time of different pathogens in the environment, and less sensitive to transmission distance, at least over the range of the spatiotemporal definitions of contacts that we explored. We identify times and locations of greatest disease transmission potential and that could be targeted through tailored control strategies.

Control Strategies for Semi-Active Lorry Suspensions

1996 ◽  
Vol 210 (2) ◽  
pp. 161-178 ◽  
Author(s):  
D Cebon ◽  
F H Besinger ◽  
D J Cole
Keyword(s):  
Linear Models ◽  
Control Strategies ◽  
Power Input ◽  
Optimum Level ◽  
Passive Damping ◽  
Control Laws ◽  
Body Acceleration ◽  
Performance Improvements ◽  
Full State Feedback ◽  
Active Damper

The optimum level of passive damping for minimizing the root mean square (r.m.s.) dynamic tyre force and r.m.s. body acceleration of a heavy vehicle is determined by testing a damper in a ‘hardware-in-the-loop’ (HiL) test rig. Two different control strategies [‘modified skyhook damping’ (MSD), and linear optimal control with full state feedback (FSF)] are investigated theoretically using linear models, and suspension force control laws are derived. These control laws, along with simple ‘on–off’ control, are then tested experimentally using a prototype semi-active damper which is controlled so as to follow the demanded force, except when power input is required. The achievable performance improvements are compared and differences between the linear theory, computer simulations and experimental performance are discussed. It is found that using FSF control, r.m.s. body acceleration and r.m.s. tyre force can be reduced simultaneously by 28 and 21 per cent of their values for optimal passive damping.

Robust vibration control of flexible panel: modeling and simulation

2017 ◽  
Vol 14 (5) ◽  
pp. 433-442
Author(s):  
Aalya Banu ◽  
Asan G.A. Muthalif
Keyword(s):  
Robust Control ◽  
Vibration Control ◽  
Controller Design ◽  
Control Strategies ◽  
Active Vibration Control ◽  
Flexible Structures ◽  
Parametric Uncertainty ◽  
Design Algorithm ◽  
Content Type ◽  
And Performance

Purpose This paper aims to develop a robust controller to control vibration of a thin plate attached with two piezoelectric patches in the presence of uncertainties in the mass of the plate. The main goal of this study is to tackle dynamic perturbation that could lead to modelling error in flexible structures. The controller is designed to suppress first and second modal vibrations. Design/methodology/approach Out of various robust control strategies, μ-synthesis controller design algorithm has been used for active vibration control of a simply supported thin place excited and actuated using two piezoelectric patches. Parametric uncertainty in the system is taken into account so that the robust system will be achieved by maximizing the complex stability radius of the closed-loop system. Effectiveness of the designed controller is validated through robust stability and performance analysis. Findings Results obtained from numerical simulation indicate that implementation of the designed controller can effectively suppress the vibration of the system at the first and second modal frequencies by 98.5 and 88.4 per cent, respectively, despite the presence of structural uncertainties. The designed controller has also shown satisfactory results in terms of robustness and performance. Originality/value Although vibration control in designing any structural system has been an active topic for decades, Ordinary fixed controllers designed based on nominal parameters do not take into account the uncertainties present in and around the system and hence lose their effectiveness when subjected to uncertainties. This paper fulfills an identified need to design a robust control system that accommodates uncertainties.

Control of flexible manipulators: A survey

Robotica ◽  
2004 ◽  
Vol 22 (5) ◽  
pp. 533-545 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Linear Models ◽  
Control Strategies ◽  
Research Area ◽  
Future Research ◽  
Complex Nature ◽  
Open Problems ◽  
Complex Models ◽  
The Many ◽  
The One ◽  
Flexible Arms

A survey of the field of control for flexible multi-link robots is presented. This research area has drawn great attention during the last two decades, and seems to be somewhat less “attractive” now, due to the many satisfactory results already obtained, but also because of the complex nature of the remaining open problems. Thus it seems that the time has come to try to deliver a sort of “state of the art” on this subject, although an exhaustive one is out of scope here, because of the great amount of publications. Instead, we survey the most salient progresses – in our opinion – approximately during the last decade, that are representative of the essential different ideas in the field. We proceed along with the exposition of material coming from about 119 included references. We do not pretend to deeply present each of the methods quoted hereafter; however, our goal is to briefly introduce most of the existing methods and to refer the interested reader to more detailed presentations for each scheme. To begin with, a now well-established classification of the flexible arms control goals is given. It is followed by a presentation of different control strategies, indicating in each case whether the approach deals with the one-link case, which can be successfully treated via linear models, or with the multi-link case which necessitates nonlinear, more complex, models. Some possible issues for future research are given in conclusion.

ON MODEL PREDICTIVE CONTROL OF QUASI-RESONANT CONVERTERS

2009 ◽  
Vol 18 (07) ◽  
pp. 1167-1183 ◽  
Author(s):  
FARZAD TAHAMI ◽  
MEHDI EBAD
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Linear Models ◽  
Control Strategies ◽  
Sampling Interval ◽  
Control Synthesis ◽  
Resonant Converters ◽  
Control Input ◽  
Model Approximation ◽  
Dynamic Matrix

In this paper, different model predictive control synthesis frameworks are examined for DC–DC quasi-resonant converters in order to achieve stability and desired performance. The performances of model predictive control strategies which make use of different forms of linearized models are compared. These linear models are ranging from a simple fixed model, linearized about a reference steady state to a weighted sum of different local models called multi model predictive control. A more complicated choice is represented by the extended dynamic matrix control in which the control input is determined based on the local linear model approximation of the system that is updated during each sampling interval, by making use of a nonlinear model. In this paper, by using and comparing these methods, a new control scheme for quasi-resonant converters is described. The proposed control strategy is applied to a typical half-wave zero-current switching QRC. Simulation results show an excellent transient response and a good tracking for a wide operating range and uncertainties in modeling.

scholarly journals Experimental comparison of control strategies for trajectory tracking for mobile robots

2016 ◽  
Vol 10 (3) ◽  
pp. 308 ◽  
Author(s):  
Linda Capito ◽  
Pablo Proaño ◽  
Oscar Camacho ◽  
Andrés Rosales ◽  
Gustavo Scaglia
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Strategies ◽  
Experimental Comparison

On the Use of Actively Controlled Auxiliary Bearings in Magnetic Bearing Systems

2008 ◽  
Author(s):  
Iain S. Cade ◽  
M. Necip Sahinkaya ◽  
Clifford R. Burrows ◽  
Patrick S. Keogh
Keyword(s):  
Controller Design ◽  
Control Strategies ◽  
Frictional Heating ◽  
Magnetic Bearing ◽  
Contact Forces ◽  
Active Magnetic Bearing ◽  
Physical Limit ◽  
Drop Tests ◽  
Auxiliary Bearing ◽  
And Control

Auxiliary bearings are used to prevent rotor/stator contact in active magnetic bearing systems. They are sacrificial components providing a physical limit on the rotor displacement. During rotor/auxiliary bearing contact significant forces normal to the contact zone may occur. Furthermore, rotor slip and rub can lead to localized frictional heating. Linear control strategies may also become ineffective or induce instability due to changes in rotordynamic characteristics during contact periods. This work considers the concept of using actively controlled auxiliary bearings in magnetic bearing systems. Auxiliary bearing controller design is focused on attenuating bearing vibration resulting from contact and reducing the contact forces. Controller optimization is based on the H∞ norm with appropriate weighting functions applied to the error and control signals. The controller is assessed using a simulated rotor/magnetic bearing system. Comparison of the performance of an actively controlled auxiliary bearing is made with that of a resiliently mounted auxiliary bearing. Rotor drop tests, repeated contact tests, and sudden rotor unbalance resulting in trapped contact modes, are considered.

scholarly journals Singularly Perturbation Method Applied To Multivariable PID Controller Design

2015 ◽  
Vol 2015 ◽  
pp. 1-22 ◽  
Author(s):  
Mashitah Che Razali ◽  
Norhaliza Abdul Wahab ◽  
P. Balaguer ◽  
M. F. Rahmat ◽  
Sharatul Izah Samsudin
Keyword(s):  
Perturbation Method ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Control Strategies ◽  
High Reliability ◽  
Treatment Plant ◽  
Computation Time ◽  
Singularly Perturbed ◽  
Singularly Perturbation

Proportional integral derivative (PID) controllers are commonly used in process industries due to their simple structure and high reliability. Efficient tuning is one of the relevant issues of PID controller type. The tuning process always becomes a challenging matter especially for multivariable system and to obtain the best control tuning for different time scales system. This motivates the use of singularly perturbation method into the multivariable PID (MPID) controller designs. In this work, wastewater treatment plant and Newell and Lee evaporator were considered as system case studies. Four MPID control strategies, Davison, Penttinen-Koivo, Maciejowski, and Combined methods, were applied into the systems. The singularly perturbation method based on Naidu and Jian Niu algorithms was applied into MPID control design. It was found that the singularly perturbed system obtained by Naidu method was able to maintain the system characteristic and hence was applied into the design of MPID controllers. The closed loop performance and process interactions were analyzed. It is observed that less computation time is required for singularly perturbed MPID controller compared to the conventional MPID controller. The closed loop performance shows good transient responses, low steady state error, and less process interaction when using singularly perturbed MPID controller.

scholarly journals Livestock Movement Informs the Risk of Disease Spread in Traditional Production Systems in East Africa

2021 ◽  
Author(s):  
Divine Ekwem ◽  
Thomas A. Morrison ◽  
Richard Reeve ◽  
Jessica Enright ◽  
Joram Buza ◽  
...  
Keyword(s):  
Disease Transmission ◽  
Production Systems ◽  
Control Strategies ◽  
Herd Size ◽  
Disease Spread ◽  
Transmission Potential ◽  
Spatial And Temporal Scales ◽  
Transmission Distance ◽  
Cattle Movements ◽  
Risk Of Disease

Abstract In Africa, livestock are important to local and national economies, but their productivity is constrained by infectious diseases. Comprehensive information on livestock movements and contacts is required to devise appropriate disease control strategies; yet, understanding contact risk in systems where herds mix extensively, and where different pathogens can be transmitted at different spatial and temporal scales, remains a major challenge. We deployed Global Positioning System collars on cattle in 52 herds in a traditional agropastoral system in western Serengeti, Tanzania, to understand fine-scale movements and between-herd contacts, and to identify locations of greatest interaction between herds. We examined contact across spatiotemporal scales relevant to different disease transmission scenarios. Daily cattle movements increased with herd size and rainfall. Generally, contact was greatest away from households, during periods with low rainfall and in locations close to dipping points. We demonstrate how movements and contacts affect the risk of disease spread. For example, contact rate was relatively sensitive to the survival time of different pathogens in the environment, and less sensitive to transmission distance, at least over the range of values that we explored. We identify times and locations of greatest disease transmission potential and that could be targeted through tailored control strategies.

The Process Capability Matrix: A Tool for Manufacturing Variation Analysis at the Systems Level

1997 ◽  
Author(s):  
Daniel D. Frey ◽  
Kevin N. Otto
Keyword(s):  
Production Systems ◽  
Feedforward Control ◽  
Control Strategies ◽  
Block Diagram ◽  
Process Capability ◽  
Statistical Correlation ◽  
Design Decision ◽  
Variation Reduction ◽  
The Matrix ◽  
New Type

Abstract This paper introduces the concept of a process capability matrix — an ordered set of dimensionless parameters that capture information on a manufacturing system’s response to noises. The matrix captures information on the magnitude of noise, sensitivity to noise, and tolerance to variation. Algorithms and equations are presented that use the matrix to compute the yield of a manufacturing system. The method proves to be accurate on real engineering problems for which existing techniques are inadequate due to statistical correlation among product acceptance criteria. The process capability matrix also proves useful in a new type of block diagram of production systems. The block diagrams are shown to be useful in evaluating the effectiveness of feedforward control strategies for variation reduction. An electronics assembly process serves as an example of the algorithms and their use in design decision making.

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