scholarly journals A Robust Control Scheme for Renewable-Based Distributed Generators Using Artificial Hydrocarbon Networks

Energies ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 1896 ◽  
Author(s):  
Antonio Rosales ◽  
Pedro Ponce ◽  
Hiram Ponce ◽  
Arturo Molina
Keyword(s):  
Robust Control ◽  
Control Algorithm ◽  
Solar Panels ◽  
Lyapunov Techniques ◽  
Distributed Generators ◽  
Stability Robustness ◽  
Network Controller ◽  
Control Scheme ◽  
Power Regulation ◽  
The Stability

Distributed generators (DGs) based on renewable energy systems such as wind turbines, solar panels, and storage systems, are key in transforming the current electric grid into a green and sustainable network. These DGs are called inverter-interfaced systems because they are integrated into the grid through power converters. However, inverter-interfaced systems lack inertia, deteriorating the stability of the grid as frequency and voltage oscillations emerge. Additionally, when DGs are connected to the grid, its robustness against unbalanced conditions must to be ensured. This paper presents a robust control scheme for power regulation in DGs, which includes inertia and operates under unbalanced conditions. The proposed scheme integrates a robust control algorithm to ensured power regulation, despite unbalanced voltages. The control algorithm is an artificial hydrocarbon network controller, which is a chemically-inspired technique, based on carbon networks, that provides stability, robustness, and accuracy. The robustness and stability of the proposed control scheme are tested using Lyapunov techniques. Simulation, considering one- and three-phase voltage sags, is executed to validate the performance of the control scheme.

A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

2021 ◽  
pp. 095441002110136
Author(s):  
Nasim Ullah ◽  
Irfan Sami ◽  
Wang Shaoping ◽  
Hamid Mukhtar ◽  
Xingjian Wang ◽  
...  
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Computationally Efficient ◽  
Control Scheme ◽  
Control Schemes ◽  
Adaptive Laws ◽  
Unknown Disturbances ◽  
The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

A robust control scheme to improve the stability of anaerobic digestion processes

2010 ◽  
Vol 20 (4) ◽  
pp. 375-383 ◽  
Author(s):  
H.O. Méndez-Acosta ◽  
B. Palacios-Ruiz ◽  
V. Alcaraz-González ◽  
V. González-Álvarez ◽  
J.P. García-Sandoval
Keyword(s):  
Anaerobic Digestion ◽  
Robust Control ◽  
Control Scheme ◽  
The Stability

scholarly journals An adaptive hierarchical control for aerial manipulators

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1527-1550 ◽  
Author(s):  
Francesco Pierri ◽  
Giuseppe Muscio ◽  
Fabrizio Caccavale
Keyword(s):  
Control Algorithm ◽  
Hierarchical Control ◽  
Bottom Layer ◽  
Trajectory Tracking Control ◽  
Aerial Manipulator ◽  
Control Scheme ◽  
Modelling Uncertainties ◽  
Aerial Vehicle ◽  
The Stability

SUMMARYThis paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.

Model-based robust control design and experimental validation of SCARA robot system with uncertainty

2022 ◽  
pp. 107754632110421
Author(s):  
ShengChao Zhen ◽  
MuCun Ma ◽  
XiaoLi Liu ◽  
Feng Chen ◽  
Han Zhao ◽  
...  
Keyword(s):  
Robust Control ◽  
Control Algorithm ◽  
Lyapunov Method ◽  
Control Method ◽  
External Disturbance ◽  
Scara Robot ◽  
Model Based ◽  
Robust Control Design ◽  
Robot Performance ◽  
The Stability

In this paper, we design a novel robust control method to reduce the trajectory tracking errors of the SCARA robot with uncertainties including parameters such as uncertainty of the mechanical system and external disturbance, which are time-varying and nonlinear. Then, we propose a deterministic form of the model-based robust control algorithm to deal with the uncertainties. The proposed control algorithm is composed of two parts according to the assumed upper limit of the system uncertainties: one is the traditional proportional-derivative control, and the other is the robust control based on the Lyapunov method, which has the characteristics of model-based and error-based. The stability of the proposed control algorithm is proved by the Lyapunov method theoretically, which shows the system can maintain uniformly bounded and uniformly ultimately bounded. The experimental platform includes the rapid controller prototyping cSPACE, which is designed to reduce programming time and to improve the efficiency of the practical operation. Moreover, we adopt different friction models to investigate the effect of friction on robot performance in robot joints. Finally, numerical simulation and experimental results indicate that the control algorithm proposed in this paper has desired control performance on the SCARA robot.

Rigid-Flexible Coupled Dynamics and PD-Robust Control Design for the Spacecraft with Rotating Solar Panels

2021 ◽  
Author(s):  
Yuteng Cao ◽  
Dengqing Cao ◽  
Guiqin He ◽  
Yuxin Hao ◽  
Xinsheng Ge
Keyword(s):  
Robust Control ◽  
Dynamical Equation ◽  
Vibration Suppression ◽  
Control Method ◽  
Ritz Method ◽  
Solar Panels ◽  
Central Platform ◽  
Attitude Maneuver ◽  
Control Scheme ◽  
Robust Control Design

The dynamical model for the spacecraft with multiple solar panels and the cooperative controller for such spacecraft are studied in this paper. The spacecraft consists of a rigid platform and two groups of flexible solar panels, where solar panels could be driven to rotate by the connecting shaft. The flexible solar panel involves the use of the orthogonal polynomial in two directions to describe its elastic deformation. By using the Rayleigh–Ritz method, the characteristic equation is derived to obtain natural frequencies and modal shapes of the whole spacecraft. Then the discrete rigid-flexible coupled dynamical equation of the spacecraft is obtained by using the Hamiltonian principle. The equation involves the coupling of the attitude maneuver, solar panels’ driving and vibration suppression. These dynamical behaviors are addressed by the rigid-flexible coupled mode for the first time in this paper. Based on the dynamical equation, the cooperative control scheme is designed by combing the proportional-differential and robust control method. Numerical results show the accuracy of the present modelling method and the validation of the control strategy. The modal analysis implies the complex rigid-flexible coupled characteristic between the central platform and flexible solar panels. The proposed control scheme can maintain the attitude stability while solar panels are being driven, as well as the vibration suppression of flexible solar panels.

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
H. Amini ◽  
S. M. Rezaei ◽  
Ahmed A. D. Sarhan ◽  
J. Akbari ◽  
N. A. Mardi
Keyword(s):  
Control Algorithm ◽  
Force Measurement ◽  
Bilateral Teleoperation ◽  
Force Estimation ◽  
Teleoperation System ◽  
Control Scheme ◽  
Environmental Force ◽  
The Stability ◽  
External Forces ◽  
Teleoperation Systems

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro–micro bilateral teleoperation system with time delay. The stability condition in the macro–micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro–micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection.

Adaptive Robust Control for Driving and Regenerative Braking of Electric Vehicle

2013 ◽  
Vol 441 ◽  
pp. 887-891
Author(s):  
Long Xu ◽  
Jun Ping Wang ◽  
Yuan Bai ◽  
Gai Ling Hu
Keyword(s):  
Robust Control ◽  
Electric Vehicle ◽  
Adaptive Robust Control ◽  
Disturbance Attenuation ◽  
Regenerative Braking ◽  
Stability Robustness ◽  
Recovery System ◽  
And Performance ◽  
The Stability ◽  
Braking Energy Recovery

The driving and braking energy recovery system of electric vehicle faces a lot of uncertainties, including the system parameters and the running environment uncertainties. An adaptive robust control (ARC) is presented in this paper to treat the problems including disturbance and parameter variation in the design of driving and regenerative braking controller. It can enhance the stability robustness and performance robustness. A model of the driving and regenerative braking system is constructed and then the ARC controller is designed. The experiment results show that the controller based on ARC theory has better performance of stability, robustness, and disturbance attenuation than traditional PID controller.

Analysis the Effect of Undesirable Factors on Stability of Model Predictive Controller

2008 ◽  
Author(s):  
Shadi Ansarpanahi ◽  
Samsul Bahari Mohd Noor
Keyword(s):  
Predictive Control ◽  
Time Delays ◽  
Control Algorithm ◽  
Computer Control ◽  
Phase System ◽  
Control Scheme ◽  
Predictive Controller ◽  
Noise Error ◽  
The Stability ◽  
Drive Model

MPC also known as moving or receding horizon control, is a feedback control scheme that has originated in industry as a real-time computer control algorithm to solve linear and nonlinear multi-variable problems that have constraints and time delays. Since disturbances can drive model predictive control into non-convexity and instability this problem has attracted many researchers. The stability studies in this paper are illustrated in presence of colored noise, error in delay estimation, unstable and non-minimum phase system by means of numerical example. The simulation is carried out using an example, which is the main contribution of the paper.

Position Synchronization of the Biaxial System with a PID Neural Networks Control

2013 ◽  
Vol 462-463 ◽  
pp. 766-770 ◽  
Author(s):  
Wang Yong He ◽  
Cong Qiu ◽  
Jia He
Keyword(s):  
Neural Networks ◽  
Control Algorithm ◽  
Learning Algorithm ◽  
Cross Coupling ◽  
Synchronization Error ◽  
Control Value ◽  
Control Scheme ◽  
Simulation Results ◽  
The Stability

A new control algorithm based on incorporating proportion integration differentiation (PID) neural networks into cross-coupling technology is developed for position synchronization of biaxial system. The PID neural networks controller is be used to adjust control value injecting two velocity loops of the biaxial system.The learning algorithm of PID neural networks is demonstrate in theory. It is tested by simulation that the proposed control scheme can guarantee the stability and the effectiveness of the biaxial control system.The simulation results show that synchronization error is reduced to 35um from 56um.

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