Parameterized Trajectory Optimization and Tracking Control of High Altitude Parafoil Generation

Parafoil trajectory directly affects the power generation of a high-altitude wind power generation (HAWPG) device. Therefore, it is particularly important to optimize the parafoil trajectory and then to track it effectively. In this paper, the trajectory of the parafoil at high altitudes is optimized and tracked in a comprehensively parameterized manner. Both the complex dynamic characteristics of the parafoil and the dexterous demand of the high-altitude controller are considered. Firstly, the trajectory variables and control signals are parameterized as Lagrange polynomials in terms of the corresponding values at the selected nodes. Then, the Radau pseudospectral method (PSM) is employed to reformulate the original dynamic trajectory optimization problem into a static nonlinear programming (NLP) problem. By doing so, the parameterized optimal trajectory, which has the maximum net power generation, can be obtained. To attenuate the strong nonlinear, multivariable and coupling characteristics of the flexible parafoil, a bandwidth parameterized linear extended state observer (ESO) is used to estimate and reject these dynamics explicitly in a unified way. Finally, the simulation results demonstrate the effectiveness of the proposed parameterized trajectory optimization and control strategies. The main contribution of this study is that complicated nonlinear parafoil dynamics with a complex trajectory can be well regulated by a PID-type linear time-invariant controller, which is appealing for practitioners.

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An overview of codes and control strategies for frequency regulation in wind power generation

Smart Power Distribution Systems ◽

10.1016/b978-0-12-812154-2.00001-8 ◽

2019 ◽

pp. 3-20 ◽

Cited By ~ 1

Author(s):

Zhen Wang ◽

Kit Po Wong ◽

S.S. Choi ◽

Deqiang Gan ◽

Yi Zong

Keyword(s):

Power Generation ◽

Wind Power ◽

Control Strategies ◽

Wind Power Generation ◽

Frequency Regulation ◽

And Control

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Analysis of emissions from various driving cycles based on real driving measurements obtained in a high-altitude city

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407019898959 ◽

2020 ◽

Vol 234 (6) ◽

pp. 1563-1571 ◽

Cited By ~ 1

Author(s):

Meng Lyu ◽

Xiaofeng Bao ◽

Yunjing Wang ◽

Ronald Matthews

Keyword(s):

High Altitude ◽

Real World ◽

Vehicle Emissions ◽

Control Strategies ◽

Driving Cycle ◽

Specific Power ◽

Test Cycle ◽

Light Duty ◽

And Control ◽

Light Duty Vehicles

Vehicle emissions standards and regulations remain weak in high-altitude regions. In this study, vehicle emissions from both the New European Driving Cycle and the Worldwide harmonized Light-duty driving Test Cycle were analyzed by employing on-road test data collected from typical roads in a high-altitude city. On-road measurements were conducted on five light-duty vehicles using a portable emissions measurement system. The certification cycle parameters were synthesized from real-world driving data using the vehicle specific power methodology. The analysis revealed that under real-world driving conditions, all emissions were generally higher than the estimated values for both the New European Driving Cycle and Worldwide harmonized Light-duty driving Test Cycle. Concerning emissions standards, more CO, NOx, and hydrocarbons were emitted by China 3 vehicles than by China 4 vehicles, whereas the CO2 emissions exhibited interesting trends with vehicle displacement and emissions standards. These results have potential implications for policymakers in regard to vehicle emissions management and control strategies aimed at emissions reduction, fleet inspection, and maintenance programs.

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Progress in Modeling and Control of Gas Turbine Power Generation Systems: A Survey

Energies ◽

10.3390/en13092358 ◽

2020 ◽

Vol 13 (9) ◽

pp. 2358 ◽

Cited By ~ 3

Author(s):

Omar Mohamed ◽

Ashraf Khalil

Keyword(s):

Power Generation ◽

Gas Turbine ◽

Gas Turbines ◽

Power Plants ◽

Control Strategies ◽

Research Area ◽

Future Research ◽

Modeling And Control ◽

Comprehensive Survey ◽

And Control

This paper reviews the modeling techniques and control strategies applied to gas turbine power generation plants. Recent modeling philosophies are discussed and the state-of-the-art feasible strategies for control are shown. Research conducted in the field of modeling, simulation, and control of gas turbine power plants has led to notable advancements in gas turbines’ operation and energy efficiency. Tracking recent achievements and trends that have been made is essential for further development and future research. A comprehensive survey is presented here that covers the outdated attempts toward the up-to-date techniques with emphasis on different issues and turbines’ characteristics. Critical review of the various published methodologies is very useful in showing the importance of this research area in practical and technical terms. The different modeling approaches are classified and each category is individually investigated by reviewing a considerable number of research articles. Then, the main features of each category or approach is reported. The modern multi-variable control strategies that have been published for gas turbines are also reviewed. Moreover, future trends are proposed as recommendations for planned research.

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Vision-based flight control in the hawkmoth Hyles lineata

Journal of The Royal Society Interface ◽

10.1098/rsif.2013.0921 ◽

2014 ◽

Vol 11 (91) ◽

pp. 20130921 ◽

Cited By ~ 16

Author(s):

Shane P. Windsor ◽

Richard J. Bomphrey ◽

Graham K. Taylor

Keyword(s):

Flight Control ◽

Insect Flight ◽

Linear Time ◽

Temporal Frequency ◽

Sensory Modality ◽

Flight Dynamics ◽

Energetic Cost ◽

Linear Time Invariant ◽

Hyles Lineata ◽

And Control

Vision is a key sensory modality for flying insects, playing an important role in guidance, navigation and control. Here, we use a virtual-reality flight simulator to measure the optomotor responses of the hawkmoth Hyles lineata , and use a published linear-time invariant model of the flight dynamics to interpret the function of the measured responses in flight stabilization and control. We recorded the forces and moments produced during oscillation of the visual field in roll, pitch and yaw, varying the temporal frequency, amplitude or spatial frequency of the stimulus. The moths’ responses were strongly dependent upon contrast frequency, as expected if the optomotor system uses correlation-type motion detectors to sense self-motion. The flight dynamics model predicts that roll angle feedback is needed to stabilize the lateral dynamics, and that a combination of pitch angle and pitch rate feedback is most effective in stabilizing the longitudinal dynamics. The moths’ responses to roll and pitch stimuli coincided qualitatively with these functional predictions. The moths produced coupled roll and yaw moments in response to yaw stimuli, which could help to reduce the energetic cost of correcting heading. Our results emphasize the close relationship between physics and physiology in the stabilization of insect flight.

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The product space approach in the state space theory of linear time-invariant differential systems with delays in state and control variables

Banach Center Publications ◽

10.4064/-14-1-147-169 ◽

1985 ◽

Vol 14 (1) ◽

pp. 147-169

Author(s):

M. C. Delfour

Keyword(s):

Product Space ◽

Linear Time ◽

Space Theory ◽

Differential Systems ◽

Linear Time Invariant ◽

Invariant Differential ◽

State Space Theory ◽

And Control ◽

Time Invariant ◽

Space Approach

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Dynamic Polytope Function and Control Modeling

Volume 6C: 18th Biennial Conference on Mechanical Vibration and Noise ◽

10.1115/detc2001/vib-21773 ◽

2001 ◽

Author(s):

Du Wang ◽

Zhongyang Guo ◽

Ichiro Hagiwara

Keyword(s):

Linear Time ◽

Synthesis Method ◽

Suspension System ◽

Observer Design ◽

Vehicle Suspension ◽

Linear Time Invariant ◽

Vehicle Suspension System ◽

Linear Time Invariant System ◽

And Control ◽

Time Invariant

Abstract This study is motivated from the investigation of vehicle suspension system with changeable damping and variant stiffness parameters. Such suspension system can be modeled as a dynamic polytope based on the mapping of affinely changed parameters. According to the polytopic dynamics decomposition, knowledge of linear time invariant system can be applied to each polytope vertex and the time variant system is solved by the polytope convex synthesis method. For time variant vehicle suspension system, the different model structures for control purposes are formulated. A quarter-car is taken as the example for demonstration in observer design and nonlinear control design.

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Weighted Consensus Problem for Multiagent Systems with Edge- and Node-Weighted Directed Graphs

Complexity ◽

10.1155/2019/4583465 ◽

2019 ◽

Vol 2019 ◽

pp. 1-13

Author(s):

Lixin Gao ◽

Hui Fang ◽

Wenhai Chen ◽

He Cao

Keyword(s):

Output Feedback ◽

State Feedback ◽

Linear Time ◽

Control Strategies ◽

Directed Graphs ◽

Output Feedback Control ◽

Linear Time Invariant ◽

Special Cases ◽

Cluster Consensus ◽

Bipartite Consensus

In this paper, the concept of consensus is generalized to weighted consensus, by which the conventional consensus, the bipartite consensus, and the cluster consensus problems can be unified in the proposed weighted consensus frame. The dynamics of agents are modeled by the general linear time-invariant systems. The interaction topology is modeled by edge- and node-weighted directed graphs. Under both state feedback and output feedback control strategies, the weighted consensus problems are transformed into the equivalent conventional consensus problems. Then, some distributed state feedback and output feedback protocols are proposed to solve the weighted consensus problems. For output feedback case, a unified frame to construct the state-observer-based weighted consensus protocols is proposed, and different design approaches are discussed. As special cases, some related results for bipartite consensus and cluster consensus can be obtained directly. Finally, a simple example is given to illustrate the effectiveness of our proposed approaches.

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Design of a Compliant Based Biomimetic Planar Locomotive Mechanism

Volume 7B: Dynamics, Vibration, and Control ◽

10.1115/imece2020-23826 ◽

2020 ◽

Author(s):

Dillon Loupe ◽

Hanseul Kim ◽

Ayse Tekes ◽

Coskun Tekes ◽

Amir Ali Amiri Moghadam

Keyword(s):

Nonlinear Dynamics ◽

Linear Time ◽

High Mobility ◽

Performance Bounds ◽

Design Development ◽

Modeling And Control ◽

Linear Time Invariant ◽

Time Domains ◽

Linear Time Invariant Systems ◽

And Control

Abstract This paper presents the design, development, modeling and control of a biomimetic multi degree of freedom compliant locomotive mechanism that can follow a prescribed trajectory. The research objective of this study is the design of a high mobility and flexible planar locomotive mechanism incorporating large deflecting compliant hinges. The actuation is realized using servo motors. Mechanism is consisted of five sliding carts, rail, 3D-printed supplementary pieces to house motors and pins. Carts are connected by monolithically designed two arm links joined by a large deflecting flexure. Four servo motors are mounted on the driven carts. Since sliding carts are identical, forward motion is achieved by changing the friction of carts through the connecting pins. Dynamical model is created in Matlab Simulink using Euler’s laws of motion principle, pseudo rigid body modeling (PRBM), vector closure-loop equations and kinematic constraints. To robustly control the position of the mechanism, first its nonlinear dynamics replaced with a family of linear time invariant systems which have parameter uncertainty. Then a robust controller is designed based on the Quantitative Feedback Theory (QFT) for the desired robust tracking and stability bounds. QFT is one of the most powerful robust control techniques which can take into account both phase and magnitude information of the system and enables the designer to minimize the cost of feedback by clearly observing the design constraints through robust performance bounds. Finally, the performance of the designed controller is validated though nonlinear simulations using the nonlinear dynamics of the mechanism. It has been shown that the mechanism can consistently track the desired inputs both in frequency and time domains.

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Multivariable Control of an Over-Head Crane System Based on Entire Eigen-Structure Assignment

Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2010-28246 ◽

2010 ◽

Author(s):

Hamed Moradi ◽

K. Haji Hajikolaei ◽

Firooz Bakhtiari-Nejad ◽

Aria Alasty

Keyword(s):

Degrees Of Freedom ◽

Linear Time ◽

Control Strategies ◽

Control Signal ◽

Space Representation ◽

Linear Time Invariant ◽

State Space Representation ◽

Stabilization Control ◽

Structure Assignment ◽

Time Invariant

Motion and stabilization control strategies are required to improve positioning accuracy, transportation time and swing angle of an overhead crane system. In this paper, a controller is designed to enhance both efficiency and safety and to extend the system application to other engineering fields. An over-head crane is modeled as a linear time invariant (LTI) system with two degrees of freedom. Trolley position and cable angle are the controlled outputs while the force exerted on trolley and torque on the load are the control inputs of the system. After state-space representation of the problem, feedback control is designed for tracking objective. An increase in the overall speed of the system time response corresponds to an increase in the control signal and leads to additional cost. Therefore, developing a code in MATLAB, eigenvalues and eigenvectors of the system are chosen optimally until an appropriate response is achieved; while the gains of control signal remain small.

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