Nonlinear Robust Control on Yaw Motion of a Variable-Speed Unmanned Aerial Helicopter under Multi-Source Disturbances

This paper studies the multi-source disturbances attenuation problem on the yaw motion of unmanned aerial helicopter with a variable-speed rotor. The yaw motion subsystem dominated by an electrically-driven tail rotor is firstly introduced, and its trajectory accuracy requires particularly close attention. To this end, we establish a fourth-order yaw error dynamic equation; subsequently, a nonlinear robust control scheme based on optimal H∞ principle is developed, consisting of laws of virtual functions, parameter estimation and a compensation signal. The novelty of this scheme lies in unifying the techniques to deal with the uncertain parameters, noise perturbations, actuator output fault and external airflow turbulence into a simple framework. Stability analysis guarantees that the yaw closed-loop system has the predefined performance of disturbance suppression in the sense of a finite L2-gain. Comparison results with the extended state observer based backstepping controller verify the effectiveness and superior performance of proposed scheme in an aircraft prototype.

Variable Speed Diesel Generators: Performance and Characteristic Comparison

Diesel generators (DGs) are set to work as a backup during power outages or support the load in remote areas not connected to the national grid. These DGs are working at a constant speed to produce reliable AC power, while electrical energy demand fluctuates according to instantaneous needs. High electric loads occur only for a few hours a day in remote areas, resulting in oversizing DGs. During a low load operation, DGs face poor fuel efficiency and condensation of fuel residues on the walls of engine cylinders that increase friction and premature wear. One solution to increase combustion efficiency at low electric loads is to reduce diesel engine (DE) speed to its ideal regime according to the mechanical torque required by the electrical generator. Therefore, Variable Speed Diesel Generators (VSDGs) allow the operation of the diesel engine at an optimal speed according to the electrical load but require additional electrical equipment and control to maintain the power output to electrical standards. Variable speed technology has shown a significant reduction of up to 40% fuel consumption, resulting in low GHG emissions and operating costs compared to a conventional diesel generator. This technology also eliminates engine idle time during a low load regime to have a longer engine lifetime. The main objective of this survey paper is to present the state of the art of the VSDG technologies and compare their performance in terms of fuel savings, increased engine lifetime, and reduced greenhouse gases (GHG) emissions. Various concepts and the latest VSDG technologies have been evaluated in this paper based on their performance appraisal and degree of innovation.

Effect of the kinesio taping application method for the activation and strength of gastrocnemius muscles in healthy adults

The objective of this study was to verify the effect of kinesio-taping (KT) application of the origin for muscle insertion (O>I) and insertion for muscle origin (I>O) in healthy participants, through surface electromyography and peak torque of gastrocnemius muscles. A total of 69 participants with an average age of 22.9±5.2 years were evaluated, 41 women with an average age of 22.0±5.1 years, BMI 25.1±4.6 kg/m2, and 28 men with an average age of 22.0±5.1 years, BMI 23.1±3.3 kg/m2, randomized under three conditions: O>I, I>O and no KT (control), repeated three times with five-minute rest between sessions. The peak torque of the gastrocnemius lateral (GML) and medial (GMM) muscles was evaluated at speeds 30º/s 60º/s 120º/s and muscle activity through surface electromyography. Repeated-measurement ANOVA showed effect only on the variable speed (F=767,1; p<0.001) and the variables condition (F=0.010; p=0.990) and interaction (F=0.199; p=0.892) were not significant. In electromyography, Root mean Square (RMS) did not differ in the conditions evaluated, presenting standard behavior without significant differences. The KT application regardless of being O>I or I>O muscular, did not alter the muscle recruitment or contribute to the increase in peak torque performance during the three speeds.