This book explores the missing details of the linear parameter-varying (LPV) system theory that have hindered the formulation of a well established identification framework. It covers the key issues ...from system theory to modeling and identification.
Cooperative Control Design Bai, He; Arcak, Murat; Wen, John
2011, 20110531, 2011-06-08, Volume:
89
eBook
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The book ...introduces passivity as a design tool for multi-agent systems in order to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. This is followed by the case of adaptive redesigns for reference velocity recovery, done while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination. This book also: Provides a unified passivity-based framework for multi-agent coordination problems, including formation control, attitude coordination, and synchronization Discusses control algorithms that are modular, scalable and decentralized and can be easily refined and used again Covers complex and heterogeneous nonlinear agent dynamics, including Lagrangian and Hamiltonian systems Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.
This article studies the robust trajectory tracking control problem of a quadrotor unmanned aerial vehicle (UAV). In order to guarantee the desired trajectory tracking performance in the presence of ...external disturbances and model uncertainties, the design process of the quadrotor UAV controller is divided into two steps. First, by decomposing the attitude dynamic system into two serial-connected subsystems, a cascade active disturbance rejection control scheme is applied to the attitude subsystem. Second, by introducing an additional high-gain design parameter, a novel backstepping sliding-mode control scheme for position subsystem is constructed. Moreover, the Lyapunov stability analysis is provided to show that the trajectory tracking error can converge to an arbitrarily small residual set. Numerical results illustrate the effectiveness of the designed control method and its robustness to the external disturbances and model uncertainties. Finally, the proposed method is implemented on a quadrotor UAV to demonstrate its feasibility in practical application.
Power electronics technology is still an emerging technology, and it has found its way into many applications, from renewable energy generation (i.e., wind power and solar power) to electrical ...vehicles (EVs), biomedical devices, and small appliances, such as laptop chargers. In the near future, electrical energy will be provided and handled by power electronics and consumed through power electronics; this not only will intensify the role of power electronics technology in power conversion processes, but also implies that power systems are undergoing a paradigm shift, from centralized distribution to distributed generation. Today, more than 1000 GW of renewable energy generation sources (photovoltaic (PV) and wind) have been installed, all of which are handled by power electronics technology. The main aim of this book is to highlight and address recent breakthroughs in the range of emerging applications in power electronics and in harmonic and electromagnetic interference (EMI) issues at device and system levels as discussed in robust and reliable power electronics technologies, including fault prognosis and diagnosis technique stability of grid-connected converters and smart control of power electronics in devices, microgrids, and at system levels.
Power electronics technology is still an emerging technology, and it has found its way into many applications, from renewable energy generation (i.e., wind power and solar power) to electrical ...vehicles (EVs), biomedical devices, and small appliances, such as laptop chargers. In the near future, electrical energy will be provided and handled by power electronics and consumed through power electronics; this not only will intensify the role of power electronics technology in power conversion processes, but also implies that power systems are undergoing a paradigm shift, from centralized distribution to distributed generation. Today, more than 1000 GW of renewable energy generation sources (photovoltaic (PV) and wind) have been installed, all of which are handled by power electronics technology. The main aim of this book is to highlight and address recent breakthroughs in the range of emerging applications in power electronics and in harmonic and electromagnetic interference (EMI) issues at device and system levels as discussed in robust and reliable power electronics technologies, including fault prognosis and diagnosis technique stability of grid-connected converters and smart control of power electronics in devices, microgrids, and at system levels.
This study introduces a proposed control method for microgrids (MGs) in islanded (off‐grid) mode. The proposed control method is developed by modifying the droop control method using H‐infinity ...controller. In this control method, the droop control loop, current and voltage control loops are adjusted to respond to system load variation. The proposed method is an adaptive control one as it regulates the system voltage and frequency to their nominal values after system load variations. Also, it is a repetitive control method as it depends on the internal model principle that provides good performance for voltage and current error tracking. To prove the applicability and effectiveness of the proposed method, it is applied to a test system using MATLAB/Simulink under three different loading conditions. The results are compared with those of droop control and they prove the effectiveness of the proposed method in adjusting MGs under the off‐grid mode of operation. Also, a system stability analysis is performed based on root locus and system step response. Robustness analysis is performed to prove the ability of the proposed controller to restore the system performance after the fault clearance.
The ever-increasing need for higher efficiency, smaller size, and lower cost make the analysis, understanding, and design of energy conversion systems extremely important, interesting, and even ...imperative. One of the most neglected features in the study of such systems is the effect of the inherent nonlinearities on the stability of the system. Due to these nonlinearities, these devices may exhibit undesirable and complex dynamics, which are the focus of many researchers. Even though a lot of research has taken place in this area during the last 20 years, it is still an active research topic for mainstream power engineers. This research has demonstrated that these systems can become unstable with a direct result in increased losses, extra subharmonics, and even uncontrollability/unobservability. The detailed study of these systems can help in the design of smaller, lighter, and less expensive converters that are particularly important in emerging areas of research like electric vehicles, smart grids, renewable energy sources, and others. The aim of this Special Issue is to cover control and nonlinear aspects of instabilities in different energy conversion systems: theoretical, analysis modelling, and practical solutions for such emerging applications. In this Special Issue, we present novel research works in different areas of the control and nonlinear dynamics of energy conversion systems.
In this study, the authors propose a backstepping-based, distributed formation control method that is stable independent of time delays in communication among multiple unmanned aerial vehicles ...(UAVs). Centralised formation control of UAVs requires each agent to maintain a separation distance from other agents, which burdens the communication network of the UAVs. To overcome this problem, the authors consider a distributed control scheme wherein each agent updates its attitude and position based on the state information gathered through its neighbours. Instead of directly controlling the thrust generated by the propellers, they partition the mathematical model of the UAV into two subsystems, a linear attitude control loop and a non-linear position control loop. A backstepping-based outer position controller is then designed that interfaces seamlessly with the inner attitude controller of the cascaded control system. The closed-loop stability is established using a rigorous Lyapunov–Krasovskii analysis under the influence of distributed network time delays. Using the directed graph topology and a distributed backstepping structure, it is shown that the stability criterion is delay-independent. The proposed control algorithms are verified in simulation and then implemented in hardware, and actual flight test experiments prove the validity of these algorithms.
This brief proposes the use of upcoming traffic signal information within the vehicle's adaptive cruise control system to reduce idle time at stop lights and fuel consumption. To achieve this goal an ...optimization-based control algorithm is formulated that uses short range radar and traffic signal information predictively to schedule an optimum velocity trajectory for the vehicle. The control objectives are: timely arrival at green light with minimal use of braking, maintaining safe distance between vehicles, and cruising at or near set speed. Three example simulation case studies are presented to demonstrate the potential impact on fuel economy, emission levels, and trip time.
Small unmanned aircraft Beard, Randal W; Beard, Randal W; McLain, Timothy W
2012., 20120226, 2012, 2012-02-26
eBook
Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to ...students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area.
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