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In this paper we propose a new optimal power flow scheme that takes into account the harmonics generated by power electronics interfaced distributed generation (DG). The objective is to minimize the cost of generation under constraints on the total harmonic distortion (THD) of voltage. The frequency coupling matrix (FCM) is used to model the harmonic current injected by a converter. Network current...
Recent years have marked a significant step forward in the development of all-electric airplanes, some of which have been built and tested recently. This paper proposes an optimal control framework for flight management systems of all-electric aircraft. The optimal control problems of economy mode and maximum endurance will be solved using Pontryagin's minimum principle. The economy mode optimization...
This article presents the design and comparison of two approaches to the case of a C∗ control law design. This type of control laws is the standard in the commercial aviation industry, with both Airbus and Boeing flying versions of it. A baseline design is first developed following the standard, classical control technique of Root Locus, and then the structured H-infinity control technique is used...
Today, in search of oil resources, marginal wells with narrow pressure windows are frequently being drilled. This requires accurate and precise control to balance the bottom hole pressure (BHP) between the pore and fracture pressure of the reservoir. Managed pressure drilling (MPD) is a technique introduced to enable improved pressure control when drilling. This paper presents a cascaded control structure...
This paper presents a design methodology for the rejection of wind gusts during flight. The proposed application is based on the Simple Adaptive Controller (SAC) methodology, but differs from other SAC applications in the sense that the reference model utilised is an Unknown Input Observer (UIO). As a consequence, the adaptive controller is fed by an estimate of the wind gust and will only act in...
During the braking of a railway vehicle, excessive slide between wheel and rail can occur due to temporarily degraded adhesion by wet or contaminated rail surface. This can damage the wheel tread, and the damaged wheel affects seriously the safety and ride comfort of the railway vehicle. To prevent from excessive slide between wheel and rail, braking control using wheel-slide protection (WSP) logic...
State of the art computer-aided control system design (CACSD) tools for robust control offer only very basic commands and consequently require a very detailed mathematical background and advanced user knowledge about syntax and data structures. Also many typical controller design problems have to be reformulated over and over. This contribution therefore aims to tackle these matters by introducing...
In this paper, we propose a revisited form of the so-called Model-Free Control (MFC). Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy that is used instead of the PID structure as done in the classical MFC form. Using...
Sensing and computing capabilities of modern traffic intersections have greatly improved in recent years, but current control policies do not fully utilize these capabilities. In this paper, we present a novel intersection control algorithm based on an objective function that accounts for drivers' time preferences. In particular, the intersection places greater importance on a vehicle which has been...
This paper addresses a novel slip-ratio-based torque distribution strategy for electric vehicles (EVs) to avoid slippage when driving over a split friction surface. With the combination to an upper and middle controller, the desired driving force and yaw moment can be distributed to four driving wheels by utilizing the proposed lower controller. Stability analysis by using Lyapunov theorem is presented...
Teams of unmanned vehicles are capable of accomplishing a wide variety of mission objectives, such as searching for and tracking targets. In this paper, a receding horizon control is utilized with information based reward measures to accomplish these two competing mission objectives. This approach for cooperatively searching and tracking has proven to be effective in past work. However, it is not...
This paper develops a model predictive control (MPC) policy for simultaneous station keeping, attitude control, and momentum management of a nadir-pointing geostationary satellite equipped with three reaction wheels and four on-off electric thrusters mounted on two boom assemblies attached to the anti-nadir face of the satellite. A closed-loop pulse-width modulation (PWM) scheme is implemented in...
This paper presents an anti-rollover control system for a non-tilting narrow-track four-wheeled vehicle. The control system relies on two independent braking actuators on the rear wheels. The control system, designed to prevent rollover while limiting the reduction of speed, has two key elements: a steady state term that handles the static roll over limits and a dynamic term that intervenes during...
This paper proposes a motion planning method to manipulate a grasped object by a two-fingered robot hand based on the nonholonomy of rolling contacts. A grasped rectangular object is regulated to a target configuration through regulating the contact coordinates between the fingers and object using the holonomy generated by closed paths on semi-spherical fingertips. The parameters of the closed paths...
Recent rapid loss of the Arctic sea ice motivates the study of the Arctic sea ice thickness. Global climate model that describe the ice's thickness evolution, require an accurate temperature profile of the Arctic sea ice. However, measuring the complete temperature profile is not feasible due to a limited number of thermal sensors. Instead, measuring the ice's thickness is doable based on the acquisition...
Multidimensional optimization holds a central role in many machine learning problems. When a model quality functional is measured with an almost arbitrary external noise, it makes sense to use randomized optimization techniques. This paper deals with the problem of clustering of a Gaussian mixture model under unknown but bounded disturbances. We introduce a stochastic approximation algorithm with...
The focus of this paper is on the design of input shapers for systems with uncertainties in the parameters of the vibratory modes which need to be attenuated. A probabilistic framework is proposed for the design of the robust input shaper, when the uncertain modal parameters are characterized by probability density functions. A convex chance constrained optimization problem is posed to determine the...
This paper concerns with optimizing gain matrices in static output feedback controller and PID controller. We first study on optimization of parameter matrix in general dynamical system. The gradient function of an objective functional with respect to the parameter matrix is derived and optimality condition is presented. Next, gain matrix optimization of static output feedback controller for nonlinear...
This paper investigates the receding horizon H∞ guaranteed cost control for a class of norm-bounded uncertain systems subject to actuator saturation. A sufficient condition for the existence of the controller is proposed to handle the amplitudes of control input signals and guarantee both of the H∞ norm and quadratic cost performance for all admissible uncertainties and external disturbances. Furthermore,...
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