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In this paper DC-AC differential inverters, which are capable of stepping-up the DC voltage in a single-stage, are studied. Due to the reduced number of devices, they are compact, efficient and low cost. Due to their unique characteristics, they can be used in many applications such as PV, UPS and fuel-cell. This paper introduces a new control method which utilizes a different set of voltage references...
Trajectory tracking of wheeled mobile robots is one of the most important subjects of mobile robots. In addition, the control of underactuated systems possesses a particular complexity and is of major importance; so that it has been focused by many researchers during the past years. In this paper, these two important control subjects are discussed in a differential drive wheeled mobile robot towing...
This paper proposed a new linear zero dynamic controller (LZDC) for three-phase grid-connected photovoltaic (PV) systems. To implement the controller, the PV is modeled in dq frame which is obtained from park transformation. In order to analyse the stability, the PV system is linearised about an operating point by using Taylor series expansion method. Here the relative degree is investigated through...
In this paper, a tunable parallel plate waveguide with a metal plate and a sheet of graphene is presented. The anisotropic conductivity of the graphene sheet submitted to a magnetic field is modeled by a conductivity tensor in which the diagonal and Hall conductivities are derived from the Kubo formula. The Maxwell equations are solved assuming the graphene sheet been biased both with an electric...
In this paper, kinematics analysis and dynamic modeling of a novel spatial parallel robot is elaborated. The proposed mechanism is to be exploited in a compounded serial-parallel mobile robotic system to accomplish stabilized heavy object manipulation by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to acquire a suitable maneuverability...
Flexible members such as solar panels of space robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object...
This paper presents a method to model planar continuum robots with backbone, and introduces a method to control, based on the Jacobian matrix. The model includes forces and moments applied to the robot, and is exact in contrast to constant curvature models. Then the position control strategy is presented to put the robot tip in a desired position. Results are illustrated using a three-section continuum...
Dynamics and control of a space robotic system with flexible members during an object manipulation task is studied here. Flexible members such as solar panels of space free flying robotic systems and their flexible joints during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn...
This paper presents a method to design a control system for a three-phase voltage source converter (VSC) that connects a renewable energy source to the utility grid through an output -type or -type filter. The well-known / transformation method creates coupling terms that are visible and can readily be canceled in the -type filter. Such terms, however, are very complicated when an ...
This paper presents the use of PHEVs with wind farm as an implementation of Vehicle to Grid (V2G) technology for designing a shunt active filter to improve power quality of wind generation. A system model with wind generator and a dynamic model of PHEVs are introduced here based on third order battery model. A simple battery scheme is proposed for the control of the charging and discharging of the...
This paper presents a novel approach of excitation controller design for power system with dynamic load where induction motor is considered as the dynamic load. To design the controller, zero dynamic design approach of feedback linearization is used. The zero dynamic design approach is applicable when the system is partially linearized. The paper also presents the linearizability of power system with...
The formulation of Lyapunov function is necessary to analyze the stability of a system. This paper presents an idea for formulating generalized Lyapunov function for the stability analysis of interconnected power systems. Lyapunov function is formulated based on the total energy of power system where the system is considered as a single machine infinite bus (SMIB) system. The negative definiteness...
This paper presents a control algorithm based on feedback linearization technique for grid-connected three-phase non-dispatchable distributed generation (DG) systems such as a wind or a solar based generator. The power electronic interface is a voltage source inverter (VSI) and the output low-pass filter is an inductance (L) or an inductance-capacitance-inductance (LCL) circuit. The control objectives...
Sensor nodes are often used in outdoor locations where they can be operated using solar power. When such a network is deployed, there are usually restrictions in the way that the nodes can be positioned, and this results in a node-dependent attenuation of the usable solar energy. This effect must be taken into account when placing the basestations used to communicate with the sensor nodes. In this...
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