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A robust nonlinear adaptive controller design for unmanned autonomous vehicles (UAVs) for controlling the hovering flight is presented. The controller is premeditated recursively based on the control Lyapunov theory where the mass of the UAV in the model is considered as anonymous parameter. To illustrate the forcefulness property of the designed controller, the effects of external disturbances are...
A new direct power control (DPC) approach for a voltage source inverter (VSI) based three-phase grid-connected solar photovoltaic (PV) system is proposed in this paper. The proposed DPC is designed using the nonlinear backstepping control scheme based on the power dynamics rather than the conventional dp current dynamics. As a result, the inner current control loop is eradicated in this paper which...
This paper presents a nonlinear control scheme to regulate the dc-link voltage for extracting the maximum power from PV system and the current to control the amount of injected power into the grid. The controller is designed using an adaptive backstepping technique by considering the parameters of the system as totally unknown. The control of power injection into the grid requires the regulation of...
In modern power electronic systems, DC-DC converter is one of the main controlled power sources for driving DC systems. But the inherent nonlinear and time-varying characteristics often result in some difficulties mostly related to the control issue. This paper presents a robust nonlinear adaptive controller design with a recursive methodology based on the pulse width modulation (PWM) to drive a DC-DC...
This paper presents a nonlinear adaptive controller design with a recursive methodology based on the pulse width modulation (PWM) to drive a DC-DC boost converter. The proposed controller is designed based on the dynamical model of the boost converter where all parameters within the model are assumed as unknown. These unknown parameters are estimated through the adaptation laws and the stability of...
A robust adaptive backstepping technique is proposed in this paper to solve the speed-tracking problem of a series DC motor for improving transient response. The parameters of DC motor are considered as unknown and the external disturbances are incorporated into the dynamical model. The proposed controller is designed in such a way that it is adaptive to the unknown parameters of series DC motor and...
This paper presents a nonlinear control scheme to control the attitude of a small-scale rotary wing unmanned aerial vehicle (RUAV) in the presence of external disturbances. The proposed attitude controller is designed in such a way that it is robust to external disturbances. To prove the convergence of the attitude tacking error to zero, i.e., the actual attitude of the closed-loop system to reference...
In this paper, a nonlinear backstepping controller is designed for three-phase grid-connected solar photovoltaic (PV) systems to share active and reactive power. A cascaded control structure is considered for the purpose of sharing appropriate amount of power. In this cascaded control structure, the dc-link voltage controller is designed for balancing the power flow within the system and the current...
This paper presents a nonlinear adaptive excitation control scheme to enhance the dynamic stability of multimachine power systems. The proposed controller is designed based on the adaptive backstepping technique where the mechanical power input to the generators and the damping coefficient of each generator are considered as unknown. These unknown quantities are estimated through the adaption laws...
Steam-valving and excitation systems play an important role to maintain the transient stability of power systems with synchronous generators when power systems are subjected to large disturbances and sudden load changes. This paper presents a nonlinear adaptive backstepping approach for controlling excitation and steam-valving systems of synchronous generators. In this paper, the proposed excitation...
In this paper, a nonlinear adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near ground surface in the presence of strong horizontal wind gusts. In general, the control of small scale helicopter is a difficult task, because the helicopter system is highly nonlinear, coupled and sensitive. For simplicity,...
In this paper, a nonlinear robust control technique is proposed to control heave motion for hover as well as vertically take-off/landing of an unmanned autonomous helicopter in the presence of external wind gusts. A heave motion model of a small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the external disturbances. A...
In this paper, a robust control strategy applying on a small helicopter is proposed. The controller is designed using the backstepping approach based on Lyapunov function. In control design, a hierarchical inner-outer loop based structure is proposed to control the hover flight in the presence of external wind gusts. The outer loop (position control) employs robust backstepping controller to control...
In this paper, a nonlinear robust control technique is proposed to control the altitude of a small helicopter for hover as well as vertically take-off/landing near ground surface in the presence of strong horizontal wind gusts. A heave motion model of small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the horizontal wind...
The problem of stabilization of lateral and longitudinal position for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on generic linear model which successfully describes the behavior of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust controller for longitudinal...
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