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This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
This paper addresses the time delay problem in Networked Control Systems (NCSs) occuring due to the presence of communication medium. To compensate the time delay multirate output feedback based sliding mode controller is designed in which the control input is computed based on the system outputs and past control signals by taking full advantage of network transmission. A Thiran Approximation technique...
This paper introduces a novel control system of bipedal robots on uneven terrain. Since this method does not require to measure Zero Moment Point (ZMP), the tracking performance of the controller is not deteriorated by the noise on a measured ZMP. Moreover, the robot withstands frequent perturbations because of its two-degree-of-freedom structure. The robot is stabilized by Center of Mass (COM) regulation...
This paper presents a motion planning algorithm for generating optimal collision-free paths for robotic vehicle with two trailers moving autonomously. The proposed algorithm is based on combination between artificial potential field method (APF) and optimal control theory. The optimal control theory is applied to generate an optimal collision-free path for robotic vehicle from a starting point to...
The dynamic frequency stability issues in microgrids with large penetration of low inertia and intermittent photovoltaic (PV) systems can be improved by using virtual inertia (VI). A VI is the combination of energy storage system, power electronics converter and a proper control algorithm. This paper presents design and experimental verification of the VI in a PV-diesel generator based remote microgrid...
The advent of Silicon-Carbide and Gallium-Nitride MOSFETs offers potential to realize higher energy density power converters operating at increased switching frequencies. The maximum switching frequency in a power converter is limited by the ability of the switching device package to dissipate its switching and conduction losses. At a given value of drain-source voltage and current, the turn-on losses...
Repetitive control (RC) scheme presents an attractive solution to achieve excellent steady-state tracking error and low total harmonic distortion (THD) for periodic signals. RC can produce extremely large gains at fundamental and each harmonic frequency of reference signal to achieve all harmonics suppression. However, a DC-AC inverter always has uneven THD distribution, e.g. THD concentrates at 4fc...
Space vector pulse width modulation (SVPWM) is widely used because of their easier digital realization and better DC bus utilization and lower THD. Various types of SVPWM strategies exist. The hybrid SVPWM strategy considers various SVPWM sequences and places the best performance sequence for a given reference vector and it proves to be superior in comparison with the conventional strategies. This...
Doubly fed induction generator (DFIG) is the most implemented electric machine in wind energy conversion systems (WECS) due to reduced size converter, active and reactive power control and economic factors. However, the power electronic stage needs an accurate controller that allows to follow the stator power regulation. As a result, Sliding-Mode Control (SMC) has been successfully implemented in...
In order to improve the performance-price ratio of the grid-connected photovoltaic power generation micro-inverter, with the grid-connected flyback inverter as the research object, an open-loop control strategy based on the critical continuous operation mode is studied in this paper. According to the current in the grid, the peak current in the primary and secondary inductors of the flyback inverter...
Multi-phase induction motor (MIM) drives with polephase modulation (PPM) is suitable for the Electric vehicle(EV) applications because of the reasons, like constant power operation with high efficiency over an extended speed-torque range and high reliability. By using Pole-Phase modulation, in this paper a 45-phase squirrel-cage induction motor (IM) drive is proposed with 1:3:5:9:15 speed ratios for...
Many rail transport providers operate and maintain a medium voltage distribution network providing power to trains, signalling equipment and stations. Transformers form an important part of the distribution network stepping voltage up and down. Rectifier transformers are used to provide DC for traction, usually stepping down from medium voltage levels. Mineral oil is essential for optimised performance...
Wireless power transfer (WPT) technology is becoming popular and widely used in various fields including smart phones and electrical vehicles (EV). Therefore, designing an efficient and energy-saving WPT system is a critical issue. The focus of this paper is on a resonant coupled WPT system design by considering the scenario that more than one receivers present at the receiver side. The WPT system...
A model predictive control (MPC) is proposed for a buck-type active power filter (APF) integrated single-phase quasi-Z-source inverter (qZSI) to directly eliminate the dc-side low-frequency ripple power. The buck-type APF operates independently from the main circuit power devices, comparing to the coupled-type APF. The proposed MPC compensates the low-frequency ripple power directly by the APF capacitor...
Technology is the vital criterion to boosting the quality of life. Nowadays, innovation in smart wearable technologies (SWTs) has been coming up to different sectors and is gaining momentum to be implemented in everyday objects. The successful introduction of SWTs will present the production of new generations of innovative and high value-added products. Furthermore, this topic is gaining ground within...
The time-variant nature of the Wireless Body Area Networks (WBANs) channels turns unclear if the application's Quality of Service (QoS) requirements can be guaranteed. This paper provides an on-body signal propagation statistical characterization, following a scenario-based approach, and a communication performance evaluation of several wearable devices, which are attached to a Personal Protective...
In this paper, a distributed home automation system will be demonstrated. Traditional systems are based on a central controller where all the decisions are made. The proposed control architecture is a solution to overcome the problems such as the lack of flexibility and re-configurability that most of the conventional systems have. This has been achieved by employing a method based on the new IEC...
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