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This paper validates the advantage of using an integrated electric vehicle-battery model in torque control application. In the integrated electric vehicle-battery model, battery dynamics is explicitly included in the model. A well-known linear quadratic integral (LQI) design is adopted here to have an optimal controller with zero tracking error. The energy consumption is, however, observed through...
In this paper we successfully experimentally verify the recently introduced protective predictive controller patch for multi-mass drives subject to physical and safety constraints on their variables. The protective patch is obtained through set-theoretic computations that account for the drive model and constraints, as well as the state estimation uncertainties. It is used in combination with the...
This paper proposes the position control of DC motor. Two methods are used for position control, LQR method and feedback linearization. We show that these methods without load torque are stable, but, when load is added to the motor's shaft, LQR and feedback linearization can not make efficient input signal for reference tracking in output. To solve this problem, we combined these methods and will...
This paper presents two full-state feedback parametric controllers, linear controller and quadratic one. They are tested in swing up model and perturbed bipedal standing balance example for unconstraint and constraint problems. One link model and two link model are employed to discuss the differences between the proposed controllers. The parameters of each controller and each example are optimized...
Control design for variable speed wind turbine system is one of most challenge to engineer today. Wind energy conversion system that includes complex combination of aero dynamics and electrical phenomena together with anonymous action of wind speed making control system sophisticated. Beside the nonlinearity model of wind turbine, the basic control strategy for wind turbine is maximizing the power...
Analysis and damping of torsional oscillations in series compensated transmission systems is presented in this paper. Series compensation of transmission lines connected to turbo generators can result in sub synchronous resonance (SSR) leading to adverse torsional oscillations. Use of flexible AC transmission system (FACTS) controllers such as static synchronous compensator (STATCOM) are increasing...
Radar servo system is a complex system with nonlinearity and coupling. In this paper, the nonlinear mathematical model of radar servo system is established according to the model of executive motor and the load characteristics of radar antenna. Based on the model, an optimal controller for radar servo system is designed by the theory of feedback linearization and linear quadratic regulator (LQR)....
This paper introduces a direct power control (DPC) method with narrowband disturbance rejection capability for the grid-connected doubly fed induction generator (DFIG). The method is suited for variable speed operation of DFIG, especially in wind energy conversion systems connected to weak networks where voltage unbalance is common. The control framework is based on the linear quadratic regulator...
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the...
This paper presents a standing balance controller that explicitly handles pushes. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to the optimal control. We take advantage of a parametric nonlinear optimization method, SNOPT, to generate initial trajectories and then use Differential Dynamic Programming (DDP) to further refine...
This paper presents a combined digital controller for precision AC servo table. The overall control structure consists of two parts: the feedback controller and feedforward compensator. The feedback controller designed with linear quadratic control of system error state space. And the system parameters are identified via the response of open-loop experiment. The feedforward compensator is used to...
This paper derives an LQR anti-jerk controller for an automotive driveline. The time derivative of the drive shaft torque, which is closely related to the vehicle jerk, is used as a virtual system output and regulated to zero. Thereby the controller does not need a reference model for generation of reference trajectories for the control law evaluation. The controller acts as a torque compensator for...
In this paper we propose a new fuzzy logic controller (FLC) for unicycle control. The FLC design integrates the linear quadratic regulator (LQR) and the gain-scheduling approach. By comparing FLC with the LQR designed around an operating point, the FLC coefficients can be easily tuned in a systematic way. The new FLC design aims at achieving three objectives: overcoming the difficulty in tuning the...
The output power fluctuation of renewable energy power plants such as wind turbine generator and photovoltaic system result in frequency deviation and terminal voltage fluctuation. Furthermore, these power fluctuations also affect the turbine shafting of diesel generator and gas-turbine generators which are the main power generation systems in isolated islands. This paper presents a control strategy...
An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method,...
This paper focuses on designing a multimodel linear quadratic (LQ) controller for variable-speed horizontal axis wind turbines. Those turbines use blade-pitch and electromagnetic torque control to meet specified objectives for three regions of operation. We aim in this paper to use the blade-pitch control in the high wind speed operating zone. The controller is then designed in order to optimize a...
A new method of the optimal sliding mode variable structure control is presented to eliminate the extraneous torque in the load simulator. The mathematical model of the load simulator is enlarged by incorporating the torque reference input with integral action. By proper state transformation, the construction of the optimal sliding surface equals to the design of the feedback matrix in the linear...
A disturbance accommodating Linear Quadratic Regulator (LQR) method was applied in pitch control system to achieve good performance. The disturbance can be estimate by designing state estimator, and a feedback was added into the input to eliminate disturbance effect. The feed back matrix was calculated in accordance to LQR theory. A wind turbine dynamic modal was set up, and simulation of the control...
This paper presents an intelligent control method for the Acrobot with applications of neural network (NN) and genetic algorithm (GA). A switch controller is proposed where a neurocontroller (NC) optimized by GA is used for the swing-up stage and a linear quadratic regulator (LQR) is applied to the balancing stage. In order to analyze the characteristics of the proposed control system, we investigate...
This paper presents the use of angular position control approaches for a flexible manipulator with disturbances effect in the dynamic system. Linear Quadratic Regulator (LQR) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered...
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