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This paper applies ADRC algorithm to the inverted pendulum stabilization problem. Since the extended state observer and control law can be nonlinear or linear, different combinations are designed to balance the pendulum's angle. It also offers a practical solution that the nonlinear parameters are tuned as the linear ones. The output response speed and control variable are compromised to determine...
Gallium Nitride (GaN) Enhancement-mode High-Electron-Mobility Transistors (EHEMTs) are promising devices for motor drives. Hence, ensuring and gaining insight into their ruggedness against Short-Circuit (SC) faults become essential. Thus, SC stresses (types I and II) are studied for the first time in commercial EHEMTs with similar on-state resistance (∼ 100 mΩ) and breakdown voltage (∼ 600 V). As...
This paper deals with the implementation of the Linear Quadratic Gaussian (LQG) with an Extended Kalman Filter (EKF) for the position control of a PMDC motor. LQG is a popularly used linear optimal control technique in literature. However, the direct implementation of LQG with the use of the Kalman Filter as the optimal estimator is incapable of adapting to changes in the system parameters which results...
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the considered system, since there may exist explicit unknown system parameters and also perturbations, a lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. The design contains two different phases of...
Nowadays the majority of applications are demanding more and more compact, cost effective and robust solutions for their electric drives. In this context permanent magnet synchronous machines are considered as a good candidate due to their high torque density. This torque density is obtained thanks to high power rare earth magnets with both high remanence and high coercive force. However, the magnets...
Designing a robust controller for nonlinear discrete-time systems, described by block-oriented models, becomes an active area for research in automatic theory. In this paper, two techniques are proposed: the first one is based on developing a discrete sliding mode control for a generalized Hammerstein mathematical model. The second one consists in replacing the constant switching gain of the discontinuous...
Accurate and cost-effective localization is an important requirement for several sensor network applications. In this paper, we compare two localization methods-multilateration and Isomap and study some of the key issues that affect their performance. We also analyze the flip ambiguity problem and the effect of applying a robustness criterion in both the methods. Our simulation results show that the...
The performance of adaptive beamformer will degrade in the case of jammer motion and shaking platform. In order to improve the performance of adaptive beamformer, an improved null broadening adaptive beamforming method is proposed. The proposed method is realized by the reconstruction of interference-plus-noise covariance matrix. Null broadening can be obtained by the proposed method and the null...
This paper deals with the Internal Model Control (IMC) design which is based on the use of a specific controller and extended to the case of linear multivariable underactuated systems. The case of a class of linear underactuated systems with two degrees of underactuation will be considered in order to confirm the effectiveness of the proposed approach to ensure set-point tracking and disturbance rejection...
In order to regulate the output voltage in converter system with four-quadrant characteristic a quasi-Z-Source Converter (qZSC) is preferred. The converter can provide bi-directional current and bipolar output voltage with minimal number of elements. In this converter two active switches with complimentary commands and a quasi-Z-source network is required and there is no need to coupled inductors...
This paper deals with the induction machine's control inside a field oriented control (FOC) plan, a fractional order proportional integral (FOPI) controller is applied to ensure the speed control. PI and FOPI controllers have the similar structure but the fractional controller considers fractional integration orders in concluding the control action. Thanks to the fractional order integral we can get...
This paper investigates the internal model control of linear discrete-time system. A robustness filter is also considered and introduced to improve the performance of the controlled studied system. Two study cases are considered, first when the robustness filter is placed in the feedback loop and then when it is introduced in the direct loop. Simulation results have been presented to show the effectiveness...
In order to improve the robustness of the control for Permanent Magnet Synchronous Generator (PMSG), the optimal linear quadratic regulator technique is adopted to both current and voltage controllers in this paper. Furthermore, an integral action is added to cancel the steady-state error. Control principles are analyzed and controller design is given in details. Simulation results reveal that the...
To protect the high-speed integrated circuits from electrostatic discharge (ESD) damages, the ESD protection design of inductor-assisted silicon-controlled rectifier (LASCR) is investigated in this work. Compared with the conventional ESD protection design of dual-diode, the LASCR has better high-speed performances and higher ESD robustness. Therefore, the LASCR is very suitable for high-speed applications.
The design of rules governing the behaviour of a follower in a leader-follower system is a non-trivial task. In this paper, we investigate three Boids-like behavioural rules: alignment, attraction and separation. We systematically design and investigate the impact of different reward functions on the three behaviours using evolutionary computation methods. A Learning Classifier System initially starting...
Response surface methodology (RSM) has been widely used in practice, which can optimize single response versus several factors. Naturally people are not only interested in single response optimization, but also multiple responses optimization. In this paper we propose a general framework for multiple responses optimization using Bayesian posterior predictive method. This method can account for the...
Recent works in the context of large-scale adaptive systems, such as those based on opportunistic IoT-based applications, promote aggregate programming, a development approach for distributed systems in which the collectivity of devices is directly targeted, instead of individual ones. This makes the resulting behaviour highly insensitive to network size, density, and topology, and as such, intrinsically...
In this paper, a control strategy to overcome the perturbation problem in quadcopters, primarily in simultaneous flight, using a smoothly saturated error correction, is presented. The quadcopter dynamic model is reduced through feedback linearization. Then is designed an integral-backstepping-like controller, where the error correction actions are limited using a smooth function. Numeric simulation...
We are interested in solving the problem of locating a subset of facilities in the case of uncertainties and variations in the system parameters. Dealing with this problem using scenarios based approach needs an important computational effort. The two phases proposed method in this paper combines both exact and heuristic approaches to minimize the maximum regret of the model. We proposed and compared...
DC-DC converters have been receiving great attention for their extensive use in a myriad of applications starting with basic calculators to photovoltaic systems to sophisticated weaponry. Several control methods were developed for DCDC converters control mostly with asymptotic convergence. Synergetic control are a proven robust controllers approach and will be used here in a so called terminal scheme...
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