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The purpose of this research is to develop a control strategy for a differential drive autonomous mobile robot. The robotic task is to move in a straight trajectory in the workspace despite powered by two non-identical electric motors. A developed controller was designed to control the rotational speed of the motors independently in order to achieve a straight trajectory of the motion despite the...
This paper presents a stand-alone hybrid PV/fuel cell system using single-inductor dual-input single-output (SI-DISO) boost converter. Compared to conventional hybrid power system, the proposed system significantly reduce the number of components, the system size and the corresponding cost. A model predictive control (MPC) method has been developed to control the SI-DISO boost converter to achieve...
This paper proposes an architecture where each agent maintains a cooperative tendency table (CTT). In the process of learning, agents need not communicate with each other but observe partners' actions while taking actions. If one of the agents meets a bad situation, such as bumping onto obstacles after taking an action. In such a case, agents will receive a bad reward from the environment. Similarly,...
In Network Control Systems (NCSs), a dual rate controller is an approach that is applied to reduce the influence of packages loss and random delays. If the output measuring sensors is slower than the control action update can be reached, the dual rate controller is used as a possible solution. In this paper, a fuzzy controller will be combined with a dual rate controller in an NCS to regulate the...
Electric drives are a key technology for reducing energy consumption of industrial processes, for wind power generation and for enabling electric transportation. It has been observed that almost half of the global electrical energy is consumed by electric motor drives. The university course about modeling and control of electric drives must give the required knowledge to the students hence they are...
Silicon carbide (SiC) is an important semiconductor material used in power electronics. Due to its high hardness and brittleness. The SILVACO-TCAD numerical simulator is used to calculate the I-V characteristic of the Schottky diode (W/4H-SiC) in the temperature range of 303–448 K. This is to study the effect of temperature on the I-V curves and assess the main parameters that characterize the Schottky...
Based on the method of Skeletonization, the concept of influence factor is introduced in this paper. A method for trimming the fat from a Back Propagation (BP) neural network is proposed by modifying weight and influence factor alternately, and node with the least influence factor was deleted. This method is applied to modeling superheated steam temperature system of plant station. Simulation results...
Constructing and maintaining formation is a hot pot due to the high performance and efficiency of cooperative flight. A formation control law based on terminal sliding mode method with high-precision tracking capability is presented to ensure the formation can be realized in limited time. The member kinematics model of the quad-rotor unmanned aerial vehicles (UAVs) is established and can be decomposed...
Environment problem is becoming a greatly concerned focus with more and more fossil fuels consumed now. How to balance economic dispatch and pollution gas emission in power systems is really a multiobjective optimization problem, which has been studied by many researchers. In this paper, we propose a novel multiobjective optimization algorithm to solve this problem by integrating bat algorithm and...
This paper proposes modeling and control system design for PV based Quasi-Z-Source Inverter (QZSI) for grid connected applications. The control system is designed based on the dynamical characteristics of the converter and introduces two cascaded controllers. Firstly, output current controller designed in the stationary frame. The second is DC-link voltage controller. Also, Modified Direct Incremental...
Anti-torpedo torpedoes (ATT), as a kind of new defense underwater weapon, are widely applied on the active defense systems. In order to effectively combat the target, ATT needs better manipulation and faster navigation strategy. In the present paper, the guided trajectory of ATT is studied in detail by motion simulation. In order to study the guided trajectory characteristics of ATT, the kinematics...
This paper studies a new intelligent operation technology of high voltage circuit breaker(HVCB). An operating mechanism driven by a three-phase permanent magnet synchronous motor (PMSM) for HVCB is described. Through simulation model, the mechanism's opening and closing operations characteristics are simulated and calculated, and the relationship between the optimal moving contact travel of HVCB and...
This paper addresses the problem of steering Underactuated Surface Vessels (USVs) along given paths. Due to dynamical uncertainty and ocean disturbances induced by unknown wind, waves and ocean currents, there exist some imperfections in dealing with this non-linear systems with traditional control algorithms. A novel trajectory following controller based on Active Disturbance Rejection Control (ADRC)...
This work presents a path following controller for single Unmanned Surface Vessels (USV) in formation control. Firstly, the USV mathematical model under unknown dynamic sea conditions will be analyzed. And then an adaptive robust controller is designed based on RBF neural network. Finally, the controller stability and robustness with unmodeled dynamics and unknown model parameters perturbation in...
To study the impact on stability and security of the power grid that large-scale Photovoltaic (PV) generation systems integrated, the need for new models and simulation methods is increasing. Firstly, in this paper, a novel simplified phasor model is proposed based on the description of common detail model and averaged model for the PV generation system. The structure of the simplified phasor model...
The Hammerstein model is an effective way to model the nonlinear systems, which contains a nonlinear static block followed by a linear dynamic block. However, when facing with the strong nonlinear time-delay effects, the nonlinear memoryless block can not work very well. Hence, a time-delay neural network is used as a quasi-dynamic nonlinear block in the established nonlinear Hammerstein model which...
In this paper, to increase the accuracy and the rate of convergence of the algorithm, by employing orthogonal experiment and mutation operation to the traditional Quantum-behaved Particle Swarm Optimization (QPSO), an improved QPSO (IQPSO) has been presented. The optimization criterion, the ITAE (Integral of Time and Absolute Error) tested that the efficiency of IQPSO is superior to the traditional...
In this paper, the control problems of the permanent magnet synchronous motor (PMSM) system are investigated extensively. Some single input controllers were proposed to realize the control problems of such system, such as stabilization, synchronization, coexistence of anti-synchronization and synchronization, projective synchronization. It is noted that there exist two different single input controllers...
In this paper, a concept is presented for simplifying and accelerating the development and testing process of a Permanent Magnet Synchronous Machine (PMSM), or its control unit, without utilizing any actual electric machine. The proposed Permanent Magnet Synchronous Machine Emulator (PMSME) utilizes the Power-Hardware-In-the-Loop (PHIL) concept to reproduce the mechanical and electrical characteristics...
Mobile robotics became an important knowledge area. Led by the technological advances, the life spectancy increases, rising the senior citizens ratio. At the same hand, the cities growth turn on a more intense and dangerous traffic. Autonomous mobile robots can help in these situations, but still have a jeopardized application. In this sense, this work presents a contribution to development of nonholonomic...
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