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This study presents a detailed approach to extend the conventional state plane analysis (SPA) of the parallel resonant converter (PRC) by including some non-ideality sources which might influence the operation of the circuit. It is experimentally shown that the proposed method improves the SPA of PRC dramatically.
The two-stage 48V-12V-1.8V Voltage Regulator Module (VRM) structure is gaining more and more attention in high-end server applications. The LLC converter is the preferred choice for the first conversion stage because it provides the isolated 12V output efficiently, which is then converted to 1.8V by the multi-phase Buck converter. Since the CPU works in sleep-mode most of the time, the light load...
Common mode voltage output is closely associated with switching states in three-phase three-wire neutral-point clamped inverter. Detailed analysis shows avoiding redundant states can effectively improve the common mode voltage, so this paper proposes a pulse width modulation (PWM) technique with zero redundant states to reduce the common mode voltage output, and evaluate their performance with the...
This paper presents the digital implementation of a boundary controller with unipolar switching characteristic for single phase voltage source full bridge inverters, which will be used as an interface between a low voltage DC microgrid and AC loads. This paper expands the second order switching surface control method for single phase inverters by unipolar switching with the use of a finite-state machine...
Energy efficiency has become one of the major concerns in railway operation today. Generation of energy-efficient train trajectories can be modeled as solving a complex optimization problem with nonlinear and time-varying variables under multiple constraints of equality and inequality, as train operation is a dynamically vacillating process due to complex railway operational conditions. In recent...
The paper presents a concept of a ship motion control system, which is able to perform a turn along the desired arc. The proposed course control autopilot employs the structure of the cascade system and the Internal Model Control approach, which ensures high quality of operation during course-tracking, obtained by extension to the nonlinear form. The article presents results of simulations illustrating...
A problem of motion planning and coordination of compact formations of ground and aerial robots will be tackled in this paper. The scenarios when the formation composed from Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs), in particular Micro Aerial Vehicles (MAVs), has to reverse the direction of movement to fulfil task of collisionfree motion to a target zone will be solved....
The time-optimal trajectories are very sensitive to disturbances. The use of optimal strategy in real-time inevitably results in a departure from the optimal path. A return to the trajectory is no longer possible. When the time-optimal is replaced to the fix horizon problem then the real system moves from the optimal to nearing trajectories. Moreover, a further desensitization is possible by a proper...
The paper presents a hybrid controller that controls the movement of a ship in various operating modes. The developed controller integrates a number of operational modes, such as: precise maneuvering the ship at low speeds, steering the ship at different speeds along the set trajectory or on the course, and stopping the ship on the route. The implementation of these modes requires the use of five...
This paper presents a method for synthesis of control alphabet policies, given continuum descriptions of physical systems and tasks. First, we describe a model predictive control scheme, called switched sequential action control (sSAC), that generates global state-feedback control policies with low computational cost, given a control alphabet. During synthesis, sSAC alphabet policies are directly...
Control efforts on dynamic gaits for legged systems traditionally focus on limit cycles and their stability. However, there are many practical situations where step-to-step variability is highly desirable, for example to achieve variable footholds or to recover and replan after perturbations. In this paper we present an effective, high-level switching control framework for overcoming terrain obstacles...
Switched nonlinear systems are control systems that involve both continuous and discrete dynamics. In this paper, we consider the problem of global stabilization of switched nonlinear systems under arbitrary switchings. A nonconventional method of immersion and invariance (I&I) which does not require the Lyapunov function of the plant is extended to stabilization of general switched nonlinear...
The goal of this paper is to study the switching stabilization of discrete-time autonomous switched linear systems (SLSs) based on the periodic Lyapunov functions. In recent papers, a convex switching stabilizability condition was presented. We investigate properties of the condition. In particular, it is proved that the condition is only a sufficient condition, and also provide a class of stabilizable...
In this paper, we have proposed a sliding mode control law with gain-scheduled and improved boundary layer for leader-follower based formation control. The switching gains of sliding mode controller are required to change with the absolute value of sliding mode function. Specifically, a larger switching gain should be adopted in order to ensure rapid convergence, while a smaller one should be adopted...
Coordinated animal behavior is abundant in nature, such as the uniform moving phenomenon among bird flocks, the collective evasion maneuvers of fish schools. To explore the appealing inter-individual interaction mechanism governing the abundant biological grouping behaviors, more and more efforts have been devoted to collective motion investigation in recent years. Previous research claims the existence...
This paper develops a solution to the cooperative output tracking problem of a network of non-minimum phase (NMP) vehicles under a direct and time-varying communication topology. The desired trajectory is generated by a linear exo-system and accessible to partial vehicles. The solution consists of three modules: a distributed observer network (DON), a causal stable inversion (CSI), and a state trajectory...
In this paper, we investigate the problem of designing a switched compensator for a plant switching amongst a finite family of constrained linear time invariant configurations. We assume that switching is governed by a pre-defined switching rule which prescribes that any information pertaining to the time or state dependency of the switching event is unavailable to the controller side. The novelty...
This paper presents some further results on sliding mode control for a class of nonlinear systems with bounded uncertain parameters. A finite-time sliding manifold is proposed by incorporating piecewise defined function of time into the existing terminal sliding manifold, based on which a novel time-varying finite-time sliding mode controller is proposed. The proposed control strategy eliminates the...
The derivation and implementation of the natural switching surfaces (NSS) considering parametric uncertainties for a flyback converter operating at boundary conduction mode (BCM) is the main focus of this paper. The NSS presents many benefits for the control of non-linear systems; for example fast transient response under load-changing conditions. However, the performance considerable worsens when...
An adaptive modified dynamic surface tracking controller for a nonholonomic wheeled mobile robot (WMR) with parametric uncertainties is proposed. The dynamic surface control (DSC), with Levant's differentiator instead of the commonly adopted first-order filter, is incorporated to alleviate the so-called explosion of complexity problem. The major advantage is its finite-time convergence which in turn...
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