Robust optimal motion cueing algorithm based on the linear quadratic regulator method and a genetic algorithm

The aim of this paper is to design and develop an optimal motion cueing algorithm (MCA) based on the genetic algorithm (GA) that can generate high-fidelity motions within the motion simulator's physical limitations. Both, angular velocity and linear acceleration are adopted as the inputs to the MCA for producing the higher order optimal washout filter. The linear quadratic regulator (LQR) method is used to constrain the human perception error between the real and simulated driving tasks. To develop the optimal MCA, the latest mathematical models of the vestibular system and simulator motion are taken into account. A reference frame with the center of rotation at the driver's head to eliminate false motion cues caused by rotation of the simulator to the translational motion of the driver's head as well as to reduce the workspace displacement is employed. To improve the developed LQR-based optimal MCA, a new strategy based on optimal control theory and the GA is devised. The objective is to reproduce a signal that can follow closely the reference signal and avoid false motion cues by adjusting the parameters from the obtained LQR-based optimal washout filter. This is achieved by taking a series of factors into account, which include the vestibular sensation error between the real and simulated cases, the main dynamic limitations, the human threshold limiter in tilt coordination, the cross correlation coefficient, and the human sensation error fluctuation. It is worth pointing out that other related investigations in the literature normally do not consider the effects of these factors. The proposed optimized MCA based on the GA is implemented using the MATLAB/Simulink software. The results show the effectiveness of the proposed GA-based method in enhancing human sensation, maximizing the reference shape tracking, and reducing the workspace usage.

Primary voltage control of a single-phase inverter using linear quadratic regulator with integrator

This paper proposes a linear quadratic regulator with integral action, ensuring fast dynamic response and resisting capability of voltage deviation from instantaneous reference grid voltage, to control the inverter voltage that can also be used in a microgrid. The proposed control strategy is based on a linear quadratic regulator, minimizing the cost function of the system, with integral action used to impede voltage degradation from a reference voltage for outside disturbances of the system, such as abrupt load change. The combined integral term assists to recover the voltage difference between grid and reference grid voltage. The validity of the proposed controller has been tested with linear and non-linear loads under various conditions. In both cases, the effectiveness of the controller has been proved. The result of the proposed controller is good to track the instantaneous reference grid voltage.

Using geometric shape variations to create an inverse model for a sheet metal process

The output of the sheet metal forming process is subject to much variation. This paper develops a method to measure shape variation in channel forming and relate this back to the corresponding process parameter levels of the manufacturing set-up to create an inverse model. The shape variation in the channels is measured using a modified form of the point distribution model (also known as the active shape model). This means that channels can be represented by a weighting vector of minimal linear dimension that contains all the shape variation information from the average formed channel.

The inverse models were created using classifiers that related the weighting vectors to the process parameter levels for the blank holder force (BHF), die radii (DR) and tool gap (TG) of the parameters. Several classifiers were tested: linear, quadratic Gaussian and artificial neural networks. The quadratic Gaussian classifiers were the most accurate and the most consistent type of classifier over all the parameters.

Terminal approach navigation for autonomous robots in a sensory network

In this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.

Design of a norm-bounded LQG controller for power distribution networks with distributed generation

This paper presents a novel excitation control design to improve the voltage profile of power distribution networks with distributed generation and induction motor loads. The system is linearised by perturbation technique. Controller is designed using the linear-quadratic-Gaussian (LQG) controller synthesis method. The LQG controller is addressed with norm-bounded uncertainty. The approach considered in this paper is to find the smallest upper bound on the H∞ norm of the uncertain system and to design an optimal controller based on this bound. The design method requires the solution of a linear matrix inequality. The performance of the controller is tested on a benchmark power distribution system. Simulation results show that the proposed controller provides impressive oscillation damping compared to the conventional excitation controller.

Stable operation of distribution networks using D-STATCOM considering uncertainties in load compositions

This paper presents a novel control design for D-STATCOM to ensure grid code-compatible performance of distributed wind generators. The approach considered in this paper is to find the smallest upper bound on the H norm of the uncertain system and to design an optimal linear quadratic Gaussian (LQG) controller based on this bound. The change in the model due to variations of induction motor (IM) load compositions in the composite load is considered as an uncertain term in the design algorithm. The performance of the designed controller is demonstrated on a distribution test system representative of the Kumamoto area in Japan. It is found that the proposed controller enhances voltage stability of the distribution system under varying operating conditions

A control methodology for DFIG type wind turbines connected to distribution networks

This paper proposes a decentralised controller design for doubly-fed induction generators (DFIGs) to enhance dynamic performance of distribution networks. The change in the output power due to the variable nature of wind is considered as an uncertain term in the design algorithm. In addition, the interconnection effect of the other subsystems are considered in the design process. The H norm of the uncertain system is found out and simultaneous output-feedback linear controllers are designed based controller is verified on a 16 bus distribution test system for severe disturbances. Simulation results indicate that the designed controller is robust against uncertainties in operating conditions

D-STATCOM control in distribution networks with composite loads to ensure grid code compatible performance of photovoltaic generators

This paper proposes an optimal linear quadratic Gaussian (LQG) controller for D-STATCOM to improve the dynamic performance of distribution networks with photovoltaic generators. The controller is designed based on the H∞ norm of the uncertain system. The change in system model due to the variation of load compositions in the composite load is considered as an uncertain term in the design algorithm. The performance of the designed controller is demonstrated on a widely used test system. Simulation results indicate that the proposed controller can be a potential solution for improving the voltage stability of distribution networks.

Enhancement of transient stability limit and voltage regulation with dynamic loads using robust excitation control

In stressed power systems with large induction machine component, there exist undamped electromechanical modes and unstable montonic voltage modes. This article proposes a sequential design of an excitation controller and a power system stabiliser (PSS) to stabilise the system. The operating region, with induction machines in stressed power systems, is often not captured using a linearisation around an operating point, and to alleviate this situation a robust controller is designed which guaruntees stable operation in a large region of operation. A minimax linear quadratic Gaussian design is used for the design of the supplementary control to automatic voltage regulators, and a classical PSS structure is used to damp electromechanical oscillations. The novelty of this work is in proposing a method to capture the unmodelled nonlinear dynamics as uncertainty in the design of the robust controller. Tight bounds on the uncertainty are obtained using this method which enables high-performance controllers. An IEEE benchmark test system has been used to demonstrate the performance of the designed controller

Robust nonlinear distributed controller design for active and reactive power sharing in islanded microgrids

This paper presents a robust nonlinear distributed controller design for islanded operation of microgrids in order to maintain active and reactive power balance. In this paper, microgrids are considered as inverter-dominated networks integrated with renewable energy sources (RESs) and battery energy storage systems (BESSs), where solar photovoltaic generators act as RESs and plug-in hybrid electric vehicles as BESSs to supply power into the grid. The proposed controller is designed by using partial feedback linearization and the robustness of this control scheme is ensured by considering structured uncertainties within the RESs and BESSs. An approach for modeling the uncertainties through the satisfaction of matching conditions is also provided in this paper. The proposed distributed control scheme requires information from local and neighboring generators to communicate with each other and the communication among RESs, BESSs, and control centers is developed by using the concept of the graph theory. Finally, the performance of the proposed robust controller is demonstrated on a test microgrid and simulation results indicate the superiority of the proposed scheme under different operating conditions as compared to a linear-quadratic-regulator-based controller.

Swing-up and stability control of Wheeled Acrobot (WAcrobot)

In this paper the Wheeled Acrobot (WAcrobot), a novel mechanical system consisting of an underactuated double inverted pendulum robot (Acrobot) equipped with actuated wheels, is described. This underactuated and highly nonlinear system has potential applications in mobile manipulators and leg-wheeled robots. It is also a testbed for researchers studying advanced methodologies in nonlinear control. The control system for swing-up of the WAcrobot based on collocated or non-collocated feedback linearisation to linearise the active or passive Degree Of Freedom (DOF) followed by Linear Quadratic Regulator (LQR) to stabilise the robot is discussed. The effectiveness of the proposed scheme is validated with numerical simulation. The numerical results are visualised by graphical simulation to demonstrate the correlation between the numerical results and the WAcrobot physical response.

Pro-oxidative synergic bactericidal effect of NO: kinetics and inhibition by nitroxides

NO plays diverse roles in physiological and pathological processes, occasionally resulting in opposing effects, particularly in cells subjected to oxidative stress. NO mostly protects eukaryotes against oxidative injury, but was demonstrated to kill prokaryotes synergistically with H2O2. This could be a promising therapeutic avenue. However, recent conflicting findings were reported describing dramatic protective activity of NO. The previous studies of NO effects on prokaryotes applied a transient oxidative stress while arbitrarily checking the residual bacterial viability after 30 or 60min and ignoring the process kinetics. If NO-induced synergy and the oxidative stress are time-dependent, the elucidation of the cell killing kinetics is essential, particularly for survival curves exhibiting a "shoulder" sometimes reflecting sublethal damage as in the linear-quadratic survival models. We studied the kinetics of NO synergic effects on H2O2-induced killing of microbial pathogens. A synergic pro-oxidative activity toward gram-negative and gram-positive cells is demonstrated even at sub-μM/min flux of NO. For certain strains, the synergic effect progressively increased with the duration of cell exposure, and the linear-quadratic survival model best fit the observed survival data. In contrast to the failure of SOD to affect the bactericidal process, nitroxide SOD mimics abrogated the pro-oxidative synergy of NO/H2O2. These cell-permeative antioxidants, which hardly react with diamagnetic species and react neither with NO nor with H2O2, can detoxify redox-active transition metals and catalytically remove intracellular superoxide and nitrogen-derived reactive species such as (•)NO2 or peroxynitrite. The possible mechanism underlying the bactericidal NO synergy under oxidative stress and the potential therapeutic gain are discussed.

Age and productivity of academics: A case study of a public university in Malaysia

This study examines the relationship between age and productivity measured based on key performance indicators (KPI) amongst academic staff at Universiti Sains Malaysia (USM). Three models were used in the analysis: linear, quadratic and piece-wise spline. The linear model indicates that age is negatively related to KPI. The quadratic model shows an inverted-U shaped relationship where KPI peaks at age 41 years. The piece-wise spline model indicates academic staff reach the peak of their productivity between ages 46-50 years with another productive age interval between 36-40 years implying 10 golden years when KPI could be harvested fruitfully. There is a significant downtrend in the KPI after 50 years of age. Other factors that have significant influence on KPI are gender, academic rank and discipline. The sub-models show that the influence of age on KPI is more significant amongst academic staff in the arts compared to the science stream. Age influence on KPI is significant amongst female staff but not male staff. We conclude that assessing performance in the workplace with regard to age requires complex methodological engagement and also needs to be based on a wider lens which recognises and includes within the discussion, the intangible and social dimensions of performance.