Adaptive backstepping droop controller design for multi-terminal high-voltage direct current systems

Wind power is one of the most developed renewable energy resources worldwide. To integrate offshore wind farms to onshore grids, the high-voltage direct current (HVDC) transmission cables interfaced with voltage source converters (VSCs) are considered to be a better solution than conventional approaches. Proper DC voltage indicates successive power transfer. To connect more than one onshore grid, the DC voltage droop control is one of the most popular methods to share the control burden between different terminals. However, the challenges are that small droop gains will cause voltage deviations, while higher droop gain settings will cause large oscillations. This study aims to enhance the performance of the traditional droop controller by considering the DC cable dynamics. Based on the backstepping control concept, DC cables are modelled with a series of capacitors and inductors. The final droop control law is deduced step-by-step from the original remote side. At each step the control error from the previous step is considered. Simulation results show that both the voltage deviations and oscillations can be effectively reduced using the proposed method. Further, power sharing between different terminals can be effectively simplified such that it correlates linearly with the droop gains, thus enabling simple yet accurate system operation and control.

Semiactive backstepping control for vibration attenuation in structures equipped with magnetorheological actuatorscat

This paper deals with the problem of semiactive vibration control of civil engineering structures subject to unknown external disturbances (for example, earthquakes, winds, etc.). Two kinds of semiactive controllers are proposed based on the backstepping control technique. The experimental setup used is a 6-story test structure equipped with shear-mode semiactive magnetorheological dampers being installed in the Washington University Structural Control and Earthquake Engineering Laboratory (WUSCEEL). The experimental results obtained have verified the effectiveness of the proposed control algorithms

Control concept for autonomous changeable material flow systems

Today’s material flow systems for mass customization or dynamic productions are usually realized with manual transportation systems. However new concepts in the domain of material flow and device control like function-oriented modularization and intelligent multi-agent-systems offer the possibility to employ changeable and automated material flow systems in dynamic production structures. These systems need the ability to react on unplanned and unexpected events autonomously.

A nonlinear PI and backstepping based controller for tractor-steerable trailer influenced by slip

Autonomous guidance of agricultural vehiclesis vital as mechanized farming production becomes more prevalent. It is crucial that tractor-trailers are guided with accuracy in both lateral and longitudinal directions, whilst being affected by large disturbance forces, or slips, owing to uncertain and undulating terrain. Successful research has been concentrated on trajectory control which can provide longitudinal and lateral accuracy if the vehicle moves without sliding, and the trailer is passive. In this paper, the problem of robust trajectory tracking along straight and circular paths of a tractor-steerable trailer is addressed. By utilizing a robust combination of backstepping and nonlinear PI control, a robust, nonlinear controller is proposed. For vehicles subjected to sliding, the proposed controller makes the lateral deviations and the orientation errors of the tractor and trailer converge to a neighborhood near the origin. Simulation results are presented to illustrate that the suggested controller ensures precise trajectory tracking in the presence of slip.

Control of infrastructure inspection aircraft vertical dynamics in the presence of thermal disturbances

The low-altitude aircraft inspection of powerlines, or other linear infrastructure networks, is emerging as an important application requiring specialised control technologies. Despite some recent advances in automated control related to this application, control of the underactuated aircraft vertical dynamics has not been completely achieved, especially in the presence of thermal disturbances. Rejection of thermal disturbances represents a key challenge to the control of inspection aircraft due to the underactuated nature of the dynamics and specified speed, altitude, and pitch constraints. This paper proposes a new vertical controller consisting of a backstepping elevator controller with feedforward-feedback throttle controller. The performance of our proposed approach is evaluated against two existing candidate controllers.

Creencias de control con respecto a la salud del feto : estructura factorial y fiabilidad de una adaptación al castellano de la Escala Fetal Health Locus of Control (FHLC)

Resumen: Este estudio presenta la estructura factorial y la evaluación de la fiabilidad de una versión en castellano de la escala Fetal Health Locus of Control, que evalúa creencias de control vinculadas a la salud del feto basándose en el concepto Locus de Control acuñado por Rotter. La escala fue administrada a mujeres en edad reproductiva (N = 130) en instituciones educativas de la ciudad de Santa Fe. La versión adaptada de la escala muestra una estructura de 3 factores principales que se corresponden con los constructos teóricos en los que se basa la escala original. La consistencia interna evaluada a través del alpha de Cronbach resultó adecuada, con valores de .81 para la subescala FHLCE-D, .75 para la subescala FHLCI y .76 para la subescala FHLCE-P. En conclusión, la versión adaptada de la escala posee propiedades psicométricas satisfactorias, similares a las de escala original.

Robust Control of Systems Subjected to Uncertain Disturbances and Actuator Dynamics

Esta tesis está enfocada al diseño y validación de controladores robustos que pueden reducir de una manera efectiva las vibraciones structurales producidas por perturbaciones externas tales como terremotos, fuertes vientos o cargas pesadas. Los controladores están diseñados basados en teorías de control tradicionalamente usadas en esta area: Teoría de estabilidad de Lyapunov, control en modo deslizante y control clipped-optimal, una técnica reciente mente introducida : Control Backstepping y una que no había sido usada antes: Quantitative Feedback Theory. La principal contribución al usar las anteriores técnicas, es la solución de problemas de control estructural abiertos tales como dinámicas de actuador, perturbaciones desconocidas, parametros inciertos y acoplamientos dinámicos. Se utilizan estructuras típicas para validar numéricamente los controladores propuestos. Especificamente las estructuras son un edificio de base aislada, una plataforma estructural puente-camión y un puente de 2 tramos, cuya configuración de control es tal que uno o mas problemas abiertos están presentes. Se utilizan tres prototipos experimentales para implementar los controladores robustos propuestos, con el fin de validar experimentalmente su efectividad y viabilidad. El principal resultado obtenido con la presente tesis es el diseño e implementación de controladores estructurales robustos que resultan efectivos para resolver problemas abiertos en control estructural tales como dinámicas de actuador, parámetros inciertos, acoplamientos dinámicos, limitación de medidas y perturbaciones desconocidas.

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Controlador adaptativo backstepping a estrutura variavel com Observadores de estado

This research aims at developing a variable structure adaptive backstepping controller (VS-ABC) by using state observers for SISO (Single Input Single Output), linear and time invariant systems with relative degree one. Therefore, the lters were replaced by a Luenberger Adaptive Observer and the control algorithm uses switching laws. The presented simulations compare the controller performance, considering when the state variables are estimated by an observer, with the case that the variables are available for measurement. Even with numerous performance advantages, adaptive backstepping controllers still have very complex algorithms, especially when the system state variables are not measured, since the use of lters on the plant input and output is not something trivial. As an attempt to make the controller design more intuitive, an adaptive observer as an alternative to commonly used K lters can be used. Furthermore, since the states variables are considered known, the controller has a reduction on the dependence of the unknown plant parameters on the design. Also, switching laws could be used in the controller instead of the traditional integral adaptive laws because they improve the system transient performance and increase the robustness against external disturbances in the plant input

Computer integrated manufacturing control

Many manufacturing companies have long endured the problems associated with the presence of `islands of automation'. Due to rapid computerisation, `islands' such as Computer-Aided Design (CAD), Computer-Aided Manufacturing (CAM), Flexible Manufacturing Systems (FMS) and Material Requirement Planning (MRP), have emerged, and with a lack of co-ordination, often lead to inefficient performance of the overall system. The main objective of Computer-Integrated Manufacturing (CIM) technology is to form a cohesive network between these islands. Unfortunately, a commonly used approach - the centralised system approach, has imposed major technical constraints and design complication on development strategies. As a consequence, small companies have experienced difficulties in participating in CIM technology. The research described in this thesis has aimed to examine alternative approaches to CIM system design. Through research and experimentation, the cellular system approach, which has existed in the form of manufacturing layouts, has been found to simplify the complexity of an integrated manufacturing system, leading to better control and far higher system flexibility. Based on the cellular principle, some central management functions have also been distributed to smaller cells within the system. This concept is known, specifically, as distributed planning and control. Through the development of an embryo cellular CIM system, the influence of both the cellular principle and the distribution methodology have been evaluated. Based on the evidence obtained, it has been concluded that distributed planning and control methodology can greatly enhance cellular features within an integrated system. Both the cellular system approach and the distributed control concept will therefore make significant contributions to the design of future CIM systems, particularly systems designed with respect to small company requirements.

Towards authorisation models for secure information sharing : a survey and research agenda

This article presents a survey of authorisation models and considers their ‘fitness-for-purpose’ in facilitating information sharing. Network-supported information sharing is an important technical capability that underpins collaboration in support of dynamic and unpredictable activities such as emergency response, national security, infrastructure protection, supply chain integration and emerging business models based on the concept of a ‘virtual organisation’. The article argues that present authorisation models are inflexible and poorly scalable in such dynamic environments due to their assumption that the future needs of the system can be predicted, which in turn justifies the use of persistent authorisation policies. The article outlines the motivation and requirement for a new flexible authorisation model that addresses the needs of information sharing. It proposes that a flexible and scalable authorisation model must allow an explicit specification of the objectives of the system and access decisions must be made based on a late trade-off analysis between these explicit objectives. A research agenda for the proposed Objective-based Access Control concept is presented.

Adaptive metering algorithm for electronic commercial vehicle preclearance systems

This paper presents an adaptive metering algorithm for enhancing the electronic screening (e-screening) operation at truck weight stations. This algorithm uses a feedback control mechanism to control the level of truck vehicles entering the weight station. The basic operation of the algorithm allows more trucks to be inspected when the weight station is underutilized by adjusting the weight threshold lower. Alternatively, the algorithm restricts the number of trucks to inspect when the station is overutilized to prevent queue spillover. The proposed control concept is demonstrated and evaluated in a simulation environment. The simulation results demonstrate the considerable benefits of the proposed algorithm in improving overweight enforcement with minimal negative impacts on nonoverweighed trucks. The test results also reveal that the effectiveness of the algorithm improves with higher truck participation rates in the e-screening program.

A simple analog controller for single-phase half-bridge rectifier and its application to transformerless UPS

A simple, low-cost, constant frequency, analog controller is proposed for the front-end half-bridge rectifier of a single-phase transformerless UPS system to maintain near unity power factor at the input and zero dc-offset voltage at the output. The controller generates the required gating pulses by comparing the input current with a periodic, bipolar, linear carrier without sensing the input voltage. Two voltage controllers and a single integrator with reset are used to generate the required carrier. All the necessary control operations can be performed without using any PLL, multiplier and/or divider. The controller can be fabricated as a single integrated circuit. The control concept is validated through simulation and also experimentally on an 800W half-bridge rectifier. Experimental results are presented for ac-dc application, and also for ac-dc-ac UPS application with both sinusoidal and nonlinear loads. The simulation and experimental results agree well.

Suboptimal Midcourse Guidance of Interceptors for High-Speed Targets with Alignment Angle Constraint

Using the recently developed computationally efficient model predictive static programming and a closely related model predictive spread control concept, two nonlinear suboptimal midcourse guidance laws are presented in this paper for interceptors engaging against incoming high-speed ballistic missiles. The guidance laws are primarily based on nonlinear optimal control theory, and hence imbed effective trajectory optimization concepts into the guidance laws. Apart from being energy efficient by minimizing the control usage throughout the trajectory (minimum control usage leads to minimum turning, and hence leads to minimum induced drag), both of these laws enforce desired alignment constraints in both elevation and azimuth in a hard-constraint sense. This good alignment during midcourse is expected to enhance the effectiveness of the terminal guidance substantially. Both point mass as well as six-degree-of-freedom simulation results (with a realistic inner-loop autopilot based on dynamic inversion) are presented in this paper, which clearly shows the effectiveness of the proposed guidance laws. It has also been observed that, even with different perturbations of missile parameters, the performance of guidance is satisfactory. A comparison study, with the vector explicit guidance scheme proposed earlier in the literature, also shows that the newly proposed model-predictive-static-programming-based and model-predictive-spread-control-based guidance schemes lead to lesser lateral acceleration demand and lesser velocity loss during engagement.

Development of a Compact Solar Combisystem

Within the frame of the project REBUS, "Competitive solar heating systems for residential buildings", which is financed by Nordic Energy Research, a new type of compact solar combisystem with high degree of prefabrication was developed. A hydraulic and control concept was designed with the goal to get highest system efficiency for use with either a condensing natural gas boiler or a pellet boiler. Especially when using the potential of high peak power of modern condensing natural gas boilers, a new operation strategy of a natural gas boiler/solar combisystem can increase the energy savings of a small solar combisystem by about 80% compared to conventional operation strategies.