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11th International Symposium on Leveraging Applications of Formal Methods, Verification and Validation

作者： Liu, Le Lekic, Aleksandra Popov, Marjan Delft Univ Technol NL-2628 CD Delft Netherlands

ISBN: (纸本)9783031197611;9783031197628

Due to its excellent performance, VSC-based high voltage direct current (HVDC) power systems draw significant attention. They are being heavily used in modern industrial applications, such as onshore and offshore wind farms, and for interconnection between asynchronous networks. However, the traditional proportional-integral (PI) control method is not robust enough to track the reference signal quickly and accurately during significant system disturbances. This paper proposes a robust adaptive back-stepping control (BSC) method that secures vulnerable power-electronic equipment. The adaptive BSC controller regulates the sum of capacitor energy, and the AC grid current through decoupled and closed control-loop design. The major advantage of the proposed control approach is the smooth transient response and accurate tracking ability, which is superior to classical control methods. In addition, the proposed methods have the merits of systematic and recursive design methodology and demand a low processing burden for Lyapunov functions and control laws. Moreover, the implementation particularities of the proposed approach are illustrated and verified for a power system digital twin using real-time digital simulator (RTDS).

关键词： MMC Energy controller nonlinear robust control Adaptive back-stepping control Lyapunov stability HVDC grids RTDS Digital twins

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State feedback dissipative control systems synthesis

State feedback dissipative control systems synthesis

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35th IEEE Conference on Decision and control

作者： Yuliar, S James, MR Helton, JW Bandung Inst of Technology Indonesia

ISBN: (纸本)0780335910

This paper concerns a general dissipative control problem for nonlinear systems with full state feedback. This problem includes positive real control and H-infinity control problems as special cases. The paper shows that the solution to the control problem is equivalent to the existence of a solution to a partial differential inequality.

关键词： dissipative controller synthesis nonlinear systems PDI viscosity solutions nonlinear robust control

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Sensitivity on operator-based nonlinear control design of uncertain system with disturbance

Sensitivity on operator-based nonlinear control design of un...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Li, Mengyang Deng, Mingcong Tokyo Univ Agr & Technol Grad Sch Engn 2-24-16 Nakacho Koganei Tokyo 1848588 Japan

ISBN: (纸本)9781538626023

In this paper, sensitivity analysis of perturbed nonlinear systems with disturbance is studied based on robust right coprime factorization. That is, while nonlinear systems exist perturbation and disturbance, robust control design scheme is proposed for guaranteeing the uncertain nonlinear systems to work normally based on proposed bilinear operator. Meanwhile, based on the proposed robust control design scheme, insensitivity property of the given nonlinear system is discussed. In terms of the proposed design scheme, we can not only guarantee robust stability for the uncertain nonlinear system, but also prove insensitivity to the existing perturbation and disturbance. Finally, a simulation example is involved to illustrate the proposed design scheme for confirming effectiveness of the proposed design scheme.

关键词： sensitivity robust right coprime factorization nonlinear robust control perturbation disturbance bilinear operator

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Multivariable robust control of a horizontal wind turbine under various operating modes and uncertainties: A comparison on sliding mode and H∞ control

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2020年 115卷 105474-000页

作者： Nayeh, Reza Faraji Moradi, Hamed Vossoughi, Gholamreza Sharif Univ Technol Dept Mech Engn POB 11155-9567 Tehran Iran

Wind turbines are generally controlled for the objectives of the turbine protection and generation of the acceptable power for the utility grid. In this paper, a nonlinear multivariable model of the wind turbine with a DFIG generator is considered. The rotor speed and the d-axis rotor current, as the controlled variables, are controlled via manipulation of the two generator voltages, as the control signals. Two robust control strategies including the sliding mode control and H(infinity )robust control, designed via mu-synthesis based on DK-iteration algorithm, are presented for switching between various operating modes. Development of an acceptable dynamic model and two innovative control strategies that lead to the good performance and stability against various sources of uncertainty and noise rejection, are some of the advantageous points of the designed controllers. Performance of these control strategies are evaluated and compared. During the wind turbine operation, obtaining a maximum active power and suppressing the reactive power are the control objectives. Results are presented for various profiles of the wind velocity. It is observed that the sliding mode controller has a better performance in the transient time response. Moreover, in comparison with H-infinity, sliding mode control approach leads to the less tracking error and settling time, but minor acceptable chattering exists.

关键词： Wind turbine-generator nonlinear robust control Multivariable control Uncertainty Sliding mode control H-infinity control

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Time-delay high-order sliding mode control for trajectory tracking of autonomous underwater vehicles under disturbances

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OCEAN ENGINEERING 2023年第1期268卷

作者： Guerrero, Jesus Chemori, Ahmed Torres, Jorge Creuze, Vincent Tecnol Nacl Mex ITS Abasolo Guanajuato Mexico Univ Montpellier LIRMM CNRS Montpellier France Natl Polytech Inst CINVESTAV Ctr Res & Adv Studies Mexico City Mexico

This paper presents a new generalized super-twisting algorithm (GSTA) controller with a time-delay estimator (TDE) for the tracking control of an autonomous underwater vehicle (AUV) under disturbances. For exploration tasks in confined areas, AUVs are typically equipped with sensors such as Doppler velocity logs (DVL) or acoustic modems to measure their position and speed. However, these sensors have a disadvantage in that their acquisition rates are low. This disadvantage, combined with the influence of external disturbances, directly influences position control because it requires partial knowledge of the system for proper operation. To solve this problem, the introduction of a TDE that estimates the vehicle hydrodynamics with delayed sensor information, and consequently, improves the controller performance is proposed. For controller validation, a stability analysis is presented, and two results are provided in the simulation. In the first test, the AUV is controlled to track a parameterized spiral-shaped path to validate the vehicle movement in the three directions of the plane (x, y, z). In the second test, the AUV performs path tracking in yaw and depth motions. In all numerical simulations, three types of disturbances/uncertainties are considered: (i) system parameters, (ii) sensor readings, and (iii) control.

关键词： nonlinear robust control Time delay systems Sliding mode control Trajectory tracking AUVs

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Fast Tube-Based robust Compensation control for Fixed-Wing UAVs

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DRONES 2023年第7期7卷

作者： Wang, Lixin Zheng, Sizhuang Wang, Weijia Wang, Hao Liu, Hailiang Yue, Ting Beihang Univ Sch Aeronaut Sci & Engn Beijing 100191 Peoples R China AVIC Flight Automat Control Res Inst Xian 710065 Peoples R China

When considering the robust control of fixed-wing Unmanned Aerial Vehicles (UAVs), a conflict often arises between addressing nonlinearity and meeting fast-solving requirements. In existing studies, the less nonlinear robust control methods have shown significant improvements that parallel computing and dimensionality reduction techniques in real-time applications. In this paper, a nonlinear fast Tube-based robust Compensation control (TRCC) for fixed-wing UAVs is proposed to satisfy robustness and fast-solving requirements. Firstly, a solving method for discrete trajectory tubes was proposed to facilitate fast parallel computation. Subsequently, a TRCC algorithm was developed that minimized the trajectory tube to enhance robustness. Additionally, considering the characteristics of fixed-wing UAVs, dimensionality reduction techniques such as decoupling and stepwise approaches are proposed, and a fast TRCC algorithm that incorporates the control reuse method is presented. Finally, simulations verify that the proposed fast TRCC effectively enhances the robustness of UAVs during tracking tasks while satisfying the requirements for fast solving.

关键词： unmanned aerial vehicles nonlinear robust control robust compensation control trajectory tube fast robust control

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robust controller for Tremor Suppression at Musculoskeletal Level in Human Wrist

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IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 2014年第2期22卷 379-388页

作者： Taheri, Behzad Case, David Richer, Edmond So Methodist Univ Dept Mech Engn Dallas TX 75205 USA

Tremor is a rhythmical and involuntary oscillatory movement of a body part and it is one of the most common movement disorders. Orthotic devices have been under investigation as a noninvasive tremor suppression alternative to medication or surgery. The challenge in musculoskeletal tremor suppression is estimating and attenuating the tremor motion without impeding the patient's intentional motion. In this research a robust tremor suppression algorithm was derived for patients with pathological tremor in the upper limbs. First themotion in the tremor frequency range is estimated using a high-pass filter. Then, by applying the backstepping method the appropriate amount of torque is calculated to drive the output of the estimator toward zero. This is equivalent to an estimation of the tremor torque. It is shown that the arm/orthotic device control system is stable and the algorithm is robust despite inherent uncertainties in the open-loop human arm joint model. A human arm joint simulator, capable of emulating tremorous motion of a human arm joint was used to evaluate the proposed suppression algorithm experimentally for two types of tremor, Parkinson and essential. Experimental results show 30-42 dB (97.5-99.2%) suppression of tremor with minimal effect on the intentional motion.

关键词： nonlinear robust control orthotic devices pneumatic actuators tremor suppression

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Semiglobal Stabilization in the Presence of Minimum-Phase Dynamic Input Uncertainties

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IFAC Proceedings Volumes 1998年第17期31卷 321-326页

作者： Laurent Praly Zhong-Ping Jiang Centre A utomatique et Systèmes École des Mines 35 Rue Saint Honoré 77305 Fontainebleau France Department of Electrical Engineering University of Sydney Sydney NSW 2006 Australia

This paper presents a dynamic state feedback approach to the semiglobal stabilization of nonlinear systems with minimum-phase dynamic input uncertainties. The assumption needed to get this new result is weaker in one ... 详细信息

关键词： nonlinear robust control Dynamic input uncertainties Semiglobal stablhzatlon SIngular perturbations Output feedback stabilization

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Sliding Mode control for Active Steering of Cars

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IFAC Proceedings Volumes 1995年第1期28卷 61-66页

作者： Jürgen Guldner Vadim I. Utkin Jürgen Ackermann Tilman Bünte DLR Inst. for Robotics and System Dynamics Postfach 1116 D-82230 Wessling Germany The Ohio State Univ. Dept. of Electrical Eng. Columbus OH 43210-1275 USA

This paper presents a sliding mode control strategy for cars with an active steering system. The goal of control is to achieve a fixed dynamic relationship between the driver’s steering command and the vehicle’s yaw rate in spite of a wide range of car and road parameters and varying operating conditions. The steady behavior should still be similar to conventional cars. control design is based on a linear single track model and exploits the invariance property of sliding mode control. Implementational issues of the design process are discussed in detail in the form of robust continuous nonlinear controller to avoid chattering.

关键词： Active steering control steering command-to-yaw rate transfer function sliding mode control nonlinear robust control

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Variable Structure and Classical Power Oscillation Damping controllers Compared

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IFAC Proceedings Volumes 1996年第1期29卷 7076-7081页

作者： G.F. Collins R.J. Patton The University of Hull Department of Electronic Engineering Hull England HU6 7RX

This paper presents a case study of a static VAR system (SVS) installed for voltage control and power oscillation damping. The SVS provides voltage support of a long transmission line and is equipped with power oscillation damping equipment. The power system is modelled as a single-machine infinite-bus system with an automatic voltage regulator in the generator representation. The current control scheme of the SVS is modelled in EMTP and compared with a variable structure control (VSC) system.

关键词： nonlinear robust control power system control reactive power

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