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Artificial Neural Network-Based Direct Power control to Enhance the Performance of a Pmsg-Wind Energy Conversion System Under Real Wind Speed and Parameter Uncertainties: An Experimental Validation

SSRN

引用

SSRN 2023年

作者： Majout, Btissam Bossoufi, Badre Karim, Mohammed Skruch, Pawel Mobayen, Saleh El Mourabit, Youness El Zair Laggoun, Zakaria Laboratory of Engineering Modelling and Systems Analysis SMBA University Fez Morocco Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan National School of Applied Sciences Abdelmalek Essaadi University Tetouan Morocco Laboratory of Electrotechnique Constantine Mentouri Brothers Constantine 1 University Constantine Algeria

With the increasing emphasis on embedding advanced technology into system controls, the Direct Power control (DPC) approach has garnered significant attention, owing to its straightforward and highly adaptable algorithm. It has been adopted in many applications. However, the variable frequency, harmonic distortion of the currents, and power ripples caused by Hysteresis controllers and switching tables decrease its effectiveness and robustness, affecting the system’s performance. For this reason, this paper proposed a new DPC based on Artificial Neural Network (ANN) approaches. In this approach, the hysteresis comparator and the switching table are substituted with ANN controllers and then applied on both sides: machine-side converter (MSC) and grid-side converter (GSC) of a Permanent Magnet Synchronous Generator based Wind Energy Conversion System (PMSG-WECS). Moreover, to make the system more efficient in varying wind conditions, this study expands the utilization of the artificial neural networks (ANN) to encompass the maximum power point tracking (MPPT) control strategy. To demonstrate the effectiveness of the proposed approach on the system behaviors, a simulation test was carried out in the Matlab/Simulink environment, using a real wind profile of a Moroccan city (Essaouira). In comparison to the classical DPC control, the simulation results showed the superior performance of the proposed ANN-DPC control in terms of reference tracking, response time, overshoot, precision, and its capacity to reduce the rate of power ripples and total harmonic distortion (THD) in the injected currents. Furthermore, a robustness test was also included in this work to check the robustness of the proposed control against parameters variation. In conclusion, the feasibility and effectiveness of the ANN-DPC control approach were confirmed through experimental validation using the dSPACE DS1104 board. © 2023, The Authors. All rights reserved.

关键词： MATLAB

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Implementing Fractional PID control for MagLev with SoftFRAC

Implementing Fractional PID Control for MagLev with SoftFRAC

引用

International Conference on Telecommunications and Signal Processing (TSP)

作者： Waldemar Bauer Jerzy Baranowski Andrzej Tutaj Paweł Piątek Panagiotis Bertsias Stavroula Kapoulea Costas Psychalinos Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Department of Physics University of Patras Rio Patras Greece

ISBN: (数字)9781728163765

ISBN: (纸本)9781728163772

Nowadays, a realization of non-integer (fractional) order elements on a digital platform is a Widely researched problem. The theory of such dynamic components is relatively well grounded, however, many problems of implementation on a digital platform are still open. In this paper we consider real time fractional control of MagLev system. Classical methods of approximation and available toolboxes are unable to function in the fast discrete time environment. As a solution in this paper we use a novel library: SoftFRAC Which is dedicated for such control tasks. We illustrate library operation, controller design and present the application.

关键词： Frequency modulation

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Simultaneous tactile exploration and grasp refinement for unknown objects

arXiv

引用

arXiv 2021年

作者： de Farias, Cristiana Marturi, Naresh Stolkin, Rustam Bekiroglu, Yasemin The Extreme Robotics Laboratory School of Metallurgy and Materials University of Birmingham Birmingham United Kingdom Chalmers University of Technology Department of Electrical Engineering Automatic Control research group Sweden University College London Department of Computer Science Centre for Artificial Intelligence United Kingdom

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will have only a partial camera view of the near side of an observed object, for which the far side remains occluded. We show how an initial grasp attempt, based on an initial guess of the overall object shape, yields tactile glances of the far side of the object which enable the shape estimate and consequently the successive grasps to be improved. We propose a grasp exploration approach using a probabilistic representation of shape, based on Gaussian Process Implicit Surfaces. This representation enables initial partial vision data to be augmented with additional data from successive tactile glances. This is combined with a probabilistic estimate of grasp quality to refine grasp configurations. When choosing the next set of finger placements, a bi-objective optimisation method is used to mutually maximise grasp quality and improve shape representation during successive grasp attempts. Experimental results show that the proposed approach yields stable grasp configurations more efficiently than a baseline method, while also yielding improved shape estimate of the grasped object. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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CAD-based Approach for Identification of UAVs

CAD-based Approach for Identification of UAVs

引用

3rd International Conference on Mechanical, System and control Engineering, ICMSC 2019

作者： Grau, Antoni Bolea, Yolanda Sanfeliu, Alberto Automatic Control Department Technical University of Catalonia Barcelona Spain Robotics Institute IRI UPC/CSIC Barcelona Spain

The paper presents an approach for the identification of the parameters of an Unmanned Aerial Vehicle (UAV), specifically a quadrotor using experiments in a CAD environment. A linearized control model is proposed to create a global model that operates in all operation range. Usually, in this type of systems a linear time invariant (LTI) controller is used, and then a lineal control model around each operating point is needed to the design of the controller. In this study, a linear control model suitable in each operating point is developed and identified. This serial of LTI control model can be combined and provides a global control model. Therefore, through this global control model can be designed a global controller suitable for all the operating range. © The Authors, published by EDP Sciences, 2019.

关键词： Computer aided design

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State and disturbance observers-based chattering-free fixed-time sliding mode control for a class of high-order nonlinear systems

Advanced Control for Applications: Engineering and Industria...

引用

Advanced control for Applications: Engineering and Industrial Systems 2021年第3期3卷

作者： Alinaghi Hosseinabadi, Pooyan Ordys, Andrzej Soltani Sharif Abadi, Ali Mekhilef, Saad Pota, Hemanshu Roy School of Engineering and Information Technology The University of New South Wales CanberraACT Australia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Swinburne University of Technology MelbourneVIC Australia

It is essential to consider chattering alleviation of Sliding Mode control (SMC) design along with providing the system convergence regardless of initial states utilizing the fixed-time stability notion. Unknown states and disturbance are two major issues in practical applications, which can be effectively solved by using sliding mode observers. This paper deals with state and disturbance Observers-based Chattering-Free Fixed-time SMC (OCFFSMC) design for a class of high-order nonlinear systems with unknown disturbance, while only the first state is measured physically. A new form of the combined observer-controller is designed to provide estimated data of unknown disturbance and unmeasured states in the control law. The designed disturbance observer-based sliding mode controller is not only capable of estimating unknown disturbance but also capable of alleviating the chattering problem in the control signal. Based on defining a new form of the sliding surface, a new control law is designed to alleviate chattering problem and achieve trajectory tracking in a fixed time independently of initial conditions. The fixed-time stability proof of the closed-loop system is obtained using Lyapunov stability theory. The validity of the proposed control scheme, OCFFSMC, is verified by applying two examples and simulating in Simulink/MATLAB. © 2021 John Wiley & Sons Ltd.

关键词： Sliding mode control

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Minimization of constraint violation probability in model predictive control

arXiv

引用

arXiv 2020年

作者： Brüdigam, Tim Gaßmann, Victor Wollherr, Dirk Leibold, Marion The Department of Automatic Control Engineering The Technical University of Munich Germany The Department of Robotics Artificial Intelligence and Real-time Systems The Technical University of Munich Germany

While Robust Model Predictive control considers the worst-case system uncertainty, Stochastic Model Predictive control, using chance constraints, provides less conservative solutions by allowing a certain constraint violation probability depending on a predefined risk parameter. However, for safety-critical systems it is not only important to bound the constraint violation probability but to reduce this probability as much as possible. Therefore, an approach is necessary that minimizes the constraint violation probability while ensuring that the Model Predictive control optimization problem remains feasible. We propose a novel Model Predictive control scheme that yields a solution with minimal constraint violation probability for a norm constraint in an environment with uncertainty. After minimal constraint violation is guaranteed the solution is then also optimized with respect to other control objectives. Further, it is possible to account for changes over time of the support of the uncertainty. We first present a general method and then provide an approach for uncertainties with symmetric, unimodal probability density function. Recursive feasibility and convergence of the method are proved. A simulation example demonstrates the effectiveness of the proposed method. Copyright © 2020, The Authors. All rights reserved.

关键词： Robust control

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Bruce Francis: A Personal Tribute

引用

IEEE control SYSTEMS MAGAZINE 2018年第5期38卷 92-108页

作者： Vidyasagar, Mathukumalli Georgiou, Tryphon T. Tannenbaum, Allen R. Yamamoto, Yutaka Morse, A. Stephen Glover, Keith Ishii, Hideaki Khargonekar, Pramod P. Kwong, Raymond Chen, Tongwen Postlethwaite, Ian Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

Bruce Allen Francis was born on October 8, 1947 in Toronto to Jim and Eileen and grew up in Hamilton and Grimsby, Ontario, Canada along with his two younger sisters, Lee and Kim. He passed away on March 27, 2018, due to complications brought on by Parkinson's disease. He is survived by his wife Jingwen, his daughter Lian, and his sisters.

关键词： History Francis, Bruce Allen

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Refinement of Fuzzy Diagnosis in Decentralized Two-Level Diagnostic Structure

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IFAC-PapersOnLine 2018年第24期51卷 160-167页

作者： Syfert, M. Barty, M. Kocielny, J.M. Institute of Automatic Control and Robotics w. A. Boboli 8 Warszawa02-553 Poland

The novel and practicable on-line fuzzy fault isolation approach is proposed and discussed in this paper. This approach refers to proposition of diagnosing in decentralized two-level diagnostic structure. The idea of the proposed diagnostic structure is described in details as well as depicted in examples. It is particularly foreseen for applications in diagnostics of large scale industrial systems. Diagnosing in decentralized structures involves the problem of diagnosis refinement. Substantial part of the paper is devoted to clarify and solve this problem. Here, the fuzzy approach was proposed motivated by its inherent ability to handle uncertainties. Proposed approach is characterized by: better efficiency by application of parallel diagnosing, simplification of diagnostic process, providing better robustness of diagnoses compared to the centralized diagnosing. An example of industrial application of on-line decentralized diagnostics for steam-water line of power boiler was briefly discussed. Finally, the conclusions regarding main features of the decentralized two-level diagnostic structures were given. © 2018

关键词： Boilers Decomposition Large scale systems Decentralized structures Diagnostic process Fault isolation Fuzzy approach Fuzzy diagnosis Industrial systems On line diagnostics Power boilers

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Design and Implementation of Adaptive NMPC in industrial applications: case study

Design and Implementation of Adaptive NMPC in industrial app...

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International Carpathian control Conference (ICCC)

作者： Stepan Ozana Filip Krupa Jakub Nemcik Gergely Takacs Jakub Mozaryn Petr Beremlijski Abhaya Singh Aleksandra Kawala-Sterniuk Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic Institute of Automation Measurement and Applied Informatics Slovak University of Technology in Bratislava Bratislava Slovak Republic Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland Department of Applied Mathematics VSB-Technical University of Ostrava Ostrava Czech Republic Department of engineering University of Sannio Sannio Italy Department of Electrical Power and Renewable Energy Opole University of Technology Opole Poland

This paper deals with the design and implementation of adaptive nonlinear predictive control (NMPC). The resulting control system is deployed on a softPLC embedded target in real-time via the REXYGEN control system. The paper describes functional prototype using softPLC hosting the NMPC algorithm applied for a nonlinear system consisting of three coupled tanks. The NMPC algorithm is solved via the receding horizon control method (RHC), formulated as a nonlinear programming problem (NLP) and numerically computed using the SOLNP solver. The adaptivity is provided by online identification via moving horizon estimation (MHE), keeping the model updated to avoid a model-plant mismatch. The methodology described in this paper can be easily transferred to a wider group of industrial nonlinear processes. Such created control unit can run in a standalone mode or can be connected to some exiting control system providing a necessary computational power and thus upgrading the quality of control significantly.

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Periodic Proprioceptive Stimuli Learning and Internal Model Development for Avian-inspired Flapping-wing Flight State Estimation

arXiv

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arXiv 2025年

作者： Qian, Chen Xing, Jiaxi Yan, Jifu Luo, Mingyu Song, Shiyu Lian, Xuyi Fang, Yongchun Gao, Fei Li, Tiefeng Center for X-mechanics of Zhejiang University China Huzhou Institute of Zhejiang University China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University China School of Mechanical Engineering Zhejiang University China School of Aeronautics and Astronautics Zhejiang University China College of Control Science and Engineering Zhejiang University China

This paper presents a novel learning-based approach for online state estimation in flapping wing aerial vehicles (FWAVs). Leveraging low-cost Magnetic, Angular Rate, and Gravity (MARG) sensors, the proposed method effectively mitigates the adverse effects of flapping-induced oscillations that challenge conventional estimation techniques. By employing a divide-and-conquer strategy grounded in cycle-averaged aerodynamics, the framework decouples the slow-varying components from the high-frequency oscillatory components, thereby preserving critical transient behaviors while delivering an smooth internal state representation. The complete oscillatory state of FWAV can be reconstructed based on above two components, leading to substantial improvements in accurate state prediction. Experimental validations on an avian-inspired FWAV demonstrate that the estimator enhances accuracy and smoothness, even under complex aerodynamic disturbances. These encouraging results highlight the potential of learning algorithms to overcome issues of flapping-wing induced oscillation dynamics. Copyright © 2025, The Authors. All rights reserved.

关键词： Magnetic levitation vehicles

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