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Comparative Analysis of Different Sliding Mode Control Approaches for Load Frequency Control in Edge of the Grid System

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IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Aich, Pritom Ahmed, Anis Shah, Rakibuzzaman Islam, Md Rabiul Roy, Naruttam Kumar Nasir, Ali Department of Electrical and Electronic Engineering Daffodil International University Dhaka Bangladesh Department of Electrical and Electronic Engineering Khulna University of Engineering & Technology Khulna Bangladesh Federation University Australia Mt HelenVIC Australia School of Electrical Computer and Telecommunications Engineering University of Wollongong WollongongNSW Australia Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

The integration of renewable energy sources (RESs) at the edge of the grid plays a contributory role in advancing the transition to a sustainable energy future. However, this transition introduces significant variability, which challenges the maintenance of frequency stability in power systems. To address the impacts of RES variability, various robust control strategies have been developed. This paper compares the performance of different advanced sliding mode control (SMC) approaches, i.e., super twisting (ST) algorithm-based second order sliding mode control (STSOSMC), second order sliding mode control (SOSMC), double integral sliding mode control (DISMC) and integral sliding mode control (ISMC) with conventional sliding mode control (SMC) for load frequency control with stochastic RESs such as biogas generators (BG) and wind-based doubly fed induction generators (DFIG). The impact of the advanced sliding mode controllers on the voltage and rotor angle stability of the system is also explored. The efficacy of the controllers is tested under different load disturbances, considering nonlinearities such as communication delay (CD), sensor inaccuracy (SI), governor dead band (GDB), and generation rate constraint (GRC). The results demonstrate that STSOSMC achieves superior frequency regulation with minimal chattering and outperforms other controllers in terms of settling time, overshooting, and undershooting in frequency deviation. The result also demonstrates the effectiveness of STSOSMC in managing the variability and disturbances of RESs. Therefore, it could be considered the most robust control mechanism from the edge of the grid system with high penetration of RESs. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Robust control

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Enhanced Soil Property Estimations from Earth Observation Data with Differential Evolution-Based Multi-Objective TSK Model

Enhanced Soil Property Estimations from Earth Observation Da...

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Congress on Evolutionary Computation

作者： Nikolaos L. Tsakiridis Nikiforos Samarinas Eleni Kalopesa John B. Theocharis George C. Zalidis Department of Agriculture Spectra Lab Group Laboratory of Remote Sensing Spectroscopy and GIS Aristotle University of Thessaloniki Thessaloniki Greece Automation and Robotics Laboratory Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

ISBN: (数字)9798350308365

ISBN: (纸本)9798350308372

This paper introduces a novel approach integrating Differential Evolution (DE) with multi-objective optimization techniques for enhancing Type-1 Takagi-Sugeno-Kang (TSK) fuzzy rule-based systems to attain both fair predictive performance and enhanced interpretability within the context of explainable artificial intelligence. The developed approach encodes the whole knowledge base into one chromosome and endeavors to concurrently optimize the prediction accuracy, the number of rules, and the selection of relevant input features. The methodology was tested on Earth observation data for the estimation of soil health parameters via infrared spectroscopy, and more concretely i) on the 2015 LUCAS topsoil dataset to predict three key soil properties (namely, soil organic carbon, clay content, and pH) from laboratory spectra, and ii) on a set of PRISMA hyperspectral images to predict soil organic carbon in a region of northern Greece. Compared to the classical Random Forest (RF) algorithm, our proposed learning algorithm attains a fair balance between accuracy and interpretability, and is statistically equivalent to RF in terms of accuracy. The findings underscore the potential of the proposed methodology in refining TSK models and its applicability in Earth observation-driven predictions, paving the way for both enhanced modeling accuracy and sparse feature selection.

关键词： Earth Radio frequency Accuracy Soil properties Estimation Predictive models Prediction algorithms

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Fixed-time Adaptive Neural Control for Physical Human-Robot Collaboration with Time-Varying Workspace Constraints

arXiv

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arXiv 2023年

作者： Sun, Yuzhu Van, Mien McIlvanna, Stephen Nhat, Nguyen Minh McLoone, Seán Ceglarek, Dariusz Ge, Shuzhi Sam The Centre for Intelligent Autonomous Manufacturing Systems School of Electronics Electrical Engineering and Computer Science Queen’s University Northern Ireland Belfast United Kingdom The Warwick Manufacturing Group University of Warwick Coventry United Kingdom The Department of Electrical and Computer Engineering Social Robotics Laboratory National University of Singapore Singapore

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for handling time-varying workspace constraints that occur in physical human-robot collaboration while also guaranteeing compliance during intended force interactions. The proposed methodology combines the benefits of compliance control, time-varying integral barrier Lyapunov function (TVIBLF) and fixed-time techniques, which not only achieve compliance during physical contact with human operators but also guarantee time-varying workspace constraints and fast tracking error convergence without any restriction on the initial conditions. Furthermore, a neural adaptive control law is designed to compensate for the unknown dynamics and disturbances of the robot manipulator such that the proposed control framework is overall fixed-time converged and capable of online learning without any prior knowledge of robot dynamics and disturbances. The proposed approach is finally validated on a simulated two-link robot manipulator. Simulation results show that the proposed controller is superior in the sense of both tracking error and convergence time compared with the existing barrier Lyapunov functions based controllers, while simultaneously guaranteeing compliance and safety. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov functions

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Design and Application of a One-Stop Mobile Application Sharing Platform for Steel Enterprises 42

Design and Application of a One-Stop Mobile Application Shar...

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42nd Chinese Control Conference, CCC 2023

作者： Chen, Xinzhe Chen, Luefeng Hu, Jie Yang, Qingfeng Wu, Min Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6R 2G7 Canada

ISBN: (纸本)9789887581543

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Informatization

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Microfluidic Formation of Porous Microgels with Interior Spiral Canals for Mesenchymal Stem Cell Culture

Microfluidic Formation of Porous Microgels with Interior Spi...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Zhen Zhan Tanyong Wei Zhan Yang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical and Electrical Engineering Soochow University Suzhou China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Stem cell delivery is pivotal in tissue engineering, enabling the regeneration and repair of damaged tissues and advancing therapeutic solutions. As an innovative stem cell delivery system, microgels provide a supportive, protective environment that enhances cell viability and promotes targeted tissue regeneration. However, conventional microgels face limitations due to the lack of microporous structures and interior canals, which hinder efficient nutrient and oxygen exchange, thereby reducing cell viability and proliferation. To overcome these challenges, we developed a droplet microfluidic system for the stable and continuous production of porous microgels with interior spiral canals by introducing a pore-forming agent. This controlled formation process results in microgels with excellent porosity and monodispersity. With their unique structure and biocompatibility, these porous microgels are excellent microcarriers for 3D cell culture, enhancing nutrient and oxygen exchange and providing a conducive environment for cell growth and proliferation.

关键词： Irrigation Spirals Three-dimensional displays Microprocessors Tissue engineering computer architecture Stem cells Nutrients Microfluidics Surface treatment

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Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators

arXiv

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arXiv 2025年

作者： Zhang, Yunsong Zhou, Xinyu Zhang, Feitian Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

Robotic wrists play a pivotal role in the functionality of industrial manipulators and humanoid robots, facilitating manipulation and grasping tasks. In recent years, there has been a growing interest in integrating artificial muscle-driven actuators for robotic wrists, driven by advancements in technology offering high energy density, lightweight construction, and compact designs. However, in the study of robotic wrists driven by artificial muscles, dynamic model-based controllers are often overlooked, despite their critical importance for motion analysis and dynamic control of robots. This paper presents a novel design of a two-degree-of-freedom (2-DOF) robotic wrist driven by twisted and coiled actuators (TCA) utilizing a parallel mechanism with a 3RRRR configuration. The proposed robotic wrist is expected to feature lightweight structures and superior motion performance while mitigating friction issues. The Lagrangian dynamic model of the wrist is established, along with a nonlinear model predictive controller (NMPC) designed for trajectory tracking tasks. A prototype of the robotic wrist is developed, and extensive experiments are conducted to validate its superior motion performance and the proposed dynamic model. Subsequently, extensive comparative experiments between NMPC and PID controller were conducted under various operating conditions. The experimental results demonstrate the effectiveness and robustness of the dynamic model-based controller in the motion control of TCA-driven robotic wrists. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial manipulators

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Design and Analysis of a High-Speed Slotless Permanent Magnet Synchronous Motor Considering Air-Gap Airflow

Design and Analysis of a High-Speed Slotless Permanent Magne...

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Magnetic Conference - Short Papers (INTERMAG Short Papers), IEEE International

作者： Ming-Hong Guo Guang-Zhong Cao Hong-Jin Hu Su-Dan Huang Hao-Tian Wang Jiang-biao He Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electrical and Computer Engineering University of Kentucky Lexington KY USA

ISBN: (数字)9798350362213

ISBN: (纸本)9798350362220

The air-gap airflow will affect the performance of the high-speed slotless permanent magnet synchronous motor (HSSPMSM). However, the influence of airflow is often neglected in motor design, leading to discrepancies between the designed and actual performance. This paper conducts the design and analysis of the HSSPMSM considering the influence of air-gap airflow. The coupling relationships among airflow, electromagnetic, thermal, and mechanical are established. The dimensions design and performance analysis of the HSSPMSM are performed. Based on the designed dimensions, a lOkW/40krpm HSSPMSM prototype is developed. The experimental results indicate that the developed HSSPMSM matches the design requirements.

关键词： Couplings Air gaps Prototypes Permanent magnet motors Performance analysis Magnetic analysis Electromagnetics

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Digital Twin Definition for Detecting Abnormal Perspiration Patterns in High-Stress Professions 23

Digital Twin Definition for Detecting Abnormal Perspiration ...

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23rd RoEduNet Conference: Networking in Education and Research, RoEduNet 2024

作者： Vizitiu, Cristian Turcin, Ioan Dominey, Kevin Alexander Softic, Selver Dinculescu, Adrian-Catalin Bocanet, Vlad I. Dugan, Cosmin Moraru, Sorin-Aurel The Space Applications and Technologies Laboratory Institute of Space Science-Subsidiary of INFLPR Magurele Romania Transilvania University of Brasov Faculty of Electrical Engineering and Computer Science Department of Automatics and Information Technology Brasov Romania CAMPUS 02 University of Applied Sciences Department Automation Technology Graz Austria CAMPUS 02 University of Applied Sciences Department IT and Business Informatics Graz Austria Robotics and Production Management Technical University of Cluj-Napoca Cluj-Napoca Faculty of Industrial Engineering Department of Manufacturing Engineering Romania Bucharest University Emergency Hospital Bucharest Romania

ISBN: (纸本)9798331540388

Perspiration is a physiological response in high-stress situations, that also plays a key role in thermoregulation and stress management. Understanding perspiration patterns is used for assessing physiological responses and optimizing human performance especially in professions such as emergency medical services and military operations, as well as for individuals exposed to Isolated Confined Extreme (ICE) environments such as astronauts and space analog mission participants. This paper defines a Digital Twin (DT) model, that will be integrated with an existing physical sweat simulator module (SSM) prototype. Its goal is to simulate human perspiration under high-stress conditions by integrating environmental, physiological, and psychological data. The system architecture is developed via Model-Based Systems engineering (MBSE). The scope of the designed virtual model is to accurately reflect physical perspiration, detect abnormal perspiration patterns, and generate recommendations regarding stress countermeasures. The goal is to influence the behavioral and/or physiological state of the physical twin, thereby creating a dynamic, responsive system. Machine learning (ML) models will be used to identify patterns in the environmental, physiological, and psychological inputs and predict sweat volume, chemical composition, and regional sweat distributions across the body. ML will also be used to detect abnormal perspiration patterns based on input data. The application of generative AI for creating test data from simulation templates is anticipated to facilitate the comparative analysis of two to three distinct profiles, such as astronauts, soldiers, and paramedics or firefighters, using simulated values. The SSM, with its integrated sensors, will serve the dual purpose of validating the model and providing realistic physical simulation. © 2024 IEEE.

关键词： Physiological models

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Wearable and interactive multicolored photochromic fiber display

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Light(Science & Applications) 2024年第3期13卷 454-465页

作者： Pan Li Yuwei Wang Xiaoxian He Yuyang Cui Jingyu Ouyang Ju Ouyang Zicheng He Jiayu Hu Xiaojuan Liu Hang Wei Yu Wang Xiaoling Lu Qian Ji Xinyuan Cai Li Liu Chong Hou Ning Zhou Shaowu Pan Xiangru Wang Huamin Zhou Cheng-Wei Qiu Yan-Qing Lu Guangming Tao State Key Laboratory of Material Processing and Die&Mould Technology School of Materials Science and Engineering and Wuhan National Laboratory for OptoelectronicsHuazhong University of Science and TechnologyWuhan 430074China Key Laboratory of Vascular Aging(HUST) Ministry of EducationWuhan 430030China School of Optoelectronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu 611731China Department of Electrical and Computer Engineering National University of SingaporeSingapore 117583Singapore National Laboratory of Solid State Microstructures Key Laboratory of Intelligent Optical Sensing and ManipulationCollege of Engineering and Applied Sciencesand Collaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing 210023China School of Performing Arts Wuhan Conservatory of MusicWuhan 430060China School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Architecture and Urban Planning Huazhong University of Science and TechnologyWuhan 430074China School of Fashion Beijing Institute of Fashion TechnologyBeijing 100029China School of Optical and Electronic Information Huazhong University of Science and TechnologyWuhan 430074China Tongji Medical College Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and EngineeringDonghua UniversityShanghai 201620China

Endowing flexible and adaptable fiber devices with light-emitting capabilities has the potential to revolutionize the current design philosophy of intelligent,wearable interactive ***,significant challenges remain in developing fiber devices when it comes to achieving uniform and customizable light effects while utilizing lightweight ***,we introduce a mass-produced,wearable,and interactive photochromic fiber that provides uniform multicolored light *** designed independent waveguides inside the fiber to maintain total internal reflection of light as it traverses the *** impact of excessive light leakage on the overall illuminance can be reduced by utilizing the saturable absorption effect of fluorescent materials to ensure light emission uniformity along the transmission *** addition,we coupled various fluorescent composite materials inside the fiber to achieve artificially controllable spectral radiation of multiple color systems in a single *** prepared fibers on mass-produced kilometer-long using the thermal drawing *** fibers can be directly integrated into daily wearable devices or clothing in various patterns and combined with other signal input components to control and display patterns as *** work provides a new perspective and inspiration to the existing field of fiber display interaction,paving the way for future human–machine integration.

关键词： fiber interactive colored

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