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This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one…
This paper addresses the problem of regulating the output voltage of a DC-DC buck-boost converter feeding a constant power load,which is a problem of current practical interest. Designing a stabilising controller is theoretically…
We design a two-component controller to achieve reference tracking with output constraints - exemplified on systems of relative degree two. One component is a data-driven or learning-based predictive controller, which uses data samples to…
With the increasing interest in converter-fed islanded microgrids, particularly for resilience, it is becoming more critical to understand the dynamical behavior of these systems. This paper takes a holistic view of grid-forming converters…
Voltage control devices are employed in power distribution systems to reduce the power consumption by operating the system closer to the lower acceptable voltage limits; this technique is called conservation voltage reduction (CVR). The…
Study of the buck converter and cascaded system considering the voltage mode controller has been done. First the small signal analysis of a buck dc/dc converter is presented and its mathematical representation has been showed. Then, the…
Electric drive using dc shunt motor or permanent magnet dc (PMDC) motor as prime mover exhibits bifurcation and chaos. The characteristics of dc shunt and PMDC motors are linear in nature. These motors are controlled by pulse width…
This paper proposes a novel real-time affordable solution to the trajectory tracking control problem for self-driving cars subject to longitudinal and steering angular velocity constraints. To this end, we develop a dual-mode Model…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
In this project we evaluate a framework for synchronization of mixed machine-converter power grids. Synchronous machines are assumed to be actuated by mechanical torque injections, while the converters by DC-side current injections. As this…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization. Instead of solving the optimal control problem exactly,…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
This paper presents the development of a mathematical model of a converter state space model for a hybrid microgrid. The hybrid model combines the models of components such as DC-Converters, DC-AC converters, and their individual…
As a typical switching power supply, the DC-DC converter has been widely applied in DC microgrid. Due to the variation of renewable energy generation, research and design of DC-DC converter control algorithm with outstanding dynamic…
Voltage Source Converters (VSC) are becoming more common in modern High Voltage DC (HVDC) transmission systems. One of the major challenges in a multi-terminal VSCHVDC is protection against DC side faults. Two major designs, namely, the…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…
This paper proposes a novel switching algorithm for modular multilevel converters (MMCs) that significantly reduces the switching frequency while fulfilling all control objectives required for their proper operation. Unlike in the…
This paper proposes a nonlinear, adaptive controller to increase the stability margin of a direct-current (DC) small-scale electrical network containing a constant power load, whose value is unknown. Due to their negative incremental…