Related papers: Sliding Mode Control for Torque Evolution of a Dou…
In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…
This paper considers the integrated motion control and energy management problems of the series hybrid electric vehicles (SHEV) with constraints. We propose a multi-objective model predictive control (MOMPC)-based energy management…
This paper proposes an event-triggered sliding mode control (SMC) scheme combined with a backstepping algorithm for control of 2-DOF humanoid's lower-limb powered by Series elastic actuator (SEA). First, the modelling process for the…
With the increasing impact of low inertia due to the high penetration of distributed generation, virtual synchronous generator (VSG) technology has been proposed to improve the stability of the inverter-interfaced distributed generator by…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Oscillations between swing modes of electric machines is an important limitation in achieving a high level of transient performance and reliability in power grids. Based on the new advances in measurement and transmission of wide-area…
Control of non-condensing non-ideal-gas power cycles is challenging because their output power dynamics depend on complex system interactions, non-ideal-gas effects complicate turbomachinery behavior, and state constraints must be…
High penetration of wind power with conventional grid following controls for inverter-based wind turbine generators (WTGs) weakens the power grid, challenging the power system stability. Grid-forming (GFM) controls are emerging technologies…
A new control approach is proposed for the grid insertion of Power Park Modules (PPMs). It allows full participation of these modules to ancillary services. This means that, not only their control have some positive impact on the grid…
In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such…
Hybrid power plants (HPPs) combine multiple power generators (conventional/variable) and energy storage capabilities to support generation inadequacy and grid demands. This paper introduces a modeling and control design framework for hybrid…
Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…
This thesis focuses on developing advanced control methods for two industrial systems in discrete-time aiming to enhance their performance in delivering the control objectives as well as considering the practical aspects. The first part…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
This paper studies the super-twisting algorithm (STA) for adaptive sliding mode design. The proposed method tunes the two gains of STA on line simultaneously such that a second order sliding mode can take place with small rectifying gains.…
A new theoretical method is presented for future multi-scale aerodynamic optimisation of very large wind farms. The new method combines a recent two-scale coupled momentum analysis of ideal wind turbine arrays with the classical…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
We discuss non-ideal torque control in wind turbine systems (WTS). Most high-level controllers generate a reference torque which is then send to the underlying electrical drive system (generator+inverter) of the WTS to steer the…