Related papers: H2 Optimized PID Control of Quad-Copter Platform w…
We propose and investigate a novel solution strategy to efficiently and accurately compute approximate solutions to semilinear optimal control problems, focusing on the optimal control of phase field formulations of geometric evolution…
Wind power is a clean and widely deployed alternative to reducing our dependence on fossil fuel power generation. Under this trend, more turbines will be installed in wind farms. However, the inspection of the turbines in an offshore wind…
Since most industrial control applications use PID controllers, PID tuning and anti-windup measures are significant problems. This paper investigates tuning the feedback gains of a PID controller via back-calculation and automatic…
Improving wind turbine efficiency is essential for reducing the costs of energy production. The highly nonlinear dynamics of the wind turbines and their uncertain operating conditions have posed many challenges for their control methods. In…
This paper presents an automated, model-free, data-driven method for the safe tuning of PID cascade controller gains based on Bayesian optimization. The optimization objective is composed of data-driven performance metrics and modeled using…
Nonlinear extension of the integral part of a standard proportional-integral-derivative (PID) feedback control is proposed for perturbed second-order systems. The approach is model-free and requires solely the Lipschitz boundedness of the…
This paper gives a new solution to the output feedback H2 problem for quadratically invariant communication delay patterns. A characterization of all stabilizing controllers satisfying the delay constraints is given and the decentralized H2…
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
Interest in the coaxial compound helicopter (CCH) has been increasing in the civil aviation and engineering community for its high-speed and high-maneuverability features, and is likely to continue to do so for the foreseeable future. Since…
In this thesis, advanced design technique in sliding mode control (SMC) is presented with focus on PID (Proportional-Integral-Derivative) type Sliding surfaces based Sliding mode control with improved power rate exponential reaching law for…
This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating…
The dynamical response of an aircraft subject to gust perturbations is a key element in a preliminary design phase. In particular, the loads induced by gusts along the wing should not exceed some limit values and should even ideally be…
Dual-based proportional-integral-derivative (PID) controllers are often employed in practice to solve online allocation problems with global constraints, such as budget pacing in online advertising. However, controllers are used in a…
In this paper we address the growing concerns of wind power integration from the perspective of power system dynamics and stability. We propose a new retrofit control technique where an additional controller is designed at the doubly-fed…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
Any suitably well-posed PDE in two spatial dimensions can be represented as a Partial Integral Equation (PIE) -- with system dynamics parameterized using Partial Integral (PI) operators. Furthermore, $L_2$-gain analysis of PDEs with a PIE…
This paper presents a simulation-based comparison between the two controllers, Proportional Integral Derivative (PID), a classical controller and Linear Quadratic Regulator (LQR), an optimal controller, for a linearized quadrotor model. To…
Wind farm flow control aims to improve wind turbine performance by reducing aerodynamic wake interaction between turbines. Dynamic, physics-based models of wind farm flows have been essential for exploring control strategies such as wake…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…