Related papers: Multiobjective Backstepping Controller for Paralle…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
This paper addresses the problem of output voltage regulation for multiple DC/DC converters connected to a microgrid, and prescribes a scheme for sharing power among different sources. This architecture is structured in such a way that it…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
Rapid developments in power distribution systems and renewable energy have widened the applications of dc--dc buck--boost converters in dc voltage regulation. Applications include vehicular power systems, renewable energy sources that…
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…
We present a novel methodology for designing output-feedback backstepping boundary controllers for an unstable 1-D diffusion-reaction partial differential equation with spatially-varying reaction. Using "folding" transforms the parabolic…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…
This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when…
This paper is an extension of the author's recent research in which only buck converters were analyzed. Similar analysis can be equally applied to other types of converters. In this paper, a unified model is proposed for buck, boost, and…
Electrical power conversions are common in a large variety of engineering applications. With reference to AC/DC and DC/AC power conversions, a strong research interest resides in multilevel converters, thanks to the many advantages they…
The fundamental role of power converters is to efficiently manage and control the flow of electrical energy, ensuring compatibility between power sources and loads. All these applications of power converters need the design of an…
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…
This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
In this paper, parallel interconnection of DC/DC converters is considered. For this topology of converters feeding a common load, it has been recently shown that dynamics related to voltage regulation can be completely separated from the…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…
Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…
Due to the increasing popularity of DC loads and the potential for higher efficiency, DC microgrids are gaining significant attention. DC microgrids utilize multiple parallel converters to deliver sufficient power to the load. However, a…