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In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
This paper investigates the problem of optimal frequency regulation of multi-machine power networks where each synchronous machine is described by a sixth order model. By analyzing the physical energy stored in the network and the…
Coupled Tank system used for liquid level control is a model of plant that has usually been used in industries especially chemical process industries. Level control is also very important for mixing reactant process. This survey paper tries…
In the current context of high integration of renewable energies, maximizing infrastructures capabilities for electricity transmission is a general need for Transmission System Operators (TSO). The French TSO, RTE, is developing levers to…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
Among the auxiliary loads in light-duty vehicles, the air conditioning system is the single largest energy consumer. For electrified vehicles, the impact of heating and cooling loads becomes even more significant, as they compete with the…
This paper proposes a novel control design for voltage tracking of an islanded AC microgrid in the presence of {nonlinear} loads and parametric uncertainties at the primary level of control. The proposed method is based on the Tube-Based…
The rapidly transforming electric power distribution system due to the integration of distributed energy resources(DERs) specifically roof-top photovoltaic (PV) generation may lead to significant operational challenges. In this paper, we…
Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
Inverter-dominated microgrids are quickly becoming a key building block of future power systems. They rely on centralized controllers that can provide reliability and resiliency in extreme events. Nonetheless, communication failures due to…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
High variability of solar PV and sudden changes in load (e.g., electric vehicles and storage) can lead to large voltage fluctuations in the distribution system. In recent years, a number of controllers have been designed to optimize voltage…
This paper presents a real time control strategy for energy storage systems integration in electric vehicles fast charging applications combined with generation from intermittent renewable energy sources. A two steps approach taking…
We describe a robust multiperiod transmission plan- ning model including renewables and batteries, where battery output is used to partly offset renewable output deviations from forecast. A central element is a nonconvex battery operation…
Demand flexibility plays a vital role in maintaining grid balance, reducing peak demand, and saving customers' energy bills. Given their highly shiftable load and significant contribution to a building's energy consumption, Heating,…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…