Related papers: Accurate Control under Voltage Drop for Rotor Dron…
This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to…
Implementing frequency response using grid-connected inverters is one of the popular proposed alternatives to mitigate the dynamic degradation experienced in low inertia power systems. However, such solution faces several challenges as…
Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing…
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…
In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target…
In this paper, the power response of power electronic loads in case of voltage drops are measured and their dynamics are analysed. Based on this, dynamic simulation models are derived which can be used for voltage stability investigations.…
Nearest level modulation (NLM) is an attractive modulation method for its implementation simplicity in modular multilevel converter (MMC). However, it introduces significant voltage and current distortion when the number of submodules (SMs)…
Design and implementation of an optimal and robust single-loop voltage controller is proposed for single-phase grid forming voltage source inverter (VSI). The objective of the proposed controller is to have good reference tracking and…
Integration of distributed energy resources has created a need for autonomous, dynamic voltage regulation. Decentralized Volt-VAr Control (VVC) of grid-connected inverters presents a unique opportunity for voltage management but, if…
Recently, an unmanned aerial vehicle (UAV), as known as drone, has become an alternative means of package delivery. Although the drone delivery scheduling has been studied in recent years, most existing models are formulated as a single…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
We analyze a power distribution line with high penetration of distributed generation and strong variations of power consumption and generation levels. In the presence of uncertainty the statistical description of the system is required to…
There has been a rapid growth in the deployment of Unmanned Aerial Vehicles (UAVs) in various applications ranging from vital safety-of-life such as surveillance and reconnaissance at nuclear power plants to entertainment and hobby…
Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…
Quadrotor endurance is ultimately limited by battery behavior, yet most energy aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induce dynamic current loads that accelerate battery degradation.…
This paper focuses on the effective use of smart inverters for Volt/Var control (VVC) on a distribution system. New smart inverters offer Var support capability but for their effective use they need to be coordinated with existing Volt/Var…
This paper develops a new analytical model to estimate real-time variations in grid frequency and voltages resulting from dynamic network reconfiguration (DNR). In the proposed model, switching operations are considered as discrete…
In this paper a new strategy based on disturbance and uncertainty (DU) estimation and attenuation technique is proposed and tested on the nonlinear kinematic model of the differential drive mobile robot (DDMR). The proposed technique is an…
Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupling between controller gains and observer parameters. In…
Modern DRAM chips are subject to read disturbance errors. State-of-the-art read disturbance mitigations rely on accurate and exhaustive characterization of the read disturbance threshold (RDT) (e.g., the number of aggressor row activations…