相关论文: Accurate Control under Voltage Drop for Rotor Dron…

Conservation voltage reduction(CVR) uses Volt-VAR optimization(VVO) methods to reduce customer power demand by controlling the feeders' voltage control devices. The objective of this paper is to present a VVO approach that controls the…

This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…

We present a fully autonomous self-recharging drone system capable of long-duration sustained operations near powerlines. The drone is equipped with a robust onboard perception and navigation system that enables it to locate powerlines and…

This paper presents a circuit for precise vertical landing of drones based on a three phase-shifts detection of a single frequency transmitted from the landing point. The circuit can be considered as a new navigation sensor that assists in…

This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…

This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed…

Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…

Drone light shows have emerged as a popular form of entertainment in recent years. However, several high-profile incidents involving large-scale drone failures -- where multiple drones simultaneously fall from the sky -- have raised safety…

This paper presents an analysis and experimental validation of dispatchable virtual oscillator control (dVOC) for inverter-dominated power systems. dVOC is a promising decentralized control strategy that requires only local measurements to…

This paper presents a novel Dynam-i-c Droop (iDroop) control mechanism to perform primary frequency control with gird-connected inverters that improves the network dynamic performance. The work is motivated by the dynamic degradation…

In distribution networks, there are slow controlling devices and fast controlling devices for Volt-VAR regulation. These slow controlling devices, such as capacitors or voltage regulators, cannot be operated frequently and should be…

Voltage (Volt) and reactive-power (VAR) control in transmission networks is critical for reliability and increasingly needs fast, implementable decisions. This paper presents a transmission Volt/VAR Optimization (VVO) framework that…

Advanced technological breakthroughs and exceptional levels of innovation are enhancing the capabilities and potential of autonomous unmanned aerial vehicles (UAVs or drones), and in so doing attracting the interest of a broader swath of…

This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the observer nominal model, DW-DOB cleanly…

The growing integration of distributed energy resources into distribution systems poses challenges for voltage regulation. Dynamic VAR Compensators (DVCs) are a new generation of power electronics-based Volt/VAR compensation devices…

Inverter-based resources (IBRs) are required to provide dynamic voltage support (DVS) during voltage dips to enhance the low-voltage ride-through capability. In this paper, we develop a model-free control method to achieve the optimal DVS…

To overcome the short flight duration of drones, research on in-flight inductive power transfer has been recognized as an essential solution. Thus, it is important to accurately estimate and control the attitude of the drones which operate…

Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…

Recent boom in foundation models and AI computing have raised growing concerns on the power and energy trajectories of large-scale data centers. This paper focuses on the voltage issues caused by volatile and intensity of data center power…

This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…