Fuzzy Gain-Scheduling PID for UAV Position and Altitude Controllers

Unmanned aerial vehicle (UAV) applications have evolved to a wide range of fields in the last decade. One of the main challenges in autonomous tasks is the UAV stability during maneuvers. Thus, attitude and position control play a crucial role in stabilizing the vehicle in the desired orientation and path. Many control techniques have been developed for this. However, proportional integral derivative (PID) controllers are often used due their structure and efficiency. Despite PID’s good performance, different requirements may be present at different mission stages. The main contribution of this research work is the development of a novel strategy based on a fuzzy-gain scheduling mechanism to adjust the PID controller to stabilize both position and altitude. This control strategy must be effective, simple, and robust to uncertainties and external disturbances. The Robot Operating System (ROS) integrates the proposed system and the flight control unit. The obtained results showed that the proposed approach was successfully applied to the trajectory tracking and revealed a good performance compared to conventional PID and in the presence of noises. In the tests, the position controller was only affected when the altitude error was higher, with an error of 2% lower.publishedVersio

Smart operation of transformers for sustainable electric vehicles integration and model predictive control for energy monitoring and management

The energy transmission and distribution systems existing today are stillsignificantly dependent on transformers,despite beingmore efficient and sustainable than those of decadesago. However, a large numberof power transformers alongwith other infrastructures have been in service for decades and are considered to be in their final ageing stage. Anymalfunction in the transformerscouldaffect the reliability of the entire electric network and alsohave greateconomic impact on the system.Concernsregardingurban air pollution, climate change, and the dependence on unstable and expensive supplies of fossil fuels have lead policy makers and researchers to explore alternatives to conventional fossil-fuelled internal combustion engine vehicles. One such alternative is the introduction of electric vehicles. A broad implementation of such mean of transportation could signify a drastic reduction in greenhouse gases emissions and could consequently form a compelling argument for the global efforts of meeting the emission reduction targets. In this thesis the topic of a high penetration of electric vehicles and their possible integration in insular networksis discussed. Subsequently, smart grid solutions with enabling technologies such as energy management systems and smart meters promote the vision of smart households, which also allows for active demand side in the residential sector.However, shifting loads simultaneously to lower price periods is likely to put extra stress on distribution system assets such as distribution transformers. Especially, additional new types of loads/appliances such as electric vehicles can introduce even more uncertaintyon the operation of these assets, which is an issue that needs special attention. Additionally, in order to improve the energy consumption efficiencyin a household, home energy management systems are alsoaddressed. A considerable number ofmethodologies developed are tested in severalcasestudies in order to answer the risen questions.Os sistemas de transmissão e distribuição de energia existentes hoje em dia sãosignificativamente dependentes dos transformadores, pese embora sejammais eficientes e sustentáveis do que os das décadas passadas. No entanto, uma grande parte dos transformadores ao nível dadistribuição, juntamente com outras infraestruturassubjacentes, estão em serviço há décadas e encontram-se nafasefinal do ciclo devida. Qualquer defeito no funcionamento dos transformadorespode afetara fiabilidadede toda a redeelétrica, para além de terum grande impactoeconómico no sistema.Os efeitos nefastos associadosàpoluição do arem centro urbanos, asmudançasclimáticasea dependência de fontes de energiafósseis têm levado os decisores políticos e os investigadores aexplorar alternativas para os veículos convencionais de combustão interna. Uma alternativa é a introdução de veículos elétricos. Umaampla implementação de tal meio de transporte poderia significar uma redução drástica dos gases de efeito de estufa e poderiareforçar os esforços globais para ocumprimento das metas de redução de emissõesde poluentes na atmosfera.Nesta tese é abordado o tema da elevada penetração dos veículos elétricose a sua eventual integração numarede elétricainsular. Posteriormente, são abordadas soluções de redeselétricasinteligentes com tecnologias específicas, tais como sistemas de gestão de energia e contadores inteligentes que promovamo paradigmadas casas inteligentes, que também permitem a gestão da procura ativano sector residencial.No entanto, deslastrando significativamente as cargaspara beneficiar de preçosmais reduzidosé suscetíveldecolocarconstrangimentosadicionaissobre os sistemas de distribuição, especialmentesobre ostransformadores.Osnovos tipos de cargas tais como os veículos elétricospodem introduzir ainda mais incertezassobre a operação desses ativos, sendo uma questão que suscitaespecial importância. Além disso, com ointuitode melhorar a eficiência do consumo de energia numa habitação, a gestão inteligente daenergia é um assunto que também éabordadonesta tese. Uma pletora de metodologias é desenvolvida e testadaemvários casos de estudos, a fim de responder às questões anteriormente levantadas

Full Envelope Control of Nonlinear Plants with Parameter Uncertainty by Fuzzy Controller Scheduling

A full envelope controller synthesis technique is developed for multiple-input single-output (MISO) nonlinear systems with structured parameter uncertainty. The technique maximizes the controller\u27s valid region of operation, while guaranteeing pre-specified transient performance. The resulting controller does not require on-line adaptation, estimation, prediction or model identification. Fuzzy Logic (FL) is used to smoothly schedule independently designed point controllers over the operational envelope and parameter space of the system\u27s model. These point controllers are synthesized using techniques chosen by the designer, thus allowing an unprecedented amount of design freedom. By using established control theory for the point controllers, the resulting nonlinear dynamic controller is able to handle the dynamics of complex systems which can not otherwise be addressed by Fuzzy Logic Control. An analytical solution for parameters describing the membership functions allows the optimization to yield the location of point designs: both quantifying the controller\u27s coverage, and eliminating the need of extensive hand tuning of these parameters. The net result is a decrease in the number of point designs required. Geometric primitives used in the solution all have multi-dimensional interpretations (convex hull, ellipsoid, Voronoi-Delaunay diagrams) which allow for scheduling on n-dimensions, including uncertainty due to nonlinearities and parameter variation. Since many multiple-input multiple-output (MIMO) controller design techniques are accomplished by solving several MISO problems, this work bridges the gap to full envelope control of MIMO nonlinear systems with parameter variation

A distributed agent architecture for real-time knowledge-based systems: Real-time expert systems project, phase 1

We propose a distributed agent architecture (DAA) that can support a variety of paradigms based on both traditional real-time computing and artificial intelligence. DAA consists of distributed agents that are classified into two categories: reactive and cognitive. Reactive agents can be implemented directly in Ada to meet hard real-time requirements and be deployed on on-board embedded processors. A traditional real-time computing methodology under consideration is the rate monotonic theory that can guarantee schedulability based on analytical methods. AI techniques under consideration for reactive agents are approximate or anytime reasoning that can be implemented using Bayesian belief networks as in Guardian. Cognitive agents are traditional expert systems that can be implemented in ART-Ada to meet soft real-time requirements. During the initial design of cognitive agents, it is critical to consider the migration path that would allow initial deployment on ground-based workstations with eventual deployment on on-board processors. ART-Ada technology enables this migration while Lisp-based technologies make it difficult if not impossible. In addition to reactive and cognitive agents, a meta-level agent would be needed to coordinate multiple agents and to provide meta-level control

Pattern-based Process Characterization and Gain Scheduling for Nonlinear Chemical Processes

Accurate characterization of process dynamics from on-line sensor data is the key issue in successful implementation of gain scheduling for controlling chemical processes. This work presents a development of pattern-based gain scheduling for process control. The approach employs process state maps constructed from windowed slices of multisensor plant trend data. Process identification is done using principles of similarity based pattern recognition. This technique provides a straightforward means to associate unique gain, integral time and/or derivative time controller settings with different states of the process. Simulation results show that better control performance may be achieved by use of gain scheduled controller as compared to the conventional fixed feedback systems

Cloud-efficient modelling and simulation of magnetic nano materials

Scientific simulations are rarely attempted in a cloud due to the substantial performance costs of virtualization. Considerable communication overheads, intolerable latencies, and inefficient hardware emulation are the main reasons why this emerging technology has not been fully exploited. On the other hand, the progress of computing infrastructure nowadays is strongly dependent on perspective storage medium development, where efficient micromagnetic simulations play a vital role in future memory design. This thesis addresses both these topics by merging micromagnetic simulations with the latest OpenStack cloud implementation while providing a time and costeffective alternative to expensive computing centers. However, many challenges have to be addressed before a high-performance cloud platform emerges as a solution for problems in micromagnetic research communities. First, the best solver candidate has to be selected and further improved, particularly in the parallelization and process communication domain. Second, a 3-level cloud communication hierarchy needs to be recognized and each segment adequately addressed. The required steps include breaking the VMisolation for the host’s shared memory activation, cloud network-stack tuning, optimization, and efficient communication hardware integration. The project work concludes with practical measurements and confirmation of successfully implemented simulation into an open-source cloud environment. It is achieved that the renewed Magpar solver runs for the first time in the OpenStack cloud by using ivshmem for shared memory communication. Also, extensive measurements proved the effectiveness of our solutions, yielding from sixty percent to over ten times better results than those achieved in the standard cloud.Aufgrund der erheblichen Leistungskosten der Virtualisierung werden wissenschaftliche Simulationen in einer Cloud selten versucht. Beträchtlicher Kommunikationsaufwand, erhebliche Latenzen und ineffiziente Hardwareemulation sind die Hauptgründe, warum diese aufkommende Technologie nicht vollständig genutzt wurde. Andererseits hängt der Fortschritt der Computertechnologie heutzutage stark von der Entwicklung perspektivischer Speichermedien ab, bei denen effiziente mikromagnetische Simulationen eine wichtige Rolle für die zukünftige Speichertechnologie spielen. Diese Arbeit befasst sich mit diesen beiden Themen, indem mikromagnetische Simulationen mit der neuesten OpenStack Cloud-Implementierung zusammengeführt werden, um eine zeit- und kostengünstige Alternative zu teuren Rechenzentren bereitzustellen. Viele Herausforderungen müssen jedoch angegangen werden, bevor eine leistungsstarke Cloud-Plattform als Lösung für Probleme in mikromagnetischen Forschungsgemeinschaften entsteht. Zunächst muss der beste Kandidat für die Lösung ausgewählt und weiter verbessert werden, insbesondere im Bereich der Parallelisierung und Prozesskommunikation. Zweitens muss eine 3-stufige CloudKommunikationshierarchie erkannt und jedes Segment angemessen adressiert werden. Die erforderlichen Schritte umfassen das Aufheben der VM-Isolation, um den gemeinsam genutzten Speicher zwischen Cloud-Instanzen zu aktivieren, die Optimierung des Cloud-Netzwerkstapels und die effiziente Integration von Kommunikationshardware. Die praktische Arbeit endet mit Messungen und der Bestätigung einer erfolgreich implementierten Simulation in einer Open-Source Cloud-Umgebung. Als Ergebnis haben wir erreicht, dass der neu erstellte Magpar-Solver zum ersten Mal in der OpenStack Cloud ausgeführt wird, indem ivshmem für die Shared-Memory Kommunikation verwendet wird. Umfangreiche Messungen haben auch die Wirksamkeit unserer Lösungen bewiesen und von sechzig Prozent bis zu zehnmal besseren Ergebnissen als in der Standard Cloud geführt

Doubly-fed induction generator used in wind energy

Wound-rotor induction generator has numerous advantages in wind power generation over other generators. One scheme for wound-rotor induction generator is realized when a converter cascade is used between the slip-ring terminals and the utility grid to control the rotor power. This configuration is called the doubly-fed induction generator (DFIG). In this work, a novel induction machine model is developed. This model includes the saturation in the main and leakage flux paths. It shows that the model which considers the saturation effects gives more realistic results. A new technique, which was developed for synchronous machines, was applied to experimentally measure the stator and rotor leakage inductance saturation characteristics on the induction machine. A vector control scheme is developed to control the rotor side voltage-source converter. Vector control allows decoupled or independent control of both active and reactive power of DFIG. These techniques are based on the theory of controlling the B- and q- axes components of voltage or current in different reference frames. In this work, the stator flux oriented rotor current control, with decoupled control of active and reactive power, is adopted. This scheme allows the independent control of the generated active and reactive power as well as the rotor speed to track the maximum wind power point. Conventionally, the controller type used in vector controllers is of the PI type with a fixed proportional and integral gain. In this work, different intelligent schemes by which the controller can change its behavior are proposed. The first scheme is an adaptive gain scheduler which utilizes different characteristics to generate the variation in the proportional and the integral gains. The second scheme is a fuzzy logic gain scheduler and the third is a neuro-fuzzy controller. The transient responses using the above mentioned schemes are compared analytically and experimentally. It has been found that although the fuzzy logic and neuro-fuzzy schemes are more complicated and have many parameters; this complication provides a higher degree of freedom in tuning the controller which is evident in giving much better system performance. Finally, the simulation results were experimentally verified by building the experimental setup and implementing the developed control schemes

Statistical Modelling of Computer Systems: A Survey

This paper briefly surveys the data dependent statistical methods useful for computer systems modelling. The techniques are classified according to their applicability toward comparison, tuning and design of computer systems. A review of papers dealing with statistical modelling of computer systems is presented and a comprehensive bibliography is included to provide a useful source of reference toward the present and potential applications of statistical methods for computer system modelling