Fast Adaptive Robust Differentiator Based Robust-Adaptive Control of Grid-Tied Inverters with a New L Filter Design Method

In this research, a new nonlinear and adaptive state feedback controller with a fast-adaptive robust differentiator is presented for grid-tied inverters. All parameters and external disturbances are taken as uncertain in the design of the proposed controller without the disadvantages of singularity and over-parameterization. A robust differentiator based on the second order sliding mode is also developed with a fast-adaptive structure to be able to consider the time derivative of the virtual control input. Unlike the conventional backstepping, the proposed differentiator overcomes the problem of explosion of complexity. In the closed-loop control system, the three phase source currents and direct current (DC) bus voltage are assumed to be available for feedback. Using the Lyapunov stability theory, it is proven that the overall control system has the global asymptotic stability. In addition, a new simple L filter design method based on the total harmonic distortion approach is also proposed. Simulations and experimental results show that the proposed controller assurances drive the tracking errors to zero with better performance, and it is robust against all uncertainties. Moreover, the proposed L filter design method matches the total harmonic distortion (THD) aim in the design with the experimental result

Regulatori struje aktivnih filtara snage za poboljšanje kvalitete snage: Tehnička analiza

Non-linear load deteriorates the quality of current waveforms at the point of common coupling of various consumers. Active power filter (APFs) is used to mitigate the most concern harmonic pollution in an electrical network. The controller part is the nucleus of an active power filter configuration. Active power filter performance is affected significantly by the selection of current control techniques. The active filter and its current control must have the capability to track sudden slope variations in the current reference to compensate the distorted current drawn by the voltage source inverter. Therefore, the choice and implementation of the current regulator is more important for the achievement of a satisfactory performance level. In this survey, technical reviews of various types of controllers covering a wide range have been presented. This work also reveals the advantages and disadvantages of the practiced control strategies. The effectiveness of the study will help the researchers to choose the proper control methods for various applicationsof active power filter.Nelinearni tereti pogoršavaju kvalitetu strujnih valova u točki u kojoj se spaja više potrošača. Aktivni filtar snage se koristi za ublažavanje najvažnijeg harmoničkog onečišćenja strujne mreže. Jezgra aktivnog filtra snage je regulator. Na performanse aktivnog filtra snage značajno utječe odabir upravljačke tehnike. Aktivni filtar i njegova tehnika upravljanja strujom moraju imati mogućnost pratiti nagle skokove u referentnoj vrijednosti struje kako bi mogli kompenzirati izobličenja struje koju vuče inverter naponskog izvora. Zato su izbor i implementacija regulatora struje iznimno važni za postizanje zadovoljavajuće razine performansi. U ovom pregledu su predstavljene tehničke recenzije koje pokrivaju širok raspon regulatora. Ovaj rad također otkriva prednosti i mane korištenih strategija upravljanja. Efektivnost ovog pregleda pomoći će istraživačima da izaberu ispravnu metodu upravljanja za različite aplikacije aktivnog filtra snage

A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

Regulatori struje aktivnih filtara snage za poboljšanje kvalitete snage: Tehnička analiza

Non-linear load deteriorates the quality of current waveforms at the point of common coupling of various consumers. Active power filter (APFs) is used to mitigate the most concern harmonic pollution in an electrical network. The controller part is the nucleus of an active power filter configuration. Active power filter performance is affected significantly by the selection of current control techniques. The active filter and its current control must have the capability to track sudden slope variations in the current reference to compensate the distorted current drawn by the voltage source inverter. Therefore, the choice and implementation of the current regulator is more important for the achievement of a satisfactory performance level. In this survey, technical reviews of various types of controllers covering a wide range have been presented. This work also reveals the advantages and disadvantages of the practiced control strategies. The effectiveness of the study will help the researchers to choose the proper control methods for various applicationsof active power filter.Nelinearni tereti pogoršavaju kvalitetu strujnih valova u točki u kojoj se spaja više potrošača. Aktivni filtar snage se koristi za ublažavanje najvažnijeg harmoničkog onečišćenja strujne mreže. Jezgra aktivnog filtra snage je regulator. Na performanse aktivnog filtra snage značajno utječe odabir upravljačke tehnike. Aktivni filtar i njegova tehnika upravljanja strujom moraju imati mogućnost pratiti nagle skokove u referentnoj vrijednosti struje kako bi mogli kompenzirati izobličenja struje koju vuče inverter naponskog izvora. Zato su izbor i implementacija regulatora struje iznimno važni za postizanje zadovoljavajuće razine performansi. U ovom pregledu su predstavljene tehničke recenzije koje pokrivaju širok raspon regulatora. Ovaj rad također otkriva prednosti i mane korištenih strategija upravljanja. Efektivnost ovog pregleda pomoći će istraživačima da izaberu ispravnu metodu upravljanja za različite aplikacije aktivnog filtra snage

Adaptive fuzzy sliding mode command-filtered backstepping control for islanded PV microgrid with energy storage system

This study focuses on the control of islanded photovoltaic (PV) microgrid and design of a controller for PV system. Because the system operates in islanded mode, the reference voltage and frequency of AC bus are provided by the energy storage system. We mainly designed the controller for PV system in this study, and the control objective is to control the DC bus voltage and output current of PV system. First, a mathematical model of the PV system was set up. In the design of PV system controller, command-filtered backstepping control method was used to construct the virtual controller, and the final controller was designed by using sliding mode control. Considering the uncertainty of circuit parameters in the mathematical model and the unmodeled part of PV system, we have integrated adaptive control in the controller to achieve the on-line identification of component parameters of PV system. Moreover, fuzzy control was used to approximate the unmodeled part of the system. In addition, the projection operator guarantees the boundedness of adaptive estimation. Finally, the control effect of designed controller was verified by MATLAB/Simulink software. By comparing with the control results of proportion-integral (PI) and other controllers, the advanced design of controller was verified

Empowering and assisting natural human mobility: The simbiosis walker

This paper presents the complete development of the Simbiosis Smart Walker. The device is equipped with a set of sensor subsystems to acquire user-machine interaction forces and the temporal evolution of user's feet during gait. The authors present an adaptive filtering technique used for the identification and separation of different components found on the human-machine interaction forces. This technique allowed isolating the components related with the navigational commands and developing a Fuzzy logic controller to guide the device. The Smart Walker was clinically validated at the Spinal Cord Injury Hospital of Toledo - Spain, presenting great acceptability by spinal chord injury patients and clinical staf

ARTMAP-FTR: A Neural Network For Fusion Target Recognition, With Application To Sonar Classification

ART (Adaptive Resonance Theory) neural networks for fast, stable learning and prediction have been applied in a variety of areas. Applications include automatic mapping from satellite remote sensing data, machine tool monitoring, medical prediction, digital circuit design, chemical analysis, and robot vision. Supervised ART architectures, called ARTMAP systems, feature internal control mechanisms that create stable recognition categories of optimal size by maximizing code compression while minimizing predictive error in an on-line setting. Special-purpose requirements of various application domains have led to a number of ARTMAP variants, including fuzzy ARTMAP, ART-EMAP, ARTMAP-IC, Gaussian ARTMAP, and distributed ARTMAP. A new ARTMAP variant, called ARTMAP-FTR (fusion target recognition), has been developed for the problem of multi-ping sonar target classification. The development data set, which lists sonar returns from underwater objects, was provided by the Naval Surface Warfare Center (NSWC) Coastal Systems Station (CSS), Dahlgren Division. The ARTMAP-FTR network has proven to be an effective tool for classifying objects from sonar returns. The system also provides a procedure for solving more general sensor fusion problems.Office of Naval Research (N00014-95-I-0409, N00014-95-I-0657