Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles

In this paper we propose a constrained optimal control architecture for combined velocity, yaw and sideslip regulation for stabilisation of the vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model are used to find reference steady-state cornering conditions and design two model predictive control (MPC) strategies of different levels of fidelity: one that uses a linearised version of the full vehicle model with the rear wheels' torques as the input, and another one that neglects the wheel dynamics and uses the rear wheels' slips as the input instead. After analysing the relative trade-offs between performance and computational effort, we compare the two MPC strategies against each other and against an unconstrained optimal control strategy in Simulink and Carsim environment

A Study of Advanced Modern Control Techniques Applied to a Twin Rotor MIMO System

The twin rotor MIMO system (TRMS) is a helicopter-like system that is restricted to two degrees of freedom, pitch and yaw. It is a complicated nonlinear, coupled, MIMO system used for the verification of control methods and observers. There have been many methods successfully applied to the system ranging from simple proportional integral derivative (PID) controllers, to machine learning algorithms, nonlinear control methods and other less explored methods like deadbeat control and various optimal methodologies. This thesis details the design procedure for two different control methods. The first is a suboptimal tracking controller using a linear quadratic regulator (LQR) with integral action. The second is the design of several adaptive sliding mode controller to provide robust tracking control of the TRMS. Once the design is complete the controllers are tested in simulation and their performance is compared against a PID controller experimentally. The performance of the controllers are also compared against other controllers in the literature. The ability of the sliding mode controllers (SMC) to suppress chattering is also be explored

State of the art of control schemes for smart systems featuring magneto-rheological materials

This review presents various control strategies for application systems utilizing smart magneto-rheological fluid (MRF) and magneto-rheological elastomers (MRE). It is well known that both MRF and MRE are actively studied and applied to many practical systems such as vehicle dampers. The mandatory requirements for successful applications of MRF and MRE include several factors: advanced material properties, optimal mechanisms, suitable modeling, and appropriate control schemes. Among these requirements, the use of an appropriate control scheme is a crucial factor since it is the final action stage of the application systems to achieve the desired output responses. There are numerous different control strategies which have been applied to many different application systems of MRF and MRE, summarized in this review. In the literature review, advantages and disadvantages of each control scheme are discussed so that potential researchers can develop more effective strategies to achieve higher control performance of many application systems utilizing magneto-rheological materials

Nonlinear robust integral sliding super-twisting sliding mode control application in autonomous underwater glider

1016-1027The design of a robust controller is a challenging task due to nonlinear behaviour of the glider and surround environment. This paper presents design and simulation of nonlinear robust integral super-twisting sliding mode control for controlling the longitudinal plane of an autonomous underwater glider (AUG). The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations for pitching angle and net buoyancy of the longitudinal plane of an AUG. The algorithm is designed based on integral sliding mode control and super-twisting sliding mode control. The performance of the proposed controller is compared to original integral sliding mode and original super-twisting algorithm. The simulation results have shown that the proposed controller demonstrates satisfactory performance and also reduces the chattering effect and control effort

A Comparison of PID and Sliding Mode Controllers When Applied to the Orbit Raising of a Satellite Using Solar Sail Propulsion

Solar Sail spacecraft have become increasingly popular due to their ability to perform long term missions without the need for propellant. Because solar sail propulsion is so unique, most research has been focused on developing new mechanical control techniques. However, it can be argued that more advanced control algorithms can be used to mitigate the shortcomings of commonly used control actuators, specifically reaction wheels, when applied to solar sails. This thesis will research how a sliding mode controller compares to a PID controller with respect to settling time and state response error over a range of maximum reaction wheel torque values. The actuator saturation and actuator energy are then compared for two different sliding mode controllers and a PID controller. It was found that the sliding mode controller performed at minimum 14% better in terms of settling time and 7.7% better in terms of state response error, however the PID controller performed 24% better in terms of actuator saturation and energy. Further research should be done to study the potential benefits of sliding mode controllers in terms of their benefits to reduce actuator saturation and energy

Review on Multi-Objective Control Strategies for Distributed Generation on Inverter-Based Microgrids

[EN] Microgrids have emerged as a solution to address new challenges in power systems with the integration of distributed energy resources (DER). Inverter-based microgrids (IBMG) need to implement proper control systems to avoid stability and reliability issues. Thus, several researchers have introduced multi-objective control strategies for distributed generation on IBMG. This paper presents a review of the different approaches that have been proposed by several authors of multi-objective control. This work describes the main features of the inverter as a key component of microgrids. Details related to accomplishing efficient generation from a control systems' view have been observed. This study addresses the potential of multi-objective control to overcome conflicting objectives with balanced results. Finally, this paper shows future trends in control objectives and discussion of the different multi-objective approaches.Gonzales-Zurita, Ó.; Clairand, J.; Peñalvo-López, E.; Escrivá-Escrivá, G. (2020). Review on Multi-Objective Control Strategies for Distributed Generation on Inverter-Based Microgrids. Energies. 13(13):1-29. https://doi.org/10.3390/en13133483S1291313Ross, M., Abbey, C., Bouffard, F., & Joos, G. (2015). Multiobjective Optimization Dispatch for Microgrids With a High Penetration of Renewable Generation. IEEE Transactions on Sustainable Energy, 6(4), 1306-1314. doi:10.1109/tste.2015.2428676Murty, V. V. S. N., & Kumar, A. (2020). Multi-objective energy management in microgrids with hybrid energy sources and battery energy storage systems. Protection and Control of Modern Power Systems, 5(1). doi:10.1186/s41601-019-0147-zKatircioğlu, S., Abasiz, T., Sezer, S., & Katırcıoglu, S. (2019). Volatility of the alternative energy input prices and spillover effects: a VAR [MA]-MGARCH in BEKK approach for the Turkish economy. Environmental Science and Pollution Research, 26(11), 10738-10745. doi:10.1007/s11356-019-04531-5Olivares, D. E., Mehrizi-Sani, A., Etemadi, A. H., Canizares, C. A., Iravani, R., Kazerani, M., … Hatziargyriou, N. D. (2014). Trends in Microgrid Control. IEEE Transactions on Smart Grid, 5(4), 1905-1919. doi:10.1109/tsg.2013.2295514Akinyele, D., Belikov, J., & Levron, Y. (2018). Challenges of Microgrids in Remote Communities: A STEEP Model Application. Energies, 11(2), 432. doi:10.3390/en11020432Benamar, A., Travaillé, P., Clairand, J.-M., & Escrivá-Escrivá, G. (2020). Non-Linear Control of a DC Microgrid for Electric Vehicle Charging Stations. International Journal on Advanced Science, Engineering and Information Technology, 10(2), 593. doi:10.18517/ijaseit.10.2.10815Lakshmi, M., & Hemamalini, S. (2018). Nonisolated High Gain DC–DC Converter for DC Microgrids. IEEE Transactions on Industrial Electronics, 65(2), 1205-1212. doi:10.1109/tie.2017.2733463Yin, C., Wu, H., Locment, F., & Sechilariu, M. (2017). Energy management of DC microgrid based on photovoltaic combined with diesel generator and supercapacitor. Energy Conversion and Management, 132, 14-27. doi:10.1016/j.enconman.2016.11.018Chen, D., Xu, Y., & Huang, A. Q. (2017). Integration of DC Microgrids as Virtual Synchronous Machines Into the AC Grid. IEEE Transactions on Industrial Electronics, 64(9), 7455-7466. doi:10.1109/tie.2017.2674621Abhinav, S., Schizas, I. D., Ferrese, F., & Davoudi, A. (2017). Optimization-Based AC Microgrid Synchronization. IEEE Transactions on Industrial Informatics, 13(5), 2339-2349. doi:10.1109/tii.2017.2702623Liu, Z., Su, M., Sun, Y., Li, L., Han, H., Zhang, X., & Zheng, M. (2019). Optimal criterion and global/sub-optimal control schemes of decentralized economical dispatch for AC microgrid. International Journal of Electrical Power & Energy Systems, 104, 38-42. doi:10.1016/j.ijepes.2018.06.045Khatibzadeh, A., Besmi, M., Mahabadi, A., & Reza Haghifam, M. (2017). Multi-Agent-Based Controller for Voltage Enhancement in AC/DC Hybrid Microgrid Using Energy Storages. Energies, 10(2), 169. doi:10.3390/en10020169Asghar, F., Talha, M., & Kim, S. (2017). Robust Frequency and Voltage Stability Control Strategy for Standalone AC/DC Hybrid Microgrid. Energies, 10(6), 760. doi:10.3390/en10060760Lotfi, H., & Khodaei, A. (2017). Hybrid AC/DC microgrid planning. Energy, 118, 37-46. doi:10.1016/j.energy.2016.12.015Kerdphol, T., Rahman, F., & Mitani, Y. (2018). Virtual Inertia Control Application to Enhance Frequency Stability of Interconnected Power Systems with High Renewable Energy Penetration. Energies, 11(4), 981. doi:10.3390/en11040981Rodrigues, Y. R., Zambroni de Souza, A. C., & Ribeiro, P. F. (2018). An inclusive methodology for Plug-in electrical vehicle operation with G2V and V2G in smart microgrid environments. International Journal of Electrical Power & Energy Systems, 102, 312-323. doi:10.1016/j.ijepes.2018.04.037Ghosh, S., & Chattopadhyay, S. (2020). Three-Loop-Based Universal Control Architecture for Decentralized Operation of Multiple Inverters in an Autonomous Grid-Interactive Microgrid. IEEE Transactions on Industry Applications, 56(2), 1966-1979. doi:10.1109/tia.2020.2964746Mohapatra, S. R., & Agarwal, V. (2020). Model Predictive Control for Flexible Reduction of Active Power Oscillation in Grid-Tied Multilevel Inverters Under Unbalanced and Distorted Microgrid Conditions. IEEE Transactions on Industry Applications, 56(2), 1107-1115. doi:10.1109/tia.2019.2957480Ziouani, I., Boukhetala, D., Darcherif, A.-M., Amghar, B., & El Abbassi, I. (2018). Hierarchical control for flexible microgrid based on three-phase voltage source inverters operated in parallel. International Journal of Electrical Power & Energy Systems, 95, 188-201. doi:10.1016/j.ijepes.2017.08.027Golshannavaz, S., & Mortezapour, V. (2018). A generalized droop control approach for islanded DC microgrids hosting parallel-connected DERs. Sustainable Cities and Society, 36, 237-245. doi:10.1016/j.scs.2017.09.038Safa, A., Madjid Berkouk, E. L., Messlem, Y., & Gouichiche, A. (2018). A robust control algorithm for a multifunctional grid tied inverter to enhance the power quality of a microgrid under unbalanced conditions. International Journal of Electrical Power & Energy Systems, 100, 253-264. doi:10.1016/j.ijepes.2018.02.042Andishgar, M. H., Gholipour, E., & Hooshmand, R. (2017). An overview of control approaches of inverter-based microgrids in islanding mode of operation. Renewable and Sustainable Energy Reviews, 80, 1043-1060. doi:10.1016/j.rser.2017.05.267Li, Z., Zang, C., Zeng, P., Yu, H., Li, S., & Bian, J. (2017). Control of a Grid-Forming Inverter Based on Sliding-Mode and Mixed ${H_2}/{H_\infty }$ Control. IEEE Transactions on Industrial Electronics, 64(5), 3862-3872. doi:10.1109/tie.2016.2636798Hossain, M. A., Pota, H. R., Squartini, S., & Abdou, A. F. (2019). Modified PSO algorithm for real-time energy management in grid-connected microgrids. Renewable Energy, 136, 746-757. doi:10.1016/j.renene.2019.01.005Shokoohi, S., Golshannavaz, S., Khezri, R., & Bevrani, H. (2018). Intelligent secondary control in smart microgrids: an on-line approach for islanded operations. Optimization and Engineering, 19(4), 917-936. doi:10.1007/s11081-018-9382-9Safari, A., Babaei, F., & Farrokhifar, M. (2019). A load frequency control using a PSO-based ANN for micro-grids in the presence of electric vehicles. International Journal of Ambient Energy, 42(6), 688-700. doi:10.1080/01430750.2018.1563811Miveh, M. R., Rahmat, M. F., Ghadimi, A. A., & Mustafa, M. W. (2016). Control techniques for three-phase four-leg voltage source inverters in autonomous microgrids: A review. Renewable and Sustainable Energy Reviews, 54, 1592-1610. doi:10.1016/j.rser.2015.10.079Rokrok, E., Shafie-khah, M., & Catalão, J. P. S. (2018). Review of primary voltage and frequency control methods for inverter-based islanded microgrids with distributed generation. Renewable and Sustainable Energy Reviews, 82, 3225-3235. doi:10.1016/j.rser.2017.10.022Bouzid, A. M., Guerrero, J. M., Cheriti, A., Bouhamida, M., Sicard, P., & Benghanem, M. (2015). A survey on control of electric power distributed generation systems for microgrid applications. Renewable and Sustainable Energy Reviews, 44, 751-766. doi:10.1016/j.rser.2015.01.016Vásquez, V., Ortega, L. M., Romero, D., Ortega, R., Carranza, O., & Rodríguez, J. J. (2017). Comparison of methods for controllers design of single phase inverter operating in island mode in a microgrid: Review. Renewable and Sustainable Energy Reviews, 76, 256-267. doi:10.1016/j.rser.2017.03.060Shen, X., Wang, H., Li, J., Su, Q., & Gao, L. (2019). Distributed Secondary Voltage Control of Islanded Microgrids Based on RBF-Neural-Network Sliding-Mode Technique. IEEE Access, 7, 65616-65623. doi:10.1109/access.2019.2915509Arbab-Zavar, B., Palacios-Garcia, E., Vasquez, J., & Guerrero, J. (2019). Smart Inverters for Microgrid Applications: A Review. Energies, 12(5), 840. doi:10.3390/en12050840Bullich-Massagué, E., Díaz-González, F., Aragüés-Peñalba, M., Girbau-Llistuella, F., Olivella-Rosell, P., & Sumper, A. (2018). Microgrid clustering architectures. Applied Energy, 212, 340-361. doi:10.1016/j.apenergy.2017.12.048Kerdphol, T., Rahman, F., Mitani, Y., Hongesombut, K., & Küfeoğlu, S. (2017). Virtual Inertia Control-Based Model Predictive Control for Microgrid Frequency Stabilization Considering High Renewable Energy Integration. Sustainability, 9(5), 773. doi:10.3390/su9050773Hajiakbari Fini, M., & Hamedani Golshan, M. E. (2018). Determining optimal virtual inertia and frequency control parameters to preserve the frequency stability in islanded microgrids with high penetration of renewables. Electric Power Systems Research, 154, 13-22. doi:10.1016/j.epsr.2017.08.007Jung, J., & Villaran, M. (2017). Optimal planning and design of hybrid renewable energy systems for microgrids. Renewable and Sustainable Energy Reviews, 75, 180-191. doi:10.1016/j.rser.2016.10.061Baharizadeh, M., Karshenas, H. R., & Guerrero, J. M. (2018). An improved power control strategy for hybrid AC-DC microgrids. International Journal of Electrical Power & Energy Systems, 95, 364-373. doi:10.1016/j.ijepes.2017.08.036Serban, I., & Ion, C. P. (2017). Microgrid control based on a grid-forming inverter operating as virtual synchronous generator with enhanced dynamic response capability. International Journal of Electrical Power & Energy Systems, 89, 94-105. doi:10.1016/j.ijepes.2017.01.009Tavakoli, M., Shokridehaki, F., Marzband, M., Godina, R., & Pouresmaeil, E. (2018). A two stage hierarchical control approach for the optimal energy management in commercial building microgrids based on local wind power and PEVs. Sustainable Cities and Society, 41, 332-340. doi:10.1016/j.scs.2018.05.035Cagnano, A., De Tuglie, E., & Cicognani, L. (2017). Prince — Electrical Energy Systems Lab. Electric Power Systems Research, 148, 10-17. doi:10.1016/j.epsr.2017.03.011Zhang, H., Meng, W., Qi, J., Wang, X., & Zheng, W. X. (2019). Distributed Load Sharing Under False Data Injection Attack in an Inverter-Based Microgrid. IEEE Transactions on Industrial Electronics, 66(2), 1543-1551. doi:10.1109/tie.2018.2793241Yang, L., Hu, Z., Xie, S., Kong, S., & Lin, W. (2019). Adjustable virtual inertia control of supercapacitors in PV-based AC microgrid cluster. Electric Power Systems Research, 173, 71-85. doi:10.1016/j.epsr.2019.04.011Rahman, F. S., Kerdphol, T., Watanabe, M., & Mitani, Y. (2019). Optimization of virtual inertia considering system frequency protection scheme. Electric Power Systems Research, 170, 294-302. doi:10.1016/j.epsr.2019.01.025Farrokhabadi, M., Canizares, C. A., Simpson-Porco, J. W., Nasr, E., Fan, L., Mendoza-Araya, P. A., … Reilly, J. (2020). Microgrid Stability Definitions, Analysis, and Examples. IEEE Transactions on Power Systems, 35(1), 13-29. doi:10.1109/tpwrs.2019.2925703Yoldaş, Y., Önen, A., Muyeen, S. M., Vasilakos, A. V., & Alan, İ. (2017). Enhancing smart grid with microgrids: Challenges and opportunities. Renewable and Sustainable Energy Reviews, 72, 205-214. doi:10.1016/j.rser.2017.01.064Rajesh, K. S., Dash, S. S., Rajagopal, R., & Sridhar, R. (2017). A review on control of ac microgrid. Renewable and Sustainable Energy Reviews, 71, 814-819. doi:10.1016/j.rser.2016.12.106Marzal, S., Salas, R., González-Medina, R., Garcerá, G., & Figueres, E. (2018). Current challenges and future trends in the field of communication architectures for microgrids. Renewable and Sustainable Energy Reviews, 82, 3610-3622. doi:10.1016/j.rser.2017.10.101Singh, A., & Suhag, S. (2018). Trends in Islanded Microgrid Frequency Regulation – A Review. Smart Science, 7(2), 91-115. doi:10.1080/23080477.2018.1540380Hou, X., Sun, Y., Lu, J., Zhang, X., Koh, L. H., Su, M., & Guerrero, J. M. (2018). Distributed Hierarchical Control of AC Microgrid Operating in Grid-Connected, Islanded and Their Transition Modes. IEEE Access, 6, 77388-77401. doi:10.1109/access.2018.2882678SHI, R., ZHANG, X., HU, C., XU, H., GU, J., & CAO, W. (2017). Self-tuning virtual synchronous generator control for improving frequency stability in autonomous photovoltaic-diesel microgrids. Journal of Modern Power Systems and Clean Energy, 6(3), 482-494. doi:10.1007/s40565-017-0347-3Toub, M., Bijaieh, M. M., Weaver, W. W., III, R. D. R., Maaroufi, M., & Aniba, G. (2019). Droop Control in DQ Coordinates for Fixed Frequency Inverter-Based AC Microgrids. Electronics, 8(10), 1168. doi:10.3390/electronics8101168Shuai, Z., Fang, J., Ning, F., & Shen, Z. J. (2018). Hierarchical structure and bus voltage control of DC microgrid. Renewable and Sustainable Energy Reviews, 82, 3670-3682. doi:10.1016/j.rser.2017.10.096Agundis-Tinajero, G., Segundo-Ramírez, J., Visairo-Cruz, N., Savaghebi, M., Guerrero, J. M., & Barocio, E. (2019). Power flow modeling of islanded AC microgrids with hierarchical control. International Journal of Electrical Power & Energy Systems, 105, 28-36. doi:10.1016/j.ijepes.2018.08.002Ali, A., Li, W., Hussain, R., He, X., Williams, B., & Memon, A. (2017). Overview of Current Microgrid Policies, Incentives and Barriers in the European Union, United States and China. Sustainability, 9(7), 1146. doi:10.3390/su9071146Cui, Y., Geng, Z., Zhu, Q., & Han, Y. (2017). Review: Multi-objective optimization methods and application in energy saving. Energy, 125, 681-704. doi:10.1016/j.energy.2017.02.174Yazdi, F., & Hosseinian, S. H. (2019). A novel «Smart Branch» for power quality improvement in microgrids. International Journal of Electrical Power & Energy Systems, 110, 161-170. doi:10.1016/j.ijepes.2019.02.026Bassey, O., Butler-Purry, K. L., & Chen, B. (2020). Dynamic Modeling of Sequential Service Restoration in Islanded Single Master Microgrids. IEEE Transactions on Power Systems, 35(1), 202-214. doi:10.1109/tpwrs.2019.2929268Chang, E.-C. (2018). Study and Application of Intelligent Sliding Mode Control for Voltage Source Inverters. Energies, 11(10), 2544. doi:10.3390/en11102544Das, D., Gurrala, G., & Shenoy, U. J. (2018). Linear Quadratic Regulator-Based Bumpless Transfer in Microgrids. IEEE Transactions on Smart Grid, 9(1), 416-425. doi:10.1109/tsg.2016.2580159Nguyen, H. K., Khodaei, A., & Han, Z. (2018). Incentive Mechanism Design for Integrated Microgrids in Peak Ramp Minimization Problem. IEEE Transactions on Smart Grid, 9(6), 5774-5785. doi:10.1109/tsg.2017.2696903Xiao, Z., Guerrero, J. M., Shuang, J., Sera, D., Schaltz, E., & Vásquez, J. C. (2018). Flat tie-line power scheduling control of grid-connected hybrid microgrids. Applied Energy, 210, 786-799. doi:10.1016/j.apenergy.2017.07.066Baghaee, H. R., Mirsalim, M., Gharehpetian, G. B., & Talebi, H. A. (2018). A Decentralized Robust Mixed $H_{{2}}/ H_{{{\infty }}}$ Voltage Control Scheme to Improve Small/Large-Signal Stability and FRT Capability of Islanded Multi-DER Microgrid Considering Load Disturbances. IEEE Systems Journal, 12(3), 2610-2621. doi:10.1109/jsyst.2017.2716351Panda, S. K., & Ghosh, A. (2020). A Computational Analysis of Interfacing Converters with Advanced Control Methodologies for Microgrid Application. Technology and Economics of Smart Grids and Sustainable Energy, 5(1). doi:10.1007/s40866-020-0077-xZhang, L., Chen, K., Lyu, L., & Cai, G. (2019). Research on the Operation Control Strategy of a Low-Voltage Direct Current Microgrid Based on a Disturbance Observer and Neural Network Adaptive Control Algorithm. Energies, 12(6), 1162. doi:10.3390/en12061162Zhu, K., Sun, P., Zhou, L., Du, X., & Luo, Q. (2020). Frequency-Division Virtual Impedance Shaping Control Method for Grid-Connected Inverters in a Weak and Distorted Grid. IEEE Transactions on Power Electronics, 35(8), 8116-8129. doi:10.1109/tpel.2019.2963345Samavati, E., & Mohammadi, H. R. (2019). Simultaneous voltage and current harmonics compensation in islanded/grid-connected microgrids using virtual impedance concept. Sustainable Energy, Grids and Networks, 20, 100258. doi:10.1016/j.segan.2019.100258Shi, K., Ye, H., Song, W., & Zhou, G. (2018). Virtual Inertia Control Strategy in Microgrid Based on Virtual Synchronous Generator Technology. IEEE Access, 6, 27949-27957. doi:10.1109/access.2018.2839737Fathi, A., Shafiee, Q., & Bevrani, H. (2018). Robust Frequency Control of Microgrids Using an Extended Virtual Synchronous Generator. IEEE Transactions on Power Systems, 33(6), 6289-6297. doi:10.1109/tpwrs.2018.2850880Amoateng, D. O., Al Hosani, M., Elmoursi, M. S., Turitsyn, K., & Kirtley, J. L. (2018). Adaptive Voltage and Frequency Control of Islanded Multi-Microgrids. IEEE Transactions on Power Systems, 33(4), 4454-4465. doi:10.1109/tpwrs.2017.2780986Sopinka, A., & Pitt, L. (2013). British Columbia Electricity Supply Gap Strategy: A Redefinition of Self-Sufficiency. The Electricity Journal, 26(3), 81-88. doi:10.1016/j.tej.2013.03.003Baghaee, H. R., Mirsalim, M., Gharehpetian, G. B., & Talebi, H. A. (2018). Decentralized Sliding Mode Control of WG/PV/FC Microgrids Under Unbalanced and Nonlinear Load Conditions for On- and Off-Grid Modes. IEEE Systems Journal, 12(4), 3108-3119. doi:10.1109/jsyst.2017.2761792Gholami, S., Saha, S., & Aldeen, M. (2018). Robust multiobjective control method for power sharing among distributed energy resources in islanded microgrids with unbalanced and nonlinear loads. International Journal of Electrical Power & Energy Systems, 94, 321-338. doi:10.1016/j.ijepes.2017.07.012Mousazadeh Mousavi, S. Y., Jalilian, A., Savaghebi, M., & Guerrero, J. M. (2018). Autonomous Control of Current- and Voltage-Controlled DG Interface Inverters for Reactive Power Sharing and Harmonics Compensation in Islanded Microgrids. IEEE Transactions on Power Electronics, 33(11), 9375-9386. doi:10.1109/tpel.2018.2792780Fani, B., Zandi, F., & Karami-Horestani, A. (2018). An enhanced decentralized reactive power sharing strategy for inverter-based microgrid. International Journal of Electrical Power & Energy Systems, 98, 531-542. doi:10.1016/j.ijepes.2017.12.023Khayat, Y., Naderi, M., Shafiee, Q., Batmani, Y., Fathi, M., Guerrero, J. M., & Bevrani, H. (2019). Decentralized Optimal Frequency Control in Autonomous Microgrids. IEEE Transactions on Power Systems, 34(3), 2345-2353. doi:10.1109/tpwrs.2018.2889671Arcos-Aviles, D., Pascual, J., Marroyo, L., Sanchis, P., & Guinjoan, F. (2018). Fuzzy Logic-Based Energy Management System Design for Residential Grid-Connected Microgrids. IEEE Transactions on Smart Grid, 9(2), 530-543. doi:10.1109/tsg.2016.2555245Alyazidi, N. M., Mahmoud, M. S., & Abouheaf, M. I. (2018). Adaptive critics based cooperative control scheme for islanded Microgrids. Neurocomputing, 272, 532-541. doi:10.1016/j.neucom.2017.07.027Buduma, P., & Panda, G. (2018). Robust nested loop control scheme for LCL‐filtered inverter‐based DG unit in grid‐connected and islanded modes. IET Renewable Power Generation, 12(11), 1269-1285. doi:10.1049/iet-rpg.2017.0803Batiyah, S., Sharma, R., Abdelwahed, S., & Zohrabi, N. (2020). An MPC-based power management of standalone DC microgrid with energy storage. International Journal of Electrical Power & Energy Systems, 120, 105949. doi:10.1016/j.ijepes.2020.105949Baghaee, H. R., Mirsalim, M., Gharehpetan, G. B., & Talebi, H. A. (2018). Nonlinear Load Sharing and Voltage Compensation of Microgrids Based on Harmonic Power-Flow Calculations Using Radial Basis Function Neural Networks. IEEE Systems Journal, 12(3), 2749-2759. doi:10.1109/jsyst.2016.2645165Benhalima, S., Miloud, R., & Chandra, A. (2018). Real-Time Implementation of Robust Control Strategies Based on Sliding Mode Control for Standalone Microgrids Supplying Non-Linear Loads. Energies, 11(10), 2590. doi:10.3390/en11102590California Carbon Market Watch: A Comprehensive Analysis of the Golden State’s Cap-and-Trade Program, Year One—2012–2013. 2014https://www.issuelab.org/resource/california-carbon-market-watch-a-comprehensive-analysis-of-the-golden-state-s-cap-and-trade-program-year-one-2012-2013.htmlExploring the Best Possible Trade-Off between Competing Objectives: Identifying the Pareto Fronthttps://pythonhealthcare.org/2018/09/27/93-exploring-the-best-possible-trade-off-between-competing-objectives-identifying-the-pTeekaraman, Y., Kuppusamy, R., & Nikolovski, S. (2019). Solution for Voltage and Frequency Regulation in Standalone Microgrid using Hybrid Multiobjective Symbiotic Organism Search Algorithm. Energies, 12(14), 2812. doi:10.3390/en12142812Zeng, Z., Li, H., Tang, S., Yang, H., & Zhao, R. (2016). Multi‐objective control of multi‐functional grid‐connected inverter for renewable energy integration and power quality service. 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A Novel All Wheel Drive Torque Vectoring Control System Applied to Four Wheel Independent Drive Electric Motor Vehicles Utilizing Super Twisting and Linear Quadratic Regulator Methods

This thesis contains the design and simulation test results for the implementation of a new all-wheel drive (AWD) torque vectoring (TV) control system. A separate algorithm using standard control methods is included in this study for a comparison. The proposed controller was designed to be applied to an AWD independent drive electric vehicle, however the main concepts can be re-purposed for other vehicle drive train configurations. The purpose of the control system is to assist the driver in achieving a desired vehicle trajectory whilst also maintaining stability and control of the vehicle. This is accomplished by measuring various real time parameters of the vehicle and using this information as feedback for the control system to act on. The focus of this thesis resides on the controller. Hence, this study assumes perfect observation of feedback parameters, therefore some uncertainties are not accounted for. Using feedback parameters, the control system will manage wheel slip whilst simultaneously generating a torque around the center of gravity of the vehicle by applying a torque differential between the left and right wheels. The proposed TV algorithm is simulated in MATLAB/Simulink along with another separate TV algorithm for comparison. Both algorithms are comprised of two main parts: a slip ratio controller applied to each wheel individually and stability controller that manages yaw rate and side slip of the vehicle. The new algorithm leverages the super twisting algorithm for the slip ratio controller and uses a fusion of a linear quadratic regulator with the integral term of a super twisting algorithm to implement the yaw rate and side slip controller. The other algorithm used for comparison derives its implementation for the slip ratio controller and yaw rate and side slip controllers from simple and standard first order sliding mode control methods. Both control algorithms were tested in three different main tests: anti-lock braking, sine dwell (SD) steering, and constant steering angle (CSA) tests. To increase the comprehensive nature of the study, the SD and CSA tests were simulated at 3 speeds (30,50, and 80 mph) and the steering angle parameter was varied from 2 to 24 degrees in increments of 2. The result of this study proves that the proposed controller is a feasible option for use in theory. Simulated results show advantages and disadvantages of the new controller with respect to the standard comparison controller. Both controllers are also shown to provide positive impacts on the vehicle response under most test conditions

Neuromorphic Robust Framework for Concurrent Estimation and Control in Dynamical Systems using Spiking Neural Networks

Concurrent estimation and control of robotic systems remains an ongoing challenge, where controllers rely on data extracted from states/parameters riddled with uncertainties and noises. Framework suitability hinges on task complexity and computational constraints, demanding a balance between computational efficiency and mission-critical accuracy. This study leverages recent advancements in neuromorphic computing, particularly spiking neural networks (SNNs), for estimation and control applications. Our presented framework employs a recurrent network of leaky integrate-and-fire (LIF) neurons, mimicking a linear quadratic regulator (LQR) through a robust filtering strategy, a modified sliding innovation filter (MSIF). Benefiting from both the robustness of MSIF and the computational efficiency of SNN, our framework customizes SNN weight matrices to match the desired system model without requiring training. Additionally, the network employs a biologically plausible firing rule similar to predictive coding. In the presence of uncertainties, we compare the SNN-LQR-MSIF with non-spiking LQR-MSIF and the optimal linear quadratic Gaussian (LQG) strategy. Evaluation across a workbench linear problem and a satellite rendezvous maneuver, implementing the Clohessy-Wiltshire (CW) model in space robotics, demonstrates that the SNN-LQR-MSIF achieves acceptable performance in computational efficiency, robustness, and accuracy. This positions it as a promising solution for addressing dynamic systems' concurrent estimation and control challenges in dynamic systems.Comment: 12 pages, 15 figure

Integration of Active Systems for a Global Chassis Control Design

Vehicle chassis control active systems (braking, suspension, steering and driveline), from the first ABS/ESC control unit to the current advanced driver assistance systems (ADAS), are progressively revolutionizing the way of thinking and designing the vehicle, improving its interaction with the surrounding world (V2V and V2X) and have led to excellent results in terms of safety and performances (dynamic behavior and drivability). They are usually referred as intelligent vehicles due to a software/hardware architecture able to assist the driver for achieving specific safety margin and/or optimal vehicle dynamic behavior. Moreover, industrial and academic communities agree that these technologies will progress till the diffusion of the so called autonomous cars which are able to drive robustly in a wide range of traffic scenarios. Different autonomous vehicles are already available in Europe, Japan and United States and several solutions have been proposed for smart cities and/or small public area like university campus. In this context, the present research activity aims at improving safety, comfort and performances through the integration of global active chassis control: the purposes are to study, design and implement control strategies to support the driver for achieving one or more final target among safety, comfort and performance. Specifically, the vehicle subsystems that are involved in the present research for active systems development are the steering system, the propulsion system, the transmission and the braking system. The thesis is divided into three sections related to different applications of active systems that, starting from a robust theoretical design procedure, are strongly supported by objective experimental results obtained fromHardware In the Loop (HIL) test rigs and/or proving ground testing sessions. The first chapter is dedicated to one of the most discussed topic about autonomous driving due to its impact from the social point of view and in terms of human error mitigation when the driver is not prompt enough. In particular, it is here analyzed the automated steering control which is already implemented for automatic parking and that could represent also a key element for conventional passenger car in emergency situation where a braking intervention is not enough for avoiding an imminent collision. The activity is focused on different steering controllers design and their implementation for an autonomous vehicle; an obstacle collision avoidance adaptation is introduced for future implementations. Three different controllers, Proportional Derivative (PD), PD+Feedforward (FF) e PD+Integral Sliding Mode (ISM), are designed for tracking a reference trajectory that can be modified in real-time for obstacle avoidance purposes. Furthermore, PD+FF and PD+ISM logic are able to improve the tracking performances of automated steering during cornering maneuvers, relevant fromthe collision avoidance point of view. Path tracking control and its obstacle avoidance enhancement is also shown during experimental tests executed in a proving ground through its implementation for an autonomous vehicle demonstrator. Even if the activity is presented for an autonomous vehicle, the active control can be developed also for a conventional vehicle equipped with an Electronic Power Steering (EPS) or Steer-by-wire architectures. The second chapter describes a Torque Vectoring (TV) control strategy, applied to a Fully Electric Vehicle (FEV) with four independent electric motor (one for each wheel), that aims to optimize the lateral vehicle behavior by a proper electric motor torque regulation. A yaw rate controller is presented and designed in order to achieve a desired steady-state lateral behaviour of the car (handling task). Furthermore, a sideslip angle controller is also integrated to preserve vehicle stability during emergency situations (safety task). LQR, LQR+FF and ISM strategies are formulated and explained for yaw rate and concurrent yaw rate/sideslip angle control techniques also comparing their advantages and weakness points. The TV strategy is implemented and calibrated on a FEV demonstrator by executing experimental maneuvers (step steer, skid pad, lane change and sequence of step steers) thus proving the efficacy of the proposed controller and the safety contribution guaranteed by the sideslip control. The TV could be also applied for internal combustion engine driven vehicles by installing specific torque vectoring differentials, able to distribute the torque generated by the engine to each wheel independently. The TV strategy evaluated in the second chapter can be influenced by the presence of a transmission between themotor (or the engine) and wheels (where the torque control is supposed to be designed): in addition to the mechanical delay introduced by transmission components, the presence of gears backlashes can provoke undesired noises and vibrations in presence of torque sign inversion. The last chapter is thus related to a new method for noises and vibration attenuation for a Dual Clutch Transmission (DCT). This is achieved in a new way by integrating the powertrain control with the braking system control, which are historically and conventionally analyzed and designed separately. It is showed that a torsional preload effect can be obtained on transmission components by increasing the wheel torque and concurrently applying a braking wheel torque. For this reason, a pressure following controller is presented and validated through a Hardware In the Loop (HIL) test rig in order to track a reference value of braking torque thus ensuring the desired preload effect and noises reduction. Experimental results demonstrates the efficacy of the controller, also opening new scenario for global chassis control design. Finally, some general conclusions are drawn and possible future activities and recommendations are proposed for further investigations or improvements with respect to the results shown in the present work