Adaptive Robust Control of Variable Speed Wind Turbine Generator

In this work we want to propose a control strategy to maximize the wind energy captured in a variable speed wind turbines, for this goal the speed of turbine should keep in optimum speed when the wind speed is changing. Many control approach has been suggested that is base on approximate models that it causes unsuitable behavior of system because of Uncertainty parameters of the system. Hence at this work we use adaptive robust control approach that it can to compensate Uncertain of the parameters and present a smooth system with maximum energy production. Numerical simulations are given to illustrate the effectiveness and validity of the proposed approach

ADAPTIVE-ROBUST CONTROL DESIGN METHODS

This paper presents a design procedure for control systems implemented on dynamic variable and nonlinear processes. The proposed adaptive-robust control strategy is taking into account both adaptive control advantages and robust control benefits and is using the same integral criterion for the identification of the process and for the control algorithm design. An optimality integral criterion and an appropriate measure for degradation of the system performances due to variation of the dynamic model are introduced. This inteogral criterion is expressed in a direct form, through a cost function, defined in the model and the controller parameters’ space. For the minimization of this nonlinear function, a numerical mathematic nonlinear programming method is used. The theoretical approach presented in this paper is validated on a close loop control system, the application being developed in Visual C#

Attitude control system design of a helicopter experimental system

In this paper, we consider the problem of attitude control of a helicopter experimental system. We design a nonlinear controller which combines nonlinear adaptive robust control and nonlinear feedback controls. Simulation and experimental results show the effectiveness of the proposed method.</p

Modeling and Direct Adaptive Robust Control of Flexible Cable-Actuated Systems

Cable-actuated systems provide an effective method for precise motion transmission over various distances in many robotic systems. In general, the use of cables has many potential advantages such as high-speed manipulation, larger payloads, larger range of motion, access to remote locations and applications in hazardous environments. However, cable flexibility inevitably causes vibrations and poses a concern in high-bandwidth, high-precision applications

Adaptive robust control and admittance control for contact-driven robotic surface conditioning

[EN] This work presents a hybrid position/force control of robots for surface contact conditioning tasks such as polishing, profiling, deburring, etc. The robot force control is designed using sliding mode ideas to benefit from robustness. On the one hand, a set of equality constraints are defined to attain the desired tool pressure on the surface, as well as to keep the tool orientation perpendicular to the surface. On the other hand, inequality constraints are defined to adapt the tool position to unmodeled features present in the surface, e.g., a protruding window frame. Conventional and non-conventional sliding mode controls are used to fulfill the equality and inequality constraints, respectively. Furthermore, in order to deal with sudden changes of the material stiffness, which are forwarded to the robot tool and can produce instability and bad performance, adaptive switching gain laws are considered not only for the conventional sliding mode control but also for the non-conventional sliding mode control. A lower priority tracking controller is also defined to follow the desired reference trajectory on the target surface. Moreover, the classical admittance control typically used in force control tasks is adapted for the proposed surface contact application in order to experimentally compare the performance of both control approaches. The effectiveness of the proposed method is substantiated by experimental results using a redundant 7R manipulator, whereas its advantages over the classical admittance control approach are experimentally shown.This work was supported in part by the Spanish Government under the Project DPI2017-87656-C2-1-R and the Generalitat Valenciana under Grants VALi+d APOSTD/2016/044 and BEST/2017/029.Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Esparza Peidro, A.; Valls Miro, J.; Tornero Montserrat, J. (2018). Adaptive robust control and admittance control for contact-driven robotic surface conditioning. Robotics and Computer-Integrated Manufacturing. 54:115-132. https://doi.org/10.1016/j.rcim.2018.05.003S1151325

Cable Estimation-Based Control for Wire-Borne Underactuated Brachiating Robots: A Combined Direct-Indirect Adaptive Robust Approach

In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive estimation scheme to approximate the unknown dynamic effects of the flexible cable as an external force with parametric uncertainties. A boundary layer-based sliding mode control is then designed to compensate for the residual unmodeled dynamics and time-varying disturbances, in which the control gain is updated by an auxiliary direct adaptive control mechanism. Stability analysis and derivation of adaptation laws are carried out through a Lyapunov approach, which formally guarantees the stability and tracking performance of the robot-cable system. Simulation experiments and comparison with a baseline controller show that the combined direct-indirect adaptive robust control framework achieves reliable tracking performance and adaptive system identification, enabling the robot to traverse flexible cables in the presence of unmodeled dynamics, parametric uncertainties and unstructured disturbances.Comment: 8 pages, 8 figures, 2020 IEEE Conference on Decision and Control (CDC