MODYFIKACJE METODY P&O ŚLEDZENIA MAKSYMALNEGO PUNKTU MOCY DLA PANELU FOTOWOLTAICZNEGO

Perturbation and Observe method for maximum power point tracking is presented in this paper. Three method modifications have been proposed, which allow satisfying tracking efficiency, even for very fast and noisy irradiance changes.W artykule przedstawiono metodę zaburzania i obserwacji P&O do śledzenia maksymalnego punktu mocy. Zaproponowano trzy modyfikacje metody, dzięki którym efektywność śledzenia jest zadowalająca, nawet dla bardzo szybkich oraz zaszumionych zmian irradiancji

ROZSZERZONY FILTR KALMANA JAKO ESTYMATOR STANU W UKŁADZIE WAHADŁA ODWRÓCONEGO Z NAPĘDEM INERCYJNYM

This paper presents derivation of the full state observer for an inverted, inertia wheel pendulum (IWP). This is a non-linear, underactuated mechanical system and therefore it has more degrees of freedom than control variables. In order to control this mechanical system properly, knowledge of all state variables is needed. In this paper, authors presented IWP’s model, which was later written in matrix form. Finally, based on the model, full state observer was derived. In the end its results were shown.W pracy przedstawione jest wyprowadzenie pełnego obserwatora wektora stanu dla wahadła odwróconego z napędem inercyjny. Wahadło odwrócone z napędem inercyjnym stanowi mechanizm nieliniowy który posiada więcej stopni swobody niż wymuszeń. W celu poprawnego sterownia postuluje się o znajomość wszystkich zmiennych stanu. W pracy przedstawiony został model wahadła. Następnie autorzy dokonali dyskretyzacji modelu oraz zapisu modelu do postaci macierzowej, ostatecznie przedstawiony został obserwator bazujący na wyprowadzonym modelu oraz wyniki jego działania

Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel

Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated by signal plots and the values of performance indices obtained from a set of experiments

Sparse in the Time Stabilization of a Bicycle Robot Model: Strategies for Event- and Self-Triggered Control Approaches

In this paper, the problems of event- and self-triggered control are studied for a nonlinear bicycle robot model. It has been shown that by applying control techniques based on triggering conditions, it is possible to reduce both state-based performance index, as well as the number of triggers, in comparison to a standard linear-quadratic control which consumes less energy of the control system and decreases the potential mechanical wear of the robot parts. The results presented in this paper open a new research field for further studies, as discussed in the Summary section, and form the basis for further research in energy-efficient control techniques for stabilizing a bicycle robot