Adaptive Fuzzy Control of Puma Robot Manipulator in Task Space with Unknown Dynamic and Uncertain Kinematic

A In this paper, an adaptive direct fuzzy control system is presented to control the robot manipulator in task space. It is assumed that robot system has unknown dynamic and uncertain kinematic. The control system and adaption mechanism are firstly designed for joint space tracking. Then by using inverse Jacobian strategy, it is generalized for task space. After that, to overcome the problem of Jacobian matrix uncertainty, an improved adaptive control system is designed. All the design steps are illustrated by simulations

An integrated home energy management system by the load aggregator in a microgrid using the internet of things infrastructure

Smart technologies enable the significant participation of consumers in demand-side management programs. In this paper, the management of electrical energy consumption for a set of residential houses in a microgrid by a load aggregator for a 24-h planning horizon is studied. In this study, consumption management programs are implemented on controllable equipment by sending binary codes by the load aggregator via the internet of things (IoT) infrastructure to residential sockets. To increase the level of customer convenience and provide more flexibility for consumers to participate in demand response programs, a parameter called the value of lost load (VOLL) has been introduced. According to the results, in addition to no need to use the energy management system for each residential house, only by moving shiftable loads to off-peak hours, 18.34% of energy consumption costs are saved daily. Also, from the load aggregator’s viewpoint for every 10% change in status from normal to the scheduled priority, there is a reduction of about 3.4% in the consumer’s peak-load cost. If solar arrays and storage resources are used, more than 18% of the total consumption cost can be saved

A MIQP Approach Based on Demand Response in Distribution Networks to Improve the Multi-Objective Function in the Presence of Renewable Energy Resources and Batteries to the Subway Systems

The increasing expansion of devices such as electric vehicle charging stations, renewable energy resources, and electric subways, will cause an imbalance between load and production in the distribution network, which will lead to an increase in power losses, a decrease or increase in voltage and ultimately impose more costs on the independent system operator (ISO). In this paper, we have presented a mixed integer quadratic programming (MIQP) optimization model to improve the distribution network performance in the presence of these devices. The proposed model is a mixed integer model including demand side management modeling, energy storage system, battery to subway (B2S) system, optimal control of on-load tap changer (OLTC), step voltage regulator (SVR), fossil generation resources, renewable energy and capacitors, and shunt reactors. The considered multi-objective function is a scenario-based stochastic model, which accurately models the uncertainties in renewable energy resources. Paying attention to the nature of the proposed model will guarantee globally optimal solutions. The proposed model runs on the standard network of 33 buses, and the simulation results guarantee the optimal and accurate performance of the proposed model. The simulation results demonstrate that the outage of three distributed generation units from the network causes an average increase of 55% in energy losses, and the outage of three renewable units leads to an increase in emissions of about 40%. Another point received from the results illustrated that with the implementation of the proposed model under any load level of the network, as well as the outage of fossil and renewable distributed generation (DG) resources, no load shedding will occur in the network during the 24 hours. Finally, due to the short execution run time, the proposed model can be used for real and online grids