Showing papers on "Open-loop controller published in 2013"
TL;DR: A new PID controller for resistant differential control against load disturbance is introduced that can be used for load frequency control (LFC) application and a comparison between this controller and two other prevalent PI controllers, optimized by GA and Neural Networks, has been done which represents advantages of this controller over others.
Abstract: A new PID controller for resistant differential control against load disturbance is introduced that can be used for load frequency control (LFC) application. Parameters of the controller have been specified by using imperialist competitive algorithm (ICA). Load disturbance, which is due to continuous and rapid changes of small loads, is always a problem for load frequency control of power systems. This paper introduces a new method to overcome this problem that is based on filtering technique which eliminates the effect of this kind of disturbance. The object is frequency regulation in each area of the power system and decreasing of power transfer between control areas, so the parameters of the proposed controller have been specified in a wide range of load changes by means of ICA to achieve the best dynamic response of frequency. To evaluate the effectiveness of the proposed controller, a three-area power system is simulated in MATLAB/SIMULINK. Each area has different generation units, so utilizes controllers with different parameters. Finally a comparison between the proposed controller and two other prevalent PI controllers, optimized by GA and Neural Networks, has been done which represents advantages of this controller over others.
287 citations
TL;DR: In this paper, the design and performance analysis of differential evolution algorithm based Proportional Integral Time multiply Absolute Error (ITAE), damping ratio of dominant eigenvalues and settling time with appropriate weight coefficients are derived in order to increase the performance of the controller.
255 citations
TL;DR: In this article, a load-current-based maximum power point tracking (MPPT) digital controller with an adaptive-step-size and adaptive-perturbation-frequency algorithm is presented.
Abstract: This paper presents a load-current-based maximum power point tracking (MPPT) digital controller with an adaptive-step-size and adaptive-perturbation-frequency algorithm. Only one sensor is needed in the controller circuitry since the MPPT controller is only utilizing the load current information. By utilizing a variable step-size algorithm, the speed, accuracy, and efficiency of the PV system MPPT are improved when compared to the fixed step-size load-current-based algorithm. Furthermore, the proposed adaptive algorithm utilizes a novel variable perturbation frequency scheme which further improves the controller speed. The concept and operation of the load-current adaptive-step-size and adaptive-perturbation-frequency MPPT controller are presented, analyzed, and verified by results obtained from a proof-of-concept experimental prototype.
204 citations
TL;DR: A novel modified inverse Preisach model featured with weighed sum of μ-density functions is proposed, which is based on the linearity property and greatly improves the tracking control accuracy of the PZT.
Abstract: Hysteresis of a piezoelectric actuator is rate-dependent, but most hysteresis models are based on elementary rate-independent models, which are not suitable for modeling actuator behavior across a wide range of frequencies. This paper presents a novel modified inverse Preisach model to compensate the hysteresis of a piezoelectric actuator at varying frequency ranges. The classical Preisach model for hysteresis is introduced first, the identification of μ-function through least square method is conducted afterwards. The linearity property of the Preisach model is analyzed and verified by experiment. A novel modified inverse Preisach model featured with weighed sum of μ-density functions is proposed, which is based on the linearity property. The fast Fourier transform method is adopted to select the proper μ-density functions and weights to form a real-time online rate-dependent compensator for piezoceramic (PZTs) hysteresis. During experiments with tracking multifrequency composed signals, we have observed that the hysteresis features of the PZT can be consistently compensated. The experimental results show that the proposed open-loop hysteresis adjust method greatly improves the tracking control accuracy of the PZT.
161 citations
TL;DR: A new control structure with a tuning method to design a PID load frequency controller for power systems and the proposed method improves the load disturbance rejection performance significantly even in the presence of the uncertainties in plant parameters.
Abstract: A new control structure with a tuning method to design a PID load frequency controller for power systems is presented. Initially, the controller is designed for single area power system, then it is extended to multi-area case. The controller parameters are obtained by expanding controller transfer function using Laurent series. Relay based identification technique is adopted to estimate power system dynamics. Robustness studies on stability and performance are provided, with respect to uncertainties in the plant parameters. The proposed scheme ensures that overall system remains asymptotically stable for all bounded uncertainties and for system oscillations. Simulation results show the feasibility of the approach and the proposed method improves the load disturbance rejection performance significantly even in the presence of the uncertainties in plant parameters.
152 citations
TL;DR: In this paper, a supplementary VSC-HVDC Power Oscillation Damping (POD) controller based on wide area measurement signals (WAMS) is presented.
Abstract: The paper presents a supplementary VSC-HVDC Power Oscillation Damping (POD) controller based on wide area measurement signals (WAMS). The controller is designed as Multi Input Single Output (MISO) using a Modal Linear Quadratic Gaussian (MLQG) methodology in order to target critical inter-area electromechanical modes. The approach has been tested on a large (16 machine, 68 bus) test network incorporating parallel HVDC/AC transmission and has shown improved damping compared to a traditional Power System Stabilizer (PSS) based controller structure utilizing local signals. The design process has incorporated the effects of wide area signal transmission delays. Variation in these signal delays and the complete loss of signals has been also investigated to establish the robustness of the WAMS based controller and its sensitivity to loss of signals. Extension of the controller to incorporate reactive power modulation has been investigated, as has variation in available active power modulation capacity. The proposed controller performance has been assessed through small and large disturbance analysis.
150 citations
Patent•
11 Nov 2013TL;DR: In this article, an approach is provided in which a storage system includes a first storage controller, a second storage controller and multiple logical units, and the storage system determines that a controller traffic load ratio between the first controller and the second controller has reached a threshold.
Abstract: An approach is provided in which a storage system includes a first storage controller, a second storage controller, and multiple logical units. The storage system determines that a controller traffic load ratio between the first storage controller and the second storage controller has reached a threshold. In turn, the storage system selects one of the logical units and changes a preferred controller ownership of the selected logical unit from the first storage controller to the second storage controller to balance the controller traffic load ratio.
145 citations
TL;DR: In this article, a robust linear quadratic regulator (LQR) was proposed to stabilize the pendulum in upright position and make the cart system to track the given reference signal even in the presence of disturbance.
138 citations
Abstract: A novel direct yaw moment controller is developed in this paper. A hierarchical control architecture is adopted in the controller design. In the upper controller, a driver model and a vehicle model are used to obtain the driver's intention and the vehicle states, respectively. The upper controller determines the desired yaw moment by means of sliding mode control. The lower controller distributes differential longitudinal forces according to the desired yaw moment. A nonlinear tyre model, ‘UniTire’, is utilised to develop the novel distribution strategy and the control boundary.
95 citations
TL;DR: In this paper, an analog integral resonant controller together with an integral tracking controller are implemented on a flexure-guided nanopositioner for damping and accurate tracking control of a high-speed nanopositioning stage.
Abstract: This paper presents a novel piezoelectric strain sensor for damping and accurate tracking control of a high-speed nanopositioning stage. Piezoelectric sensors have the benefit of simple interface circuitry, low cost, high sensitivity, and high bandwidth. Although piezoelectric sensors have been successfully used as vibration sensors in smart structures, complications arise when they are used in a feedback loop for tracking. As piezoelectric strain sensors exhibit a capacitive source impedance, a high-pass filter is created, typically with a cut-off frequency of 1 to 10 Hz. This filter can cause significant errors and destabilize a tracking control system. Here, we overcome this problem by using a low-frequency bypass technique to replace the low-frequency component of the strain measurement with an estimate based on the open-loop system. Once the low-frequency filter is accounted for, any standard control system can be applied. In this paper, an analog integral resonant controller together with an integral tracking controller are implemented on a flexure-guided nanopositioner. The resulting closed-loop bandwidth is experimentally demonstrated to be 1.86 kHz. The nanopositioner is installed in an Atomic Force Microscope to obtain open- and closed-loop images at line rates of 40 and 78 Hz. Images recorded in closed loop show a significant improvement due to the elimination of nonlinearity.
91 citations
TL;DR: Simulation and experimental results illustrate that the proposed T-S fuzzy model-based adaptive dynamic surface controller has much better performance than that of conventional DSC.
Abstract: In this paper, the balance control of a ball and beam system is considered. Based on the T-S fuzzy modeling, the dynamic model of the ball and beam system is formulated as a strict feedback form with modeling errors. Then, an adaptive dynamic surface control (DSC) is utilized to achieve the goal of ball positioning subject to parameter uncertainties. The robust stability of the closed-loop system is preserved by using the Lyapunov theorem. In addition to simulation results, the proposed T-S fuzzy model-based adaptive dynamic surface controller is applied to a real ball and beam system for practical evaluations. Simulation and experimental results illustrate that the proposed control scheme has much better performance than that of conventional DSC. Furthermore, parameter uncertainties and external disturbance are considered to highlight the robustness of the proposed control scheme.
TL;DR: In this paper, an improved variable-band hysteresis current controller for a two-level three-phase voltage source inverter is presented, which takes the average voltages of the phase-leg switched outputs as an approximation to the load back-EMF voltages, and uses these results to vary the hystresis bands so as to maintain constant phaseleg switching frequencies.
Abstract: This paper presents an improved variable-band hysteresis current controller for a two-level three-phase voltage source inverter (VSI). The controller takes the average voltages of the phase-leg switched outputs as an approximation to the load back-EMF voltages, and uses these results to vary the hysteresis bands so as to maintain constant phase-leg switching frequencies. The switching frequency control process is then further refined by fine tuning the hysteresis band variations to synchronize the zero crossings of the phase-leg current errors with a fixed reference clock so as to achieve a nearest space vector switching sequence, which further ensures that the switched output spectrum has been optimized. Finally, a technique is proposed to replace the third phase-leg current regulator with a fixed-frequency open-loop pulse-width modulator, where its commanded reference is generated from the average switched output voltages of the other two phase legs. This avoids the hazard of the three independent hysteresis current regulators adversely interacting with each other in a conventional system, resulting from an overconstrained control problem with only two degrees of freedom. Additionally, this approach allows the linear modulation range to be increased by adding a common-mode third-harmonic component to the third phase-leg reference command signal.
03 Jun 2013
TL;DR: In this article, a power-frequency (P-ω) controller is presented for voltage source converters (VSCs), which is intended for multiple parallel VSCs forming a microgrid operating in both grid-connected and islanded modes.
Abstract: In this paper, a power-frequency (P-ω) controller is presented for voltage source converters (VSC). The approach is intended for multiple parallel VSCs forming a microgrid operating in both grid-connected and islanded modes. The proposed controller allows a VSC to mimic the operation of a synchronous generator (SG) by implementing the swing equation of SG with a primary frequency controller. In addition, a generalized model of the active power generation dynamics is developed in order to analyze the stability and to design the main control parameters. In contrast with the conventional droop control method, the proposed controller improves the close-loop system dynamic response without changing the frequency accuracy. The obtained results show the good performance of the proposed controller.
TL;DR: A novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot’s handover behavior are presented.
Abstract: In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot's handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor/actuator capabilities. A user study comparing four variations of our controller shows that our design yields both human-like and human-preferred object handovers.
TL;DR: A novel predictive variable-structure-switching-based current controller for a three-phase load driven by a power inverter that is suitable for different types of ac loads and ac motors and a new logical FPGA torque and speed controller is developed.
Abstract: This paper proposed a novel predictive variable-structure-switching-based current controller for a three-phase load driven by a power inverter. The design specifications are robustness to load electrical parameters, fast dynamic response, reduced switching frequency, and simple hardware implementation. In order to meet previous specifications, a sliding mode controller has been developed, which is designed as finite-state automata, and implemented with a field-programmable gate array (FPGA) device. The switching strategy implemented within the state transition diagram provides for a minimum number of switches by the three-phase inverter that is confirmed through simulation and experimental results. Its regulation using the proposed control law provides good transient response by the brushless ac motor control. However, this does not limit the wider applicability of the proposed controller that is suitable for different types of ac loads (rectifier and inverter) and ac motors (induction, synchronous, and reluctance). A new logical FPGA torque and speed controller is developed, analyzed, and experimentally verified.
TL;DR: Two dq -augmented voltage controllers are proposed to regulate the load voltages of a single-DG- unit microgrid and their dedicated load and the theoretical aspects involved in the design procedure are described and the performance of the controllers is evaluated.
Abstract: This paper proposes a multivariable digital control design methodology for the voltage regulation of an islanded single distributed generation (DG) unit microgrid and its dedicated load. The controller design methodology is based on a family of spectral Multi-Input Multi-Output (MIMO) models of the microgrid system and performs open-loop shaping and system decoupling simultaneously by a convex optimization approach. The control design procedure includes: (i) the determination of a family of nonparametric models of the system at various operating points, (ii) the determination of the class of the controller, and (iii) system open-loop shaping by convex minimization of the summation of the square second norm of the errors between the system open-loop transfer functions and a desired open-loop transfer function. Based on the proposed design methodology, two dq -augmented voltage controllers are proposed to regulate the load voltages of a single-DG-unit microgrid. The proposed controllers guarantee the robust stability and satisfactory dynamic response of the system in spite of load parametric uncertainties and also the presence of nonlinear load. This paper describes the theoretical aspects involved in the design procedure of the controllers and evaluates the performance of the controllers based on simulation studies and experiments.
Posted Content•
TL;DR: In this article, the authors present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS) based on the notion of occupation measures.
Abstract: In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on the notion of occupation measures to pose the synthesis problem as an infinite dimensional linear program (LP) and provide finite dimensional approximations of this LP in terms of semidefinite programs (SDPs). The solution to each SDP yields a polynomial control policy and an outer approximation of the largest achievable BRS. In contrast to traditional Lyapunov based approaches which are non-convex and require feasible initialization, our approach is convex and does not require any form of initialization. The resulting time-varying controllers and approximated reachable sets are well-suited for use in a trajectory library or feedback motion planning algorithm. We demonstrate the efficacy and scalability of our approach on five nonlinear systems. I. INTRODUCTION Dynamic robotic tasks such as flying, running, or walking demand controllers that push hardware platforms to their physical limit while managing input saturation, nonlinear dynamics, and underactuation. Though motion planning algo- rithms have begun addressing several of these tasks (19), the constructed open loop motion plans are typically insufficient due to their inability to correct for deviations from a planned path. Despite the concerted effort of several communities, the design of feedback control laws for underactuated nonlinear systems with input saturation remains challenging.
TL;DR: A controller assistant system is developed based on the closed-form solution of an offline optimization problem for a four-wheel-drive front- wheel-steerable vehicle to adjust the actual vehicle attitude and motion according to the driver's manipulating commands.
Abstract: A controller assistant system is developed based on the closed-form solution of an offline optimization problem for a four-wheel-drive front-wheel-steerable vehicle. The objective of the controller is to adjust the actual vehicle attitude and motion according to the driver's manipulating commands. The controller takes feedback from acceleration signals, and the imposed conditions and limitations on the controller are studied through the concept of state-derivative feedback control systems. The controller gains are optimized using linear matrix inequality (LMI) and genetic algorithm (GA) techniques. Reference signals are calculated using a driver command interpreter module (DCIM) to accurately interpret the driver's intentions for vehicle motion and to allow the controller to generate proper control actions. It is shown that the controller effectively enhances the handling performance and stability of the vehicle under different road conditions and driving scenarios. Although controller performance is studied for a four-wheel-drive front-wheel-steerable vehicle, the algorithm can also be applied to other vehicle configurations with slight changes.
TL;DR: The proposed discrete time sliding mode controller is applicable to HOPDT processes with oscillatory and integrating behavior, open loop instability or non-minimum phase characteristics and works satisfactory under the effect of parametric uncertainty.
Abstract: In this paper, a discrete time sliding mode controller (DSMC) is proposed for higher order plus delay time (HOPDT) processes. A sliding mode surface is selected as a function of system states and error and the tuning parameters of sliding mode controller are determined using dominant pole placement strategy. The condition for the existence of stable sliding mode is obtained by using Lyapunov function. The proposed method is applicable to HOPDT processes with oscillatory and integrating behavior, open loop instability or non-minimum phase characteristics and works satisfactory under the effect of parametric uncertainty. The method does not require reduced order model and provides simple way to design the controllers. The simulation and experimentation results show that the proposed method ensures desired tracking dynamics.
TL;DR: It is proven that attitude tracking errors are bounded and the boundaries can be made as small as desired and the effectiveness of the proposed linear time-invariant controller is confirmed.
Abstract: This study presents a controller design method to achieve the robust attitude control for uncertain quadrotors. The proposed linear time-invariant controller consists of a proportional–derivative (PD) controller and a robust compensator. The PD controller is designed for the nominal linear system to achieve the desired tracking and the robust compensator is added to restrain the influence of the uncertainties. It is proven that attitude tracking errors are bounded and the boundaries can be made as small as desired. Experimental results on the quadrotor are given to confirm the effectiveness of this control method.
TL;DR: Simulation studies in DIgSILENT PowerFactory are carried out on two test systems to demonstrate both the robustness and control coordination in a decentralized framework.
Abstract: Power oscillations can be damped effectively through modulation of both active and reactive power of a voltage source converter based high voltage direct current link The challenge, however, is how to coordinate the control action properly at the two ends of the link without using a centralized control scheme, which requires fast communication of control signals to remote actuator (converters) sites A full centralized controller may result in a closed-loop performance worse than that of an open loop in case of a communication loss of feedback signal(s) Alternatively, with a block-diagonal control structure, the individual control loops are decoupled from each other, which is not only easier to implement in a decentralized way, but also shown to guarantee a certain level of performance Here, the concept of homotopy is applied to obtain a single block-diagonal controller from a set of full controllers, individually designed to ensure specified closed-loop performance for a set of operating conditions Simulation studies in DIgSILENT PowerFactory are carried out on two test systems to demonstrate both the robustness and control coordination in a decentralized framework
TL;DR: In this paper, an indirect current controller is proposed for the utility-interactive inverter with critical load, which does not include any nonlinear factors in the control block, so that the classical control theory can be applied to the controller design.
Abstract: The utility-interactive inverter with critical load should be able to provide critical loads with a stable and seamless voltage. This letter proposes an indirect current controller which does not include any nonlinear factors in the control block, so that the classical control theory can be applied to the controller design. Also, a phase-locked loop algorithm is proposed to maintain the constant frequency across the critical load during the unintentional islanding since the magnitude is well regulated, but the frequency may vary with the proposed controller. Further, an islanding detection method is proposed for the controller, which does not cause a change in magnitude and frequency of critical load voltage.
TL;DR: In this paper, a novel adaptive management strategy for power flow in standalone hybrid power systems is presented, which includes a feed-forward, back-propagation neural network controller in the first layer, which is added in order to achieve the maximum power point for the different types of PV panels.
Abstract: This study presents a novel adaptive management strategy for power flow in standalone hybrid power systems. The method introduces an on-line energy management by using a hierarchical controller between three energy sources: photovoltaic (PV) panels, battery storage and proton exchange membrane fuel cell. The proposed method includes a feed-forward, back-propagation neural network controller in the first layer, which is added in order to achieve the maximum power point for the different types of PV panels. In the second layer, a fuzzy logic controller has been developed to optimise performance by distributing the power inside the hybrid system and by managing the charge and discharge of the current flow. Finally, and in the third layer, local controllers are presented to regulate the fuel cell/battery set points in order to reach to best performance. Moreover, perturb and observe algorithm with two different controller techniques - the linear proportional-integral (PI) and the non-linear passivity-based controller - are provided for a comparison with the proposed maximum power point tracking controller system. The comparison revealed the robustness of the proposed PV control system for solar irradiance and load resistance changes. Real-time measured parameters and practical load profiles are used as inputs for the developed management system. The proposed model and its control strategy offer a proper tool for optimising the hybrid power system performance, such as the one used in smart-house applications.
TL;DR: In this paper, a closed-loop current controller for the CSI-fed ac machine drive system is proposed and implemented using different decoupling method. But, the performance of the proposed closed loop current controller was not evaluated.
Abstract: A current source inverter (CSI) requires a capacitor filter for the commutation of switching device as well as for attenuating switching harmonics. Hence, the CSI-fed ac machine has a second-order system in the continuous time domain. This paper presents a design methodology for the closed-loop current controller of the CSI-fed ac machine drive system. A multiloop current controller design using a pole/zero cancellation method is employed with a transfer function matrix. To decouple the cross-coupling terms which cause mutual interferences between the d- and q-axes in the synchronous reference frame, two types of controller are proposed and implemented using different decoupling method. Additionally, active damping methods are incorporated to enhance the stability of the system. A stability analysis in discrete-time domain is investigated to verify the feasibility of the proposed closed-loop current controller. To evaluate the effectiveness of the proposed current controller, computer simulations and experimental tests were performed and the results are discussed.
TL;DR: In this article, an energy management controller based on shortest path stochastic dynamic programming (SP-SDP) is implemented and tested in a prototype vehicle, which simultaneously optimizes fuel economy and powertrain activity, namely gear shifts and engine on-off events.
Abstract: An energy management controller based on shortest path stochastic dynamic programming (SP-SDP) is implemented and tested in a prototype vehicle. The controller simultaneously optimizes fuel economy and powertrain activity, namely gear shifts and engine on–off events. Previous work reported on the controller's design and its extensive simulation-based evaluation. This paper focuses on implementation of the controller algorithm in hardware. Practical issues concerning real-time computability, driver perception, and command timing are highlighted and addressed. The SP-SDP controllers are shown to run in real-time, gracefully handle variations in engine start and gear-shift-completion times, and operate in a manner that is transparent to the driver. A hardware problem with the test vehicle restricted its maximum engine torque, which prevented a reliable fuel economy assessment of the SP-SDP controller. The data that were collected indicated that SP-SDP controllers could be straightforwardly designed to operate at different points of the fuel economy tradeoff curve and that their fuel economy may equal or exceed that of a baseline industrial controller designed for the vehicle.
TL;DR: Sliding mode control of semi-active suspensions possesses excellent performance as well as high robustness as discussed by the authors, however, it is difficult to obtain sufficient data concerning the various states of the s...
Abstract: Sliding mode control of semi-active suspensions possesses excellent performance as well as high robustness. However, it is difficult to obtain sufficient data concerning the various states of the s...
TL;DR: The presented online autotuning controller does not require the knowledge of the power-stage frequency response, does not depend on any conventional rule-of-thumb control-design criteria such as gain and phase margins, and is relatively simple when compared to other methods particularly those that require measuring the frequency response of thePower stage or closed-loop converter system.
Abstract: A switching power-converter closed-loop online autotuning controller is presented in this paper. The presented controller is based on tuning the closed-loop-compensator parameters by simply observing the compensated-error-signal time-domain characteristics. Moreover, the presented online autotuning controller does not require the knowledge of the power-stage frequency response, does not depend on any conventional rule-of-thumb control-design criteria such as gain and phase margins, can be used without interrupting the normal operation of the power converter, and is relatively simple when compared to other methods particularly those that require measuring the frequency response of the power stage or closed-loop converter system. The online autotuning controller is presented in this paper based on a dc-dc buck switching converter with a fully digital closed-loop controller, as an example and not for limitation.
TL;DR: In this paper, a two-stage control design for the Buck power converter/DC motor is presented, which allows to perform the sensorless angular velocity trajectory tracking task, based on differential flatness property of the DC motor model.
Abstract: This paper presents a two-stage control design for the “Buck power converter/DC motor”
system, which allows to perform the sensorless angular velocity trajectory tracking task. The
differential flatness property of the DC-motor model is exploited in order to propose a first-stage
controller, which is designed to achieve the desired angular velocity trajectory. This
controller provides the voltage profiles that must be tracked by the Buck converter. Then,
a second-stage controller is meant to assure the aforementioned. This controller is based on
flatness property of the Buck power converter model, which provides the input voltage to the
DC motor. Due to the fact that the two-stage controller proposed uses the average model of
the system, as a practical and effective implementation of this controller, a -modulator is employed. Finally, in order to verify the control performance of this approach, numerical
simulations are included.
28 May 2013
TL;DR: A comparative analysis of Backstepping and Sliding Modes methodologies is realized in order to know what controller has a better performance when they are used to the autonomous flight of a fixed-wing UAV.
Abstract: This paper deals with the design of four controllers, based on Backstepping and Sliding Modes, which are applied to a fixed-wing unmanned aerial vehicle (UAV). We are interested to realize a comparative analysis of such methodologies in order to know what controller has a better performance when they are used to the autonomous flight (altitude, yaw and roll) of a fixed-wing UAV. The designed controllers are: Backstepping, sliding mode control (SMC), Backstepping with sliding mode control, and Backstepping with two sliding mode control. Simulation results are obtained in order to analyze the controllers. We finally present an experimental result, in open-loop, with the purpose of validate the magnitud of the control signals obtained in the simulations.
TL;DR: An IP-self-tuning controller tuned by a fuzzy adjustor, is proposed to improve induction machine speed control and different tests used to compare the performances of the proposed controller to the two others in terms of computation time, tracking performances and disturbances rejection.
Abstract: An IP-self-tuning controller tuned by a fuzzy adjustor, is proposed to improve induction machine speed control. The interest of such controller is the possibility to adjust only one gain, instead of two gains for the case of the PI-self-tuning controllers commonly used in the literature. This paper presents simulation and experimental results. These latter were obtained by practical implementation on a DSPace 1104 board of three different speed controllers (the classical IP, the fuzzy-like-PI and the IP-self-tuning), for a 1.5KW induction machine. The paper presents different tests used to compare the performances of the proposed controller to the two others in terms of computation time, tracking performances and disturbances rejection.