Volume 1 Issue 2
Authors: Neha Kapoor; Jyoti Ohri
Abstract: This paper proposes development of an intelligent algorithm naming Fuzzy Sliding Mode Controller (FSMC) with global stabilization and saturation function for the trajectory control of robotic manipulators. A new exponential dynamic sliding function with PID has been developed. Fuzzy tuned gain of SMC is taken in this paper, which has chattering in it. This chattering effect of FSMC has been removed by using saturation function in place of signum function in FSMC. This FSMC with saturation function has reduced error and chattering. Various conventional techniques like Proportional Derivative (PD), Computed Torque Controller (CTC) and Sliding Mode Control (SMC) have been reviewed and compared with the proposed control scheme. From the results, it can be said that the proposed controller scheme can assure robustness against a continuous disturbance with chattering elimination.
Keywords: Proportional Derivative (PD); Computed Torque Controller (CTC); Sliding Mode Controller (SMC); Fuzzy Logic; Saturation Function.
Authors: Abderrahim El Fadili; Fouad Giri; Abdelmoinime El Magri
Abstract: The problem of maximum power point tracking (MPPT) in photovoltaic (PV) arrays is addressed considering a PV system including a PV panel, a PWM DC/AC inverter connected to single-phase grid. The maximum power point (MPPT) of PV generators varies with solar radiation and temperature. To reduce the PV system cost, the MPPT is presently achieved without chopper, resorting to solar radiation and temperature sensors. The proposed strategy involves a multi-loop controller designed to meet the three main control objectives i.e. (i) voltage reference generator designed to meet maximum power point tracking (MPPT) despite solar radiation, (ii) tight DC Link voltage regulation for a wide range of voltage-reference variation and (iii) power factor correction (PFC). It is formally shown that the developed strategy control actually meets the MPPT requirement.
Keywords: Photovoltaic Arrays; MPPT; DC/AC inverter; Power Factor Correction (PFC)
Authors: Verica Radisavljevic-Gajic
Abstract: Matrix second-order damped linear dynamic systems are frequently encountered in mechanical, structural, electrical, civil, and aerospace engineering. This class of systems also comes from the distributed parameter dynamic systems (systems described by partial differential equations) when they are approximated by linear dynamic systems. In this paper, we show how to design, for this class of systems, the globally optimal linear-quadratic controller and the globally optimal Kalman filter in terms of locally optimal linear-quadratic controllers and locally optimal scalar second-order Kalman filters. This simplifies computational requirements and allows full parallelism in information processing and feedback loop implementation. Conditions are established under which the presented procedure is applicable. Examples are included to demonstrate the efficiency of the proposed technique.
Keywords: Second Order Linear Systems; Weak Coupling; Optimal Control and Filtering
Authors: Behruz Khajali; Javad Poshtan
Abstract: In this work first a linear observer-based method is applied to detect faults in a continuous stirred tank reactor (CSTR) and it is demonstrated to provide acceptable performance in spite of its practical restrictions. This is for the most part as a result of the fast and relatively detectable response of residuals to the occurrence of fault, and practical restrictions are due to the constraints imposed on the range of initial conditions in which the system should rest before the start of fault detection. As a second approach, the intrinsically nonlinear method of particle filters is applied to detect the same fault as in the first method. Making use of simulations, a thorough comparison between these two techniques is extracted in terms of some significant aspects of a desirable fault diagnosis system. The result of the comparison renders beneficial information about the advantages and drawbacks of the applied methods and makes it easier to decide which method to apply on practical systems in various situations.
Keywords: Fault Detection; Observer; CSTR; Particle Filter