Control Law Research Articles

Analysis of Power-Maximizing Region 2 Controllers for Wind and Marine Turbines

Wind and marine energy are rapidly growing and complementary technologies that share some techniques for simplified modeling and control, particularly in below-rated flow speeds. A turbine operator has several choices of controller for maximizing power in Region 2. The simple and ubiquitous KΩ2 control law is often effective but limited in its flexibility. Alternative controllers use reference tracking to split the control objectives into a low-bandwidth optimal tip-speed ratio tracking loop to maximize steady-state power and a higher-bandwidth proportional-integral control loop to reject inflow turbulence. Several options exist for identifying the slowly varying optimal set point during operation, based on estimating the inflow velocity or filtering the power or torque signals. This study compares the trade-offs between performance and other design priorities for a few choices of reference-tracking controller in the literature for reference wind and marine turbines. Analysis is performed in the frequency domain using the linearization of each controller, and the impact of turbulent disturbances on the closed-loop system is described. The controllers are simulated in OpenFAST to analyze their performance with higher-order nonlinear turbine dynamics.

Observer-Based Boundary Stabilization of Coupled Semilinear Reaction-Diffusion Neural Networks With Spatially Varying Coefficients via Event-Triggered Controller.

The aim of this article is to propose an observer-based event-triggered Robin boundary control strategy for the exponential stabilization of the coupled semilinear reaction-diffusion neural networks with spatially varying coefficients. Toward this aim, we design an observer to estimate the value of system states by using some of these system values as the available measurement. An observer-based event-triggered boundary stabilizer is then presented to exponentially stabilize the considered systems with the Zeno behavior being excluded. Throughout this article, the main used method is backstepping, which yields an explicit expression of the control formulae. Moreover, we see that the proposed event-triggered boundary control scheme can ensure the desired level of control performance with fewer control law updates. A numerical example is finally given to illustrate the effectiveness of our proposed method.

Review on the Substantive Constitutionality of Financial Control Laws

Review on the Substantive Constitutionality of Financial Control Laws

AI-Based Detection of Surge and Rotating Stall in Axial Compressors via Dynamic Model Parameter Estimation

Compressors are an essential component of aircraft engines. Their design and operation must be extremely reliable as engine safety and performance depend greatly on these elements. Axial compressors exhibit instabilities, such as surge or rotating stall, in a region close to the peak of their performance curves. These fluid dynamic instabilities can cause drops in efficiency, stress on the blades, fatigue, and even failures. Compressors are handled therefore by operating with a safety margin far from the surge line. Moreover, models able to predict onset instabilities and to reproduce them are of great interest. A dynamic system able to describe successfully both surge and rotating stall is the model presented by Moore and Greitzer That model has also been used for developing control laws of the compressor dynamics. The present work aims at developing an artificial neural network (ANN) approach able to predict either the permanence of the system in stable working condition or the onset instabilities from a time sequence of the compressor dynamics. Different solutions were tried to find the most suitable model for identifying the system, as well as the effects of the duration of the time sequence on the accuracy of the predicted compressor working conditions. The network was further tried for sequences with different initial values in order to perform a system analysis that included multiple variations from the initial database. The results show how it is possible to identify with high accuracy both rotating stall and surge with the ANN approach. Moreover, the presence of an underlying fluid dynamic model shares some similarities with physically informed AI procedures.

Lowering carbon emissions from a zinc oxide rotary kiln using event-scheduling observer-based economic model predictive controller

Background:The leading carbon emitting unit of the zinc smelting industry is the zinc oxide rotary kiln, which preserves a trade-off between carbothermic reduction and the zinc recovery rate. To scale up a substantial zinc restoration rate during the hydrometallurgical process, a substantial amount of coke is combusted, which leads to significant greenhouse gas emissions. It is imperative to mitigate the emission of carbon as reduced as possible. Since the kiln operates in three different regions — gas, solid, and wall — several highly non-uniform paths are typically linked to one another to yield complex looping processes. In industrial settings, solid maldistribution and gas refluxing pose prevalent challenges in the gas–solid flow mechanism. Consequently, control over processes and observation of the internal states/concomitant parameters become critical for ensuring safe and reliable operation. Therefore, it is imperative to devise effective control layouts to optimize the functioning of the kiln system. Method:(i) The usual form of model-predictive control rule is paired with an economic stage cost (using the CasADi optimization method) to offer optimal consumption of the coal and the rotation speed, thereby effectively alleviating the adverse effects of the unmeasured perturbations, actuator faults, or multi-sensor failures. (ii) With the aid of accessible state sensors, a cubature Kalman filter infused with a singular-value-decomposition strategy reliably predicts uncertainties/faults of the actuators or the unmeasured states of the kiln. (iii) cubature Kalman filter and event-triggered scheduling are utilized together, to consume less communication resources. Significant findings:A variety of indicators, such as zinc recovery rate (1.35% improvement), carbon emissivity (11.54% improvement), residence time (6% shorter), accuracy of the controllers/observers were well assessed and compared with standard form of the non-linear model predictive control law to figure out the efficiency and acceptability of the economic model predictive controller, demonstrating on an industrial rotary kiln. An in-depth study of the proposed control method satisfying Lyapunov inequality has been addressed.

Effect of Induction and Blade Elasticity Modelling on Wind Turbine Rotor Performance Predictions

This study investigates the impact of blade induction modelling on the accuracy of wind turbine rotor aeroelastic predictions. It extends the capabilities of AEOLIAN (AErOeLastic sImulAtioN), a Fluid Structure Interaction (FSI) solver based on Blade Element Momentum Theory (BEMT) coupled with a Lumped Mass approach to represent the blade structure. Herein, AEOLIAN’s analytical wake induction engineering model is replaced with the outcomes of a physically-consistent three-dimensional Free-Vortex Wake (FVW) formulation initially employed in AeroROTOR. This versatile aeroelastic simulation tool is implemented within the framework of MATLAB Simulink/Simscape-Multibody©, a modular environment suitable for industry analysts, researchers, and academic users focusing on wind turbine aero-servo-elastic applications. Furthermore, it serves to lay the groundwork for the development of advanced control laws for multi-megawatt rotors, fostering innovation in the design and optimization of the next-generation wind turbines. The presented analyses focus on predicting the aeroelastic behavior of the bottom-fixed NREL 5MW rotor in uniform axial flow over the operating range, complemented by more detailed investigations at the rated condition undergoing inflow with/without wind misalignment (yaw). The study on key performance parameters is conducted by comparing with the higher-fidelity data from available Computational Fluid Dynamics (CFD) and Computational Structural Dynamics (CSD) coupled with CFD.

Synthesis of Optimal Control of Spacecraft Angular Momentum for Spatial Turn Taking into Account Energy Costs Using Quaternions

Background: In this paper, we propose solving the specific original problem of control synthesis of spacecraft attitude. Optimization of the control program is made with the use of a new criterion of quality that combines energy costs and duration of reorientation under restrictions on control (the presence of a time factor limits the duration of slew maneuver). Methods: The construction of optimal control for angular momentum change is based on the quaternion method and L.S. Pontryagin maximum principle. An analytical solution to the problem was obtained on the base of a differential equation relating the orientation quaternion and angular momentum of a spacecraft. Results: Key properties of the optimal solution are formulated in analytical form; the features of optimal motion are studied in detail. The control law is formulated in the form of explicit dependence between control and phase variables. In a case when the controlling torque is limited by the given restriction (at the beginning and end of a turn), analytical formulas have been written for the duration of braking and acceleration. Main relations which determine optimal values of parameters of the algorithm for control of angular momentum are given. Examples and results of mathematical modeling of spacecraft motion formed by optimal control were given. This data in addition to the theoretical descriptions illustrates the process of reorientation in evident form and demonstrates the practical feasibility of a designed method for control of angular momentum during spatial turn. Conclusion: The designed optimal algorithm of control of spacecraft motion improves the efficiency of spacecraft attitude system, and originates more economical performance of spacecraft during flight on orbit.

Estimation of Crosswind Disturbances for a Vehicle by LPV‐MHE and its Application to Disturbance Cancellation

Crosswinds and transverse slopes of the road surface affect the motion of a ground vehicle as disturbances. The objective of this paper is to develop a method for estimating crosswind disturbances and lateral force disturbances caused by transverse slopes of the road surface under the variation of the vehicle speed. Firstly, a dynamical model of a vehicle is described as a Linear Parameter‐Varying (LPV) system in which the value of the coefficient matrices vary with the vehicle velocity. Then, an algorithm to estimate the disturbance is derived based on Moving Horizon Estimation (MHE) and applied to the derived LPV system. Furthermore, a simple control law which counteracts the effects of the disturbances on the lateral velocity and the yaw rate in steady‐state based on the estimates of the disturbances is presented. The effectiveness of the proposed method is demonstrated by a numerical example. © 2024 The Author(s). IEEJ Transactions on Electrical and Electronic Engineering published by Institute of Electrical Engineer of Japan and Wiley Periodicals LLC.

Mathematical Modeling of Infectious Disease and Prey-Predator Interaction with Optimal Control

In this paper, the impact of viral illnesses on the predator-prey relationship with an optimal control analysis is studied. An ecoepidemiological model of four compartments, namely, susceptible prey, susceptible predator, infected prey, and infected predator populations, in the interaction of the prey-predator system is formulated. The fundamental tenet of our ecoepidemiology model is that sick predators do not engage in predation. It is confirmed that the system’s solution exists, is positive, and is bounded. The system’s equilibrium points are determined and computed. Lyapunov functions and a linearizing form are used for local and global stability analysis, respectively. The next generation matrix approach is used to calculate the threshold value for diseased predators and prey at the disease-free equilibrium point. Optimal treatment options for vulnerable and infected populations are established by applying optimal control theory to the ecoepidemiology model of a prey-predator system. MATLAB software is utilized to obtain numerical simulations that validate the analytical outcomes. The optimal control problem simulations demonstrate that the number of infected populations in a given prey-predator system can be decreased by implementing control measures.

Backstepping synchronization control for four-dimensional chaotic system based on DNA strand displacement

Backstepping control is an important nonlinear control design method, which realizes the control of complex systems by constructing control law step by step, and has significant advantages for dealing with complex nonlinear systems. This article proposes a synchronization technique for four-dimensional chaotic systems using a combination of backstepping control method and DNA strand displacement technology. By relying on theoretical knowledge of DNA molecules, five basic chemical reaction modules such as trigger reaction, reference reaction, catalytic reaction, annihilation reaction and degradation reaction are given to construct a four-dimensional DNA chaotic system. On the basis of the relevant theory of chaotic dynamics, the constructed system is analyzed by Lyapunov exponent diagram and spectral entropy complexity algorithm, and the results come to the conclusion that the system reveals extremely complex and varied dynamic behaviors. Combining DNA strand displacement technology with backstepping control method, four controllers are developed to ensure that the trajectories of two homogeneous chaotic systems are synchronized. The numerical simulation results validate the feasibility and applicability of the proposed method. The method proposed in this paper may provide some references in the field of DNA molecular chaos synchronization control.

An Adaptive Discrete Integral Terminal Sliding Mode Control Method for a Two-Joint Manipulator

In response to the trajectory tracking control problem of manipulators under measurement disturbances, a novel multi-input multi-output discrete integral terminal sliding mode control scheme is proposed. Initially, this scheme establishes a dynamic model of a two-joint manipulator based on the Lagrangian dynamics analysis method. Subsequently, a discrete integral terminal sliding mode control law based on the dynamic model of the two joints is designed, incorporating delayed estimation of unknown disturbances and discretization errors in the manipulator system. To enhance the trajectory tracking accuracy of the control scheme and suppress the impact of sliding mode chattering on the manipulator system, an adaptive switching term is introduced into the discrete integral terminal sliding mode control law. The paper derives an adaptive discrete integral terminal sliding mode control scheme and provides stability proof for the proposed approach. Simulation experiments are conducted to compare the proposed adaptive discrete integral terminal sliding mode control scheme with classical discrete sliding mode control schemes and discrete integral terminal sliding mode control schemes. The simulation results demonstrate that the designed adaptive discrete integral terminal sliding mode control scheme maintains trajectory tracking errors within 0.004 radians for each joint of the manipulator, with minimal changes in control torque for each joint. The absolute integral of the control torque variations is calculated at 5.85×103, which is lower than other control schemes, thereby validating the effectiveness and superiority of the proposed approach.

Optimization, guidance, and control of low-thrust transfers from the Lunar Gateway to low lunar orbit

The Lunar Gateway will represent a primary space system useful for the Artemis program, Earth–Moon transportation, and deep space exploration. It is expected to serve as a staging location and logistic outpost on the way to the lunar surface. This study focuses on low-thrust transfer dynamics, from the Near-Rectilinear Halo Orbit traveled by Gateway to a specified Low-altitude Lunar Orbit (LLO). More specifically, this research addresses two closely-related problems: (i) determination of the minimum-time low-thrust trajectory and (ii) design, implementation, and testing of a guidance and control architecture, for a space vehicle that travels from Gateway to LLO. Orbit dynamics is described in terms of modified equinoctial elements, with the inclusion of all the relevant perturbations, in the context of a high-fidelity multibody ephemeris model. The minimum-time trajectory from Gateway to a specified lunar orbit is detected through an indirect heuristic approach, which uses the analytical conditions arising in optimal control theory in conjunction with a heuristic technique. However, future missions will pursue a growing level of autonomy, and this circumstance implies the mandatory design and implementation of an efficient feedback guidance scheme, capable of compensating for nonnominal flight conditions. This research proposes nonlinear orbit control as a viable and effective option for autonomous explicit guidance of low-thrust transfers from Gateway to LLO. This approach allows defining a feedback law that enjoys quasi-global stability properties without requiring any offline reference trajectory. The overall spacecraft dynamics is modeled and simulated, including attitude control and actuation. The latter is demanded to an array of reaction wheels, arranged in a pyramidal configuration. Guidance, attitude control, and actuation are implemented in an iterative scheme. Monte Carlo simulations demonstrate that the guidance and control architecture at hand is effective in nonnominal flight conditions, i.e. with random starting point from Gateway as well as in case of temporary unavailability of the propulsion system. The numerical results also point out that only a modest propellant penalty is associated with the use of feedback guidance and control in comparison to the minimum-time optimal trajectory.

Asymptotic tracking control for a class of uncertain nonlinear systems with output constraint

In this paper, we investigate the asymptotic tracking control for a class of strict-feedback nonlinear systems with unknown nonlinear functions and output constraint. The nonlinear transformation function-based system transformation approach is employed to convert the initial constrained system into an unconstrained one. To achieve the objective of asymptotic tracking, the tracking error is scaled by an exponential proportional function. Furthermore, to address the challenge of repetitive derivation of virtual control laws that occurs in the traditional design process of high-order backstepping methods, a first-order filter is applied. The designed control scheme guarantees that the system output will asymptotically track a predefined reference tracking trajectory while ensuring that the output constraint is not violated. Moreover, it is shown that the filter error will converge asymptotically to the origin. The effectiveness of the developed control strategy is verified through simulation results.

Control of iron(II)-tris(2,2'-bipyridine) light-induced excited-state trapping via external electromagnetic fields.

Light-induced excited spin-state trapping reactions in iron pyridinic complexes allow the iron's low-to-high spin transition in a sub-picosecond timescale. Employing a recently developed model for [Fe(2,2'-bipyridine)3]2+photochemical spin-crossover reaction in conjunction with quantum wavepacket dynamics, we explore the possibility of controlling the reaction through external electromagnetic fields, aiming at stabilizing the initial metal-to-ligand charge transfer states. We show that simple Gaussian-shaped electromagnetic fields have a minor effect on the population kinetics. However, introducing vibrationally excited initial wavepacket representations allow to maintain trapped the population into the metal-to-ligand charge transfer states. Using optimal control theory, we propose an electromagnetic field shape that increases the lifetime of metal-to-ligand charge transfer states. These results open the route for controlling the iron photochemistry through the action of external electric fields.

Adaptive cyber-tolerant finite-time frequency control framework for renewable-integrated power system under deception and periodic denial-of-service attacks

This work concentrates on designing and applying an adaptive cyber-tolerant finite-time frequency control framework for smart power systems under state-dependent sensor deception and periodic denial-of-service (DoS) attacks. An adaptive radial-basis function neural network (RBFNN)-based disturbance observer (DO) is designed to estimate undeniable plant disturbances, which includes structural uncertainties and unmodelled dynamics. Then, the DO-based resilient secondary control law based on the adaptive nonlinear sliding mode strategy for the cyber-physical power system (CPPS) is derived to guarantee global uniform asymptotic stability of the parametric error and the selected nonlinear sliding manifold. Furthermore, an in-depth analysis of uniformly ultimately boundedness (UUB) of the estimation error of RBFNN has been demonstrated. Numerical simulation and qualitative assessment have revealed the proficiency of the applied feedback control framework for the undertaken CPPS and a high-degree of cyber-tolerance against malicious attacks.

Formation keeping control for deorbiting an uncooperative satellite by laser ablation

This paper proposes the formation keeping control law for deorbiting debris by a laser ablation. Laser ablation is vital technology for contactless active debris removal, where a chaser satellite with a laser system irradiates laser pulses to a target object to generate the ablation force for deorbiting. The deorbiting force decelerates the target, and the chaser must maintain its relative position and continue irradiating. In other words, both the chaser and the target are supposed to be deorbited simultaneously, where both have accelerations. Although conventional formation flying missions assume that only a chaser maneuvers, the formation flying in this paper considers that both a chaser and a target have accelerations. Thus, this paper derives the relative equations of motion between the chaser and the target in powered flight and their analytical solution using relative orbital elements. A control law based on the analytical solution is proposed, which determines the timings and directions of the laser ablation and the electrical thrust so that the formation periodically returns to a desired formation. Numerical simulations first examine the control law in two cases with different maneuver timings. Then, a Monte Carlo simulation is performed to verify the effectiveness of the control law for a variety of desired formations.

Event-Triggered Supercavitating Vehicle Terminal Sliding Mode Control Based on Non-Recursive Observation

Supercavitating vehicles present significant issues in controller design due to their multiphase flow-coupling characteristics. This study addresses force analysis and the construction of a 6-degree-of-freedom mathematical model for a supercavitating vehicle. A terminal sliding mode control law is intended to guarantee the quick tracking of the command signal for high-precision attitude control. To drastically lower the frequency of actuation and communication, a mechanism to trigger events is also introduced into the control link. A disturbance observer, which estimates system uncertainty using a non-recursive differentiator, improves the robustness of the system. The Lyapunov approach is used to prove that the system is stable. Numerical simulation results validate that the proposed method enhances control accuracy and robustness. The event-trigger mechanism reduces the execution frequency to 18.59%, effectively reducing the communication burden.

Data-driven constrained reinforcement learning algorithm for path tracking control of hovercraft

This paper presents a novel Constrained Backstepping Reinforcement Learning (CBRL) approach designed for path tracking of hovercraft. The approach addresses the challenges posed by complex modeling, multiple constraints, and large sideslip angles during high-speed maneuvers of underactuated hovercraft. Initially, a unique state constraint function is formulated, incorporating constraint boundaries related to navigation speed and path curvature. Additionally, transformations are applied to the yaw angular velocity and virtual yaw control law, ensuring that the yaw angular velocity remains within safety limits. Subsequently, a data-driven backstepping reinforcement learning optimal approach, coupled with a line-of-sight guidance law, is employed to guide the hovercraft along the intended path by regulating its yaw angle. Simultaneously, the backstepping reinforcement learning optimal control scheme is used to regulate the surge speed of the hovercraft above the resistance peak speed, thereby preventing excessive sideslip angles during path tracking. Neural network observers are integrated into the design process of both the yaw and surge controllers to monitor system dynamics in the presence of interference. Through simulation, the effectiveness and feasibility of the proposed CBRL algorithm are demonstrated.

Robust design of a two-stage composite sliding mode controller for enhanced performance in large-scale systems

This paper introduces an innovative composite sliding mode control strategy tailored for large-scale system, specifically tackling the intricate task of formulating a sliding mode control law for singularly perturbed systems. This paper delineates the development of a composite controller by dissecting it into subsystem controllers for both ‘slow’ and ‘fast’ subsystems, exploring its effectiveness in managing matched bounded external disturbances within the context of large-scale system. While sliding mode control proves to be a robust solution for handling uncertainty and disturbances, its inherent complexity and discontinuous characteristics pose significant challenges in crafting designs suitable for singularly perturbed systems.

Event-triggered consensus tracking control of flexible manipulators with nonlinear time-varying fault-tolerant actuators and input constraint

This paper introduces a novel event-triggered consensus control strategy for a multi-agent system composed of underactuated flexible manipulators. Most existing research on consensus tracking control assumes that the model targeted is fully actuated, the control signal is continuous, and that both time-varying actuator failures and input constraints are managed separately. These challenges were tackled in this study within the context of multi-agent systems, addressing input constraints and nonlinear time-varying actuator failures simultaneously. Moreover, an event-triggered mechanism is proposed to reduce signal communication. A double closed-loop consensus tracking method is designed based on the multi-agent topology, enabling all flexible manipulators to track the angle and angular velocity of the leader and an adaptive control law is designed to solve actuator faults. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme.