Feedforward Research Articles

Robustness of LiDAR-assisted controller towards measurement uncertainty

Many studies have concluded that LiDAR-assisted control can be used to increase annual energy production (AEP) as well as reduce extreme loads and fatigue damage on blades, tower, and main bearing components. However, most studies assume perfect LiDAR measurements and do not consider large measurement uncertainties on LiDAR measurements. In this study we evaluate the potential benefits in terms of fatigue load reduction from using a simple robust feedforward controller. In addition, we evaluate the impact of measurement uncertainties exemplified by a time shift between the expected time the wind hits the rotor and the actual time it hits the rotor as well as a mean wind speed measurement bias. Results shows that fatigue loads can be reduced up to 7% on the tower sections and up to 4% on other main components. However, these results only applies when the LiDAR is assumed to give perfect information about what is hitting the rotor plane. The load reduction degrades with the magnitude of a time shift of the arriving LiDAR wind measurements. A delay up to 2.5 seconds still gives reasonable load reductions. Furthermore, a positive wind speed bias does not affect the performance of the LiDAR-assisted controller, whereas a negative bias significantly deteriorates performance.

Current ripple optimization design of DC/DC converter

Abstract Renewable energy has the advantages of renewability and high temperature and has great potential for development, but its instability limits its large-scale promotion. Aiming at the stable operation of the new energy power system and ensuring the safe and reliable operation of the power grid, this project defines the basic topology of the variable multiple DC/DC converter according to the idea of switching circuit parallel factor or reducing ripple under each duty cycle. Secondly, the system structure under the boost mode is modeled, and the system is optimized by the combination of a single closed-loop current balance and duty cycle feedforward control. Finally, the model is simulated, and the results show that the method is correct and reasonable.

Integral sliding mode-based event-triggered optimal fault tolerant tracking control of continuous-time nonlinear systems

In this paper, the integral sliding mode-based event-triggered optimal fault tolerant tracking control of continuous-time nonlinear systems is investigated via adaptive dynamic programming. The developed control scheme consists of two parts, i.e., integral sliding mode control and event-triggered optimal tracking control. For the first part, an integral sliding mode controller is designed to eliminate the affect of actuator fault and the dynamics of nominal nonlinear systems is obtained. For the second part, a novel quadratic cost function with respect to the tracking error and its dynamics is developed such that the feedforward control law or the discount factor is not required, which reduces the complexity of the control method and guarantees the tracking performance. Moreover, a critic-only structure is established to obtain the solution of tracking Hamilton–Jacobi–Bellman equation. It should be noted that the optimal tracking control law is updated only at triggering moments in order to preserve computing and communication resources. Finally, the effectiveness of the present approach is demonstrated through simulation examples of a robotic arm system and a Van der Pol circuit system.

Performance similarities between standard and retrofit LiDAR-assisted control for wind turbines

LiDAR-assisted control has proven to be a highly effective method for mitigating rotor speed deviations and reducing loads in wind turbines. This effectiveness stems from the ability of feedforward controllers to utilize incoming wind speed information obtained from LiDARs, enabling advanced blade pitch actions before the wind disturbs the turbine. However, the standard implementation of LiDAR-assisted control often necessitates modifications to the existing feedback controller, where the feedforward pitch rate is typically integrated into the feedback controller. This process can be challenging in terms of accessibility and may be limited to specific stakeholders, such as turbine manufacturers.A retrofit design provides an ideal solution, where the retrofit LiDAR-assisted controller modifies the rotor speed measurement to induce pitch actions without requiring alterations to the existing feedback controller. This paper aims to demonstrate the performance similarities between the standard LiDAR-assisted controller and its retrofit counterpart. Specifically, we establish that the retrofit LiDAR-assisted controller, with appropriate tuning, is equivalent to its standard counterpart. This equivalence implies that architecturally dissimilar controllers can yield the same performance in terms of rotor speed deviations and tower load reductions. The presented findings are supported by results obtained from high-fidelity closed-loop turbine simulations.

Intellectual assessment of amyotrophic lateral sclerosis using deep resemble forward neural network

ALS (Amyotrophic Lateral Sclerosis) is a neurodegenerative disorder causing profound physical disability that severely impairs a patient's life expectancy and quality of life. It also leads to muscular atrophy and progressive weakness of muscles due to insufficient nutrition in the body. At present, there are no disease-modifying therapies to cure ALS, and there is a lack of preventive tools. The general clinical assessments are based on symptom reports, neurophysiological tests, neurological examinations, and neuroimaging. But, these techniques possess various limitations of low reliability, lack of standardized protocols, and lack of sensitivity, especially in the early stages of disease. So, effective methods are required to detect the progression of the disease and minimize the suffering of patients. Extensive studies concentrated on investigating the causes of neurological disease, which creates a barrier to precise identification and classification of genes accompanied with ALS disease. Hence, the proposed system implements a deep RSFFNNCNN (Resemble Single Feed Forward Neural Network-Convolutional Neural Network) algorithm to effectively classify the clinical associations of ALS. It involves the addition of custom weights to the kernel initializer and neutralizer ‘k’ parameter to each hidden layer in the network. This is done to increase the stability and learning ability of the classifier. Additionally, the comparison of the proposed approach is performed with SFNN (Single Feed NN) and ML (Machine Learning) based algorithms, namely, NB (Naïve Bayes), XGBoost (Extreme Gradient Boosting) and RF (Random Forest), to estimate the efficacy of the proposed model. The reliability of the proposed algorithm is measured by deploying performance metrics such as precision, recall, F1 score, and accuracy.

An event triggered control scheme for enhanced production of Escherichia coli and biomass concentration during fed-batch cultivation

Control of a bioprocess is a challenging task mainly due to the nonlinearity of the process, the complex nature of microorganisms, and variations in critical parameters such as temperature, pH, and agitator speed. Generally, the optimum values chosen for critical parameters during Escherichia coli (E.coli) K-12fed-batch fermentation are37 ᵒC for temperature, 7 for pH, and 35 % for Dissolved Oxygen (DO). The objective of this research is to enhance biomass concentration while minimizing energy consumption. To achieve this, an Event-Triggered Control (ETC) scheme based on feedback-feed forward control is proposed. The ETC system dynamically adjusts the substrate feed rate in response to variations in critical parameters. We compare the performance of classical Proportional Integral (PI) controllers and advanced Model Predictive Control (MPC) controllers in terms of bioprocess yield. Initially, the data are collected from a laboratory-scaled 3L bioreactor setup under fed-batch operating conditions, and data-driven models are developed using system identification techniques. Then, classical Proportional Integral (PI) and advanced Model Predictive Control (MPC) based feedback controllers are developed for controlling the yield of bioprocess by manipulating substrate flow rate, and their performances are compared. PI and MPC-based Event Triggered Feed Forward Controllers are designed to increase the yield and to suppress the effect of known disturbances due to critical parameters. Whenever there is a variation in the value of a critical parameter, it is considered an event, and ETC initiates a control action by manipulating the substrate feed rate. PI and MPC-based ETC controllers are developed in simulation, and their closed-loop performances are compared. It is observed that the Integral Square Error (ISE) is notably minimized to 4.668 for MPC with disturbance and 4.742 for MPC with Feed Forward Control. Similarly, the Integral Absolute Error (IAE) reduces to 2.453 for MPC with disturbance and 0.8124 for MPC with Feed Forward Control. The simulation results reveal that the MPC-based ETC control scheme enhances the biomass yield by 7 %, and this result is verified experimentally. This system dynamically adjusts the substrate feed rate in response to variations in critical parameters, which is a novel approach in the field of bioprocess control. Also, the proposed control schemes help reduce the frequency of communication between controller and actuator, which reduces power consumption.

Comprehensive compensation of dynamic hysteresis and creep for piezoelectric actuator

This paper addresses the modeling of dynamic hysteresis and creep in piezoelectric actuators, and employs feedforward open-loop control based on inverse models to compensate for hysteresis and creep phenomena. The comprehensive model consists of quasi-dynamic and dynamic components. The quasi-dynamic model combines the quasi-dynamic Prandtl–Ishlinskii (PI) model with an PI-based linear time-invariant model, while the dynamic part utilizes the auto-regressive exogenous model. The model accurately describes creep and dynamic hysteresis with modeling errors of less than 0.01 μm and 0.14 μm, respectively. The inversion of the comprehensive model has been proven to exhibit unique convergence. Under inverse feedforward control, the improvement in dynamic hysteresis and hysteresis with creep can be achieved at 94% and 83%, respectively. The comprehensive model proposed in this paper accurately describes the dynamic hysteresis and creep phenomena in piezoelectric actuators and realizes open-loop compensation control, achieving precise actuation of piezoelectric actuators.

Optimizing wastewater treatment plant operational efficiency through integrating machine learning predictive models and advanced control strategies

This research optimizes wastewater treatment plant (WWTP) operational performance by integrating advanced control strategies and predictive modeling. Emphasizing the significance of machine learning (ML), feature extraction techniques (filter, wrapper, and embedded methods) were employed to develop robust prediction models. The random forest (RF) model was applied to predict target variables, effluent ammonia, and nitrogen concentrations. Integrating these predictive models into the WWTP’s control system is necessary for enhanced efficiency and pollution regulation. Benchmark Simulation Model 1 (BSM1) was used as the WWTP model. The two tested control strategies included a hybrid approach, combining feedforward and feedback control, resulting in an improved effluent quality index (EQI), a marginal increase in aeration energy (AE) and the operational cost index (OCI), and a significant decrease in effluent ammonia concentration. The second strategy utilized self-organizing fuzzy inference system (SOFIS) control, resulting in promising outcomes with improvements in EQI, ammonia, and nitrogen concentrations, with negligible increases in AE and OCI. The findings highlight the pivotal role of predicting effluent quality parameters and integrating the prediction into WWTP control systems. This integrated approach proves effective in optimizing pollutant regulation and overall system performance. The research provides insights into the practical implementation of ML-based control strategies in wastewater treatment. It offers future scope for exploring advanced ML algorithms and their real-time application in operational WWTPs. This research introduces a novel approach by integrating machine learning with the BSM1 weather dataset and sensor data for feature selection to predict effluent concentrations in a WWTP. Through the comparative analysis with the default proportional-integral (PI) control configuration, the research highlights the importance of integrating machine learning techniques into WWTP control systems.

Efficient feedforward sloshing suppression strategy for liquid transport

This paper introduces an advanced feedforward control method to suppress sloshing in high-speed liquid container transfers in robotic systems. Three key concepts are combined: (1.) A virtual pendulum tray is envisaged to suspend the liquid container. By moving only the virtual pivot, the resulting container motion robustly reduces sloshing. (2.) A geometric condition is found for the virtual tray/container assembly to fully suppress one specific sloshing mode, allowing rapid transfers in a way that the dominant sloshing dynamics is fully suppressed. (3.) An analytic feedforward trajectory control based on differential flatness is formulated to design fast and efficient rest-to-rest transport manoeuvres. Any sloshing of modelled higher modes which is excited during the manoeuvre is accurately stopped at the end of such a manoeuvre. The resulting control law is computationally simple and achieves excellent sloshing-suppression performance. The concept is validated via simulations, finite-element analyses, and experimental tests, proving excellent theoretical and real-world performance and showing high robustness even with variations in the liquid filling level.

Let-7 restrains an oncogenic epigenetic circuit in AT2 cells to prevent ectopic formation of fibrogenic transitional cell intermediates and pulmonary fibrosis.

Analysis of lung alveolar type 2 (AT2) progenitor stem cells has highlighted fundamental mechanisms that direct their differentiation into alveolar type 1 cells (AT1s) in lung repair and disease. However, microRNA (miRNA) mediated post-transcriptional mechanisms which govern this nexus remain understudied. We show here that the let-7 miRNA family serves a homeostatic role in governance of AT2 quiescence, specifically by preventing the uncontrolled accumulation of AT2 transitional cells and by promoting AT1 differentiation to safeguard the lung from spontaneous alveolar destruction and fibrosis. Using mice and organoid models with genetic ablation of let-7a1/let-7f1/let-7d cluster (let-7afd) in AT2 cells, we demonstrate prevents AT1 differentiation and results in aberrant accumulation of AT2 transitional cells in progressive pulmonary fibrosis. Integration of enhanced AGO2 UV-crosslinking and immunoprecipitation sequencing (AGO2-eCLIP) with RNA-sequencing from AT2 cells uncovered the induction of direct targets of let-7 in an oncogene feed-forward regulatory network including BACH1/EZH2 which drives an aberrant fibrotic cascade. Additional analyses by CUT&RUN-sequencing revealed loss of let-7afd hampers AT1 differentiation by eliciting aberrant histone EZH2 methylation which prevents the exit of AT2 transitional cells into terminal AT1s. This study identifies let-7 as a key gatekeeper of post-transcriptional and epigenetic chromatin signals to prevent AT2-driven pulmonary fibrosis.

Deep Learning based Feed Forward Neural Network Models for Hyperspectral Image Classification

Introduction Traditional feed-forward neural networks (FFNN) have been widely used in image processing, but their effectiveness can be limited. To address this, we develop two deep learning models based on FFNN: the deep backpropagation neural network classifier (DBPNN) and the deep radial basis function neural network classifier (DRBFNN), integrating convolutional layers for feature extraction. Methods We apply a training algorithm to the deep, dense layers of both classifiers, optimizing their layer structures for improved classification accuracy across various hyperspectral datasets. Testing is conducted on datasets including Indian Pine, University of Pavia, Kennedy Space Centre, and Salinas, validating the effectiveness of our approach in feature extraction and noise reduction. Results Our experiments demonstrate the superior performance of the DBPNN and DRBFNN classifiers compared to previous methods. We report enhanced classification accuracy, reduced mean square error, shorter training times, and fewer epochs required for convergence across all tested hyperspectral datasets. Conclusion The results underscore the efficacy of deep learning feed-forward classifiers in hyperspectral image processing. By leveraging convolutional layers, the DBPNN and DRBFNN models exhibit promising capabilities in feature extraction and noise reduction, surpassing the performance of conventional classifiers. These findings highlight the potential of our approach to advance hyperspectral image classification tasks.

An Adjoint Based Data-Driven Inverse-Free Iterative Feedforward Control Method

Abstract Feedforward control is widely used in control systems since it can achieve high tracking performance by effectively compensating for known disturbances before they affect the system. For traditional feedforward control methods, the performance improvement highly depends on the model quality of the system model and the accuracy of the model-inversion. However, on one hand, in practice, the modeling error is inevitable, especially for precision motion systems with complex dynamics, on the other hand, the non-minimum phase (NPM) systems often lead to a problem that plant inversion is unstable and non- causal. Therefore, this paper proposes an approach that combines the bene?ts of data-driven feedforward control and the gradient descent method. This integrated approach aims to address challenges related to laborious model identi?cation and unstable plant inversion simultaneously. The main idea is to replace the model with dedicated experiments on the system and to avoid calculating plant inversion by applying the gradient descent method to the learning process. The simulation and experimental results show that the algorithm can achieve the optimal point-to-point tracking performance without relying on model-inversion.

Research on Stability Control of Distributed Drive Vehicle with Four-Wheel Steering

The four-wheel steering distributed drive vehicle is a novel type of vehicle with independent control over the four-wheel angle and wheel torque. A method for jointly controlling the distribution of the wheel angle and torque is proposed based on this characteristic. Firstly, the two-degrees-of-freedom model and ideal reference model of four-wheel steering vehicle are established; then, the four-wheel steering controller and torque distribution controller are designed. The rear wheel angle is controlled by the feedforward controller and the feedback controller. The feedforward controller takes the side slip angle of the center of mass as the control target, and the feedback controller takes the yaw angle as the control target. Torque is controlled by two control layers, the additional yaw moment of the upper layer is calculated by the vehicle motion state and fuzzy control theory, and the lower layer distributes wheel torque through the road adhesion coefficient and wheel load. Finally, a simulation platform is established to verify the effectiveness of the proposed control algorithm.

Position Feedback-Control of an Electrothermal Microactuator Using Resistivity Self-Sensing Technique.

The self-sensing technology of microactuators utilizes a smart material to concurrently actuate and sense in a closed-loop control system. This work aimed to develop a position feedback-control system of nickel electrothermal microactuators using a resistivity self-sensing technique. The system utilizes the change in heating/sensing elements' resistance, due to the Joule heat, as the control parameter. Using this technique, the heating/sensing elements would concurrently sense and actuate in a closed loop control making the structures of microactuators simple. From a series of experiments, the proposed self-sensing feedback control system was successfully demonstrated. The tip's displacement error was smaller than 3 µm out of the displacement span of 60 µm. In addition, the system was less sensitive to the abrupt temperature change in surroundings as it was able to displace the microactuator's tip back to the desired position within 5 s, which was much faster than a feed-forward control system.

Nonlinear Robust Control of Vehicle Stabilization System with Uncertainty Based on Neural Network

To effectively suppress the effects of uncertainties including unmodeled dynamics and external disturbances in the vehicle stabilization system, a nonlinear robust control strategy based on a multilayer neural network is proposed in this paper. First, the mechanical and electrical coupling dynamics model of the vehicle stabilization system, considering model uncertainty and actuator dynamics, is refined. Second, the lumped uncertainty of the vehicle stabilization system is estimated by a multi-layer neural network and compensated by feedforward control. The high robustness of the system is ensured by constructing the sliding mode feedback control law. The proposed control method overcomes the limitations of sliding mode technology and the neural network and is naturally applied to the vehicle stabilization system, avoiding the adverse effects of high-gain feedback. Based on Lyapunov theory, it is demonstrated that the proposed controller is able to achieve the desired stability tracking performance. Finally, the effectiveness of the proposed control strategy is verified by co-simulation and comparative experiments.

An optimal feedforward circuit with null audio susceptibility in feedback‐controlled buck converter

AbstractThe ability to manage abrupt disturbances in input supply voltage and sudden fluctuations in load represents a fundamental requirement for DC‐DC buck converters. While feedback control systems typically address such transients, certain applications necessitate even faster transient responses. This paper introduces an input voltage feedforward scheme (IVFS) integrated with voltage mode feedback controllers to enhance closed‐loop performance. Relevant transfer functions resulting from the inclusion of the feedforward circuit are derived, and an optimal condition for audio susceptibility nullification is identified. This scheme ensures an additional attenuation in magnitude of audio susceptibility, in contrast to the buck converter without feedforward. In the time domain, the incorporation of IVFS results in a 20% reduction in percentage overshoot for a 12‐8‐12 step in supply voltage. Additionally, for a 12‐15‐12 step, the percentage overshoot and settling time are completely eliminated. Various active and passive parasitics are included in modeling of the buck converter to aid in designing the feedforward and feedback controller. A Type‐III controller is employed as a feedback controller to assess the closed‐loop performance. A hardware prototype is built to demonstrate the efficacy of the proposed feedforward scheme. The implementation of the entire circuit is straightforward due to its requirement of only a few discrete components, namely, analog multiplier, and error amplifier.

Interleaved high gain modified SEPIC converter in DC microgrid systems

ABSTRACT This research paper presents an Interleaved High-Gain Modified SEPIC (IHGM-SEPIC) power converter for use in PV-based microgrids. The converter operates in continuous conduction mode, achieving high efficiency and reducing switching stress. This paper explores the application of the converter in the microgrid, using an incremental conductance algorithm to calculate maximum power from the solar PV array. The power management algorithm is based on feed-forward control. This paper demonstrates the converter’s high performance, achieving a maximum efficiency of 98.87% and exhibiting excellent transient performance under line and load regulation. A robust experimental setup confirms the mathematical computations. The proposed converter is suitable for renewable applications and contributes to the advancement of renewable energy technology.

Adaptive output feedback control system design for nonlinear systems via neural networks

AbstractAdaptive output feedback control based on output feedback exponential passivity (OFEP) has a simple structure and strong robustness in regard to disturbances and system uncertainties. However, it is difficult for most nonlinear systems to satisfy the conditions of OFEP. Thus, the introduction of a suitable parallel feedforward compensator (PFC) to construct an OFEP‐augmented system with the controlled system has been used, but the control output cannot achieve perfect tracking because of the output of the introduced PFC. As a solution, introducing a feedforward (FF) input to build a 2 degree of freedom (2‐DOF) is a simple and effective way to solve this problem. In this paper, we propose the design schemes for suitable PFC and FF input of nonlinear systems via the use of neural networks (NN), respectively. Besides, to cope with possibly present input disturbances, we also provide a method to achieve disturbance compensation based on NN to reduce their interference. Finally, the effectiveness of all proposed design schemes is confirmed through numerical simulations.

Dual Virtual Series–Parallel Emulation with Inertial Voltage Feedforward Controller for DC Microgrid

The impacts of nonlinearities from the I–V curve cause large oscillation and fluctuation occur in the PV attached DC voltage, BDC, load current, and solar current during low penetration of irradiance. PV system nonlinearities, weak damping, and lack of inertia causes lead to stability issues for DC microgrids. The stability of the system has been shifted to an unstable region during low penetration discussed for traditional controllers. In this paper, dual virtual series and parallel emulation with inertia feedforward controller have been introduced to mitigate fluctuations, initial DC notching, and damping issue for the DC microgrid system. This control method simulates the characteristics of the DC machine's robust and versatile method of DC/DC converter. The crossover frequency of the system has been reduced during low penetration with SPIEC which is not sufficient to prevent the oscillation and notching of the system. The system stability is enhanced through the proposed controller during low penetration analysed by pole-zero plots. During low penetration, the system pole has been shifted to a stable region towards the left side of the s-plane by the proposed controller to the traditional controller. The transient performance like oscillation, overshoot, and DC initial notching is resolved by the feed-forward current controller. However, the steady-state error is resolved by the voltage restoration controller. The proposed controller aims to enhance the power sharing among the energy storage and PV system under constant/variable loads. The oscillation, overshoot, and DC initial notching of the energy storage and PV have been discussed and made fast dynamic response by the proposed controller.

Backstepping based neural [formula omitted] optimal tracking control for nonlinear state constrained systems with input delay and disturbances

This paper focuses on the problem of H∞ optimal tracking control for a class of nonlinear state constrained systems with input delay and disturbances. With the aid of Pade approximation, an auxiliary variable is devised to eliminate the effects of input delay. Combining barrier Lyapunov functions (BLFs) with backstepping design technique, a feedforward adaptive controller is designed to transform the tracking control problem of nonlinear state constrained system into an equivalent H∞ control problem of input-affine error system without state constraints, wherein neural networks (NNs) are employed to approximate unknown system dynamics. Then based on single-network adaptive dynamic programming (ADP), an H∞ optimal feedback controller is developed by utilizing a single critic network to learn the Nash equilibrium related to Hamilton–Jacobi–Isaacs (HJI) equation. Therefore, the whole tracking controller can be constructed by integrating the feedforward adaptive controller with the optimal feedback controller. Moreover, it is proven by Lyapunov’s theory that all signals within the closed-loop system are uniformly ultimately bounded (UUB), and the tracking error converges to a small neighborhood of the origin without violating any state constraints. Two simulation examples are also presented to validate the effectiveness of the proposed approach.