This paper focuses on the trajectory tracking of quadrotors under bounded external disturbances.An optimised robust controller is proposed to drive the position and attitude ofa quadrotor converge to their references ...This paper focuses on the trajectory tracking of quadrotors under bounded external disturbances.An optimised robust controller is proposed to drive the position and attitude ofa quadrotor converge to their references quickly. At first, nonsingular fast terminal slidingmode control is developed, which can guarantee not only the stability but also finite-timeconvergence of the closed-loop system. As the parameters of the designed controllers playa vital role for control performance, an improved beetle antennae search algorithm is proposedto optimise them. By employing the historical information of the beetle’s antennaeand dynamically updating the step size as well as the range of its searching, the optimisingis accelerated considerably to ensure the efficiency of the quadrotor control. The superiorityof the proposed control scheme is demonstrated by simulation experiments, from whichone can see that both the error and the overshooting of the trajectory tracking are reducedeffectively.展开更多
Aiming at issues of life loss(LL)and overall energy efficiency(OEE)for battery energy storage system(BESS)in smoothing wind power fluctuations,a dynamic grouping control strategy of BESS for remaining useful life(RUL)...Aiming at issues of life loss(LL)and overall energy efficiency(OEE)for battery energy storage system(BESS)in smoothing wind power fluctuations,a dynamic grouping control strategy of BESS for remaining useful life(RUL)extension and OEE improvement is proposed.First,grid-connected power signals are obtained.Second,a model to optimize capacity allocation for three battery groups(BGs)in BESS is established considering LL and OEE,and it is solved by the designed improved beetle swarm antennae search algorithm.Then,a dynamic grouping method is proposed to dynamically adjust the grouping state of battery units(BUs)during operation to keep good sustainable dispatchability.Then,a double-layer power allocation approach coordinated with multi-principle is designed to reduce LL and improve OEE,and also keeps consistency of state of charge for BUs simultaneously.The upper layer achieves power allocation from BESS into the three BGs and power allocation method for each BG is determined.The lower layer,considering PCS efficiency under different working conditions,finishes power allocation from each BG into BUs inside it.Subsequently,an RUL evaluation model based on the swing door trend algorithm is built to shorten required calculation time.Finally,the proposed control strategy is simulated and results compared with other strategies demonstrate the proposed strategy acquires the longest RUL and highest OEE with smoothing wind power fluctuations effectively,which verifies its correctness and validity.展开更多
基金Fujian Provincial Science and Technology Major Project(No.2020HZ02014)Education and Teaching Reform Research Project for Colleges and Universities in Fujian Province(No.FBJG20210239)Huaqiao University Graduate Education Teaching Reform Research Funding Project(No.20YJG009).
文摘This paper focuses on the trajectory tracking of quadrotors under bounded external disturbances.An optimised robust controller is proposed to drive the position and attitude ofa quadrotor converge to their references quickly. At first, nonsingular fast terminal slidingmode control is developed, which can guarantee not only the stability but also finite-timeconvergence of the closed-loop system. As the parameters of the designed controllers playa vital role for control performance, an improved beetle antennae search algorithm is proposedto optimise them. By employing the historical information of the beetle’s antennaeand dynamically updating the step size as well as the range of its searching, the optimisingis accelerated considerably to ensure the efficiency of the quadrotor control. The superiorityof the proposed control scheme is demonstrated by simulation experiments, from whichone can see that both the error and the overshooting of the trajectory tracking are reducedeffectively.
基金supported by the National Key Research and Development Program of China(No.2018YFE0122200)the National Natural Science Foundation of China(No.52077078)the Fundamental Research Funds for the Central Universities(No.2020MS090).
文摘Aiming at issues of life loss(LL)and overall energy efficiency(OEE)for battery energy storage system(BESS)in smoothing wind power fluctuations,a dynamic grouping control strategy of BESS for remaining useful life(RUL)extension and OEE improvement is proposed.First,grid-connected power signals are obtained.Second,a model to optimize capacity allocation for three battery groups(BGs)in BESS is established considering LL and OEE,and it is solved by the designed improved beetle swarm antennae search algorithm.Then,a dynamic grouping method is proposed to dynamically adjust the grouping state of battery units(BUs)during operation to keep good sustainable dispatchability.Then,a double-layer power allocation approach coordinated with multi-principle is designed to reduce LL and improve OEE,and also keeps consistency of state of charge for BUs simultaneously.The upper layer achieves power allocation from BESS into the three BGs and power allocation method for each BG is determined.The lower layer,considering PCS efficiency under different working conditions,finishes power allocation from each BG into BUs inside it.Subsequently,an RUL evaluation model based on the swing door trend algorithm is built to shorten required calculation time.Finally,the proposed control strategy is simulated and results compared with other strategies demonstrate the proposed strategy acquires the longest RUL and highest OEE with smoothing wind power fluctuations effectively,which verifies its correctness and validity.
