The path-following control design for an autonomous underwater vehicle(AUV)requires prior full or partial knowledge about the mathematical model defined through Newton’s second law based on a geometrical investigatio...The path-following control design for an autonomous underwater vehicle(AUV)requires prior full or partial knowledge about the mathematical model defined through Newton’s second law based on a geometrical investigation.AUV dynamics are highly nonlinear and time-varying,facing unpredictable disturbances due to AUVs operating in deep,hazardous oceanic environments.Consequently,navigation guidance and control systems for AUVs must learn and adapt to the time-varying dynamics of the nonlinear fully coupled vehicle model in the presence of highly unstructured underwater operating conditions.Many control engineers focus on the application of robust model-free adaptive control techniques in AUV maneuvers.Hence,the main goal is to design a novel salp swarm optimization of super twisting algorithm-based secondorder sliding mode controller for the planar path-following control of an AUV through regulation of the heading angle parameter.The finite time for tracking error convergence in the horizontal plane is provided through the control structure architecture,particularly for lateral deviations from the desired path.The proposed control law is designed such that it steers a robotic vehicle to track a predefined planar path at a constant speed determined by an end-user,without any temporal specification.Finally,the efficacy and tracking accuracy are evaluated through comparative analysis based on simulation and experimental hardware-in-loop assessment without violating the input constraints.Moreover,the proposed control law can handle parametric uncertainties and unpredictable disturbances such as ocean currents,wind,and measurement noise.展开更多
To enhance the robustness and dynamic performance of a self-excited induction generator (SEIG) used in a stand-alone wind energy system (WES), a virtual flux oriented control (VFOC) based on nonlinear super-twisting s...To enhance the robustness and dynamic performance of a self-excited induction generator (SEIG) used in a stand-alone wind energy system (WES), a virtual flux oriented control (VFOC) based on nonlinear super-twisting sliding mode control (STSMC) is adopted. STSMC is used to replace the conventional proportional-integral-Fuzzy Logic Controller (PI-FLC) of the inner current control loops. The combination of the proposed control strategy with space vector modulation (SVM) applied to a PWM rectifier brings many advantages such as reduction in harmonics, and precise and rapid tracking of the references. The performance of the proposed control technique (STSMC-VFOC-SVM) is verified through simulations and compared with the traditional technique (PI-FLC-VFOC-SVM). It shows that the proposed method improves the dynamics of the system with reduced current harmonics. In addition, the use of a virtual flux estimator instead of a phase-locked loop (PLL) eliminates the line voltage sensors and thus increases the reliability of the system.展开更多
Designing artificial structures with heterogeneous elements and manipulating their interface coupling ways usually bring in synthetic neo-nature to functional devices.For piezoceramic devices,the deformation response ...Designing artificial structures with heterogeneous elements and manipulating their interface coupling ways usually bring in synthetic neo-nature to functional devices.For piezoceramic devices,the deformation response refers to a variety of extensional,contractional,or shear modes of crystals,and also relies on boundary conditions from morphology design.However,to pursue fundamental torsion actuation in an integrated piezoceramic component is still a long-term tough task due to nil twist mode limited by microscopic crystal mirror symmetry.Herein,we demonstrate a design of cofired monolithic actuators to originally overcome this obstacle.The prototype device is composed of two sets of stacked actuation subunits that work on artificially reverse face shear modes,and their chiral stiffness couplings will synergistically contribute to synthetic twist outputs at a broad bandwidth.Finite element simulation reveals twist displacements are highly tunable by manipulating the geometrical dimensions.Transverse deflection measurements manifest the stable and sizeable linear actuation response to applied electric fields(around 3.7μm under 40 V at 1 Hz).Importantly,the design actually introduces a more general route to enable arbitrary modes and actuation states in integrated piezoceramic components.展开更多
文摘The path-following control design for an autonomous underwater vehicle(AUV)requires prior full or partial knowledge about the mathematical model defined through Newton’s second law based on a geometrical investigation.AUV dynamics are highly nonlinear and time-varying,facing unpredictable disturbances due to AUVs operating in deep,hazardous oceanic environments.Consequently,navigation guidance and control systems for AUVs must learn and adapt to the time-varying dynamics of the nonlinear fully coupled vehicle model in the presence of highly unstructured underwater operating conditions.Many control engineers focus on the application of robust model-free adaptive control techniques in AUV maneuvers.Hence,the main goal is to design a novel salp swarm optimization of super twisting algorithm-based secondorder sliding mode controller for the planar path-following control of an AUV through regulation of the heading angle parameter.The finite time for tracking error convergence in the horizontal plane is provided through the control structure architecture,particularly for lateral deviations from the desired path.The proposed control law is designed such that it steers a robotic vehicle to track a predefined planar path at a constant speed determined by an end-user,without any temporal specification.Finally,the efficacy and tracking accuracy are evaluated through comparative analysis based on simulation and experimental hardware-in-loop assessment without violating the input constraints.Moreover,the proposed control law can handle parametric uncertainties and unpredictable disturbances such as ocean currents,wind,and measurement noise.
基金supported by the:Direction Générale de la Recherche Scientifique et du Développement Technologique(DGRSDT).
文摘To enhance the robustness and dynamic performance of a self-excited induction generator (SEIG) used in a stand-alone wind energy system (WES), a virtual flux oriented control (VFOC) based on nonlinear super-twisting sliding mode control (STSMC) is adopted. STSMC is used to replace the conventional proportional-integral-Fuzzy Logic Controller (PI-FLC) of the inner current control loops. The combination of the proposed control strategy with space vector modulation (SVM) applied to a PWM rectifier brings many advantages such as reduction in harmonics, and precise and rapid tracking of the references. The performance of the proposed control technique (STSMC-VFOC-SVM) is verified through simulations and compared with the traditional technique (PI-FLC-VFOC-SVM). It shows that the proposed method improves the dynamics of the system with reduced current harmonics. In addition, the use of a virtual flux estimator instead of a phase-locked loop (PLL) eliminates the line voltage sensors and thus increases the reliability of the system.
基金the National Natural Science Foundation of China(51772005,51132001,and 52032012)Beijing Key Laboratory for Magnetoelectric Materials and Devices。
文摘Designing artificial structures with heterogeneous elements and manipulating their interface coupling ways usually bring in synthetic neo-nature to functional devices.For piezoceramic devices,the deformation response refers to a variety of extensional,contractional,or shear modes of crystals,and also relies on boundary conditions from morphology design.However,to pursue fundamental torsion actuation in an integrated piezoceramic component is still a long-term tough task due to nil twist mode limited by microscopic crystal mirror symmetry.Herein,we demonstrate a design of cofired monolithic actuators to originally overcome this obstacle.The prototype device is composed of two sets of stacked actuation subunits that work on artificially reverse face shear modes,and their chiral stiffness couplings will synergistically contribute to synthetic twist outputs at a broad bandwidth.Finite element simulation reveals twist displacements are highly tunable by manipulating the geometrical dimensions.Transverse deflection measurements manifest the stable and sizeable linear actuation response to applied electric fields(around 3.7μm under 40 V at 1 Hz).Importantly,the design actually introduces a more general route to enable arbitrary modes and actuation states in integrated piezoceramic components.
