Mixed-Weights Least-Squares Stable Predictive Control Algorithm with Soft and Hard Constraints

Mixed-weight least-squares (MWLS) predictive control algorithm, compared with quadratic programming (QP) method, has the advantages of reducing the computer burden, quick calculation speed and dealing with the case in which the optimization is infeasible. But it can only deal with soft constraints. In order to deal with hard constraints and guarantee feasibility, an improved algorithm is proposed by recalculating the setpoint according to the hard constraints before calculating the manipulated variable and MWLS algorithm is used to satisfy the requirement of soft constraints for the system with the input constraints and output constraints. The algorithm can not only guarantee stability of the system and zero steady state error, but also satisfy the hard constraints of input and output variables. The simulation results show the improved algorithm is feasible and effective.

Adaptive Stabilization for Uncertain Nonholonomic Dynamic Mobile Robots Based on Visual Servoing Feedback

nonholonomic 的稳定问题动态活动机器人与一修理(装天花板) 照相机在这份报纸被探讨。首先，一个照相机目标视觉 servoing 运动学的模型被利用针孔照相机模型介绍，一个运动学的稳定控制器为运动学的模型被给。然后，一个适应滑动模式控制器被设计面对与照相机系统联系的参量的无常稳定不明确的动态活动机器人。建议控制器不仅对象集体变化那样的结构化的无常而且到象骚乱那样的未组织的柔韧。建议控制系统的稳定性和估计的参数的固定被 Lyapunov 方法严厉地证明。模拟结果被介绍说明控制法律的表演。

Adaptive tracking control for uncertain dynamic nonholonomic mobile robots based on visual servoing

The trajectory tracking control problem of dynamic nonholonomic wheeled mobile robots is considered via visual servoing feedback. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive sliding mode controller is designed for the uncertain dynamic model in the presence of parametric uncertainties associated with the camera system. The proposed controller is robust not only to structured uncertainties such as mass variation but also to unstructured one such as disturbances. The asymptotic convergence of tracking errors to equilibrium point is rigorously proved by the Lyapunov method. Simulation results are provided to illustrate the performance of the control law.

Dynamic modeling and simulation test of a 60 kW PEMFC generation system

In this paper,a 60 kW proton exchange membrane fuel cell(PEMFC) generation system is modeled in order to design the system parameters and investigate the static and dynamic characteristics for control purposes.To achieve an overall system model,the system is divided into five modules:the PEMFC stack(anode and cathode flows,membrane hydration,and stack voltage and power),cathode air supply(air compressor,supply manifold,cooler,and humidifier),anode fuel supply(hydrogen valve and humidifier),cathode exhaust exit(exit manifold and water return),and power conditioning(DC/DC and DC/AC) modules.Using a combination of empirical and physical modeling techniques,the model is developed to set the operation conditions of current,temperature,and cathode and anode gas flows and pressures,which have major impacts on system performance.The current model is based on a 60 kW PEMFC power plant designed for residential applications and takes account of the electrochemical and thermal aspects of chemical reactions within the stack as well as flows of reactants across the system.The simulation tests show that the system model can represent the static and dynamic characteristics of a 60 kW PEMFC generation system,which is mathematically simple for system parameters and control designs.

Control design of 60kW PEMFC generation system for residential applications

This paper presented a control design methodology for a proton exchange membrane fuel cell (PEMFC) generation system for residential applications. The dynamic behavior of the generation system is complex in such applications. A comprehensive control design is very important for achieving a steady system operation and efficiency. The control strategy for a 60 kW generation system was proposed and tested based on the system dynamic model. A two-variable single neuron proportional-integral (PI) decoupling controller was developed for anode pressure and humidity by adjusting the hydrogen flow and water injection. A similar controller was developed for cathode pressure and humidity by adjusting the exhaust flow and water injection. The desired oxygen excess ratio was kept by a feedback controller based on the load current. An optimal seeking controller was used to trace the unique optimal power point. Two negative feedback controllers were used to provide AC power and a suitable voltage for residential loads by a power conditioning unit. Control simulation tests showed that 60 kW PEMFC generation system responded well for computer-simulated step changes in the load power demand. This control methodology for a 60 kW PEMFC generation system would be a competitive solution for system level designs such as parameter design, performance analysis, and online optimization.