The objective of this paper is to present systematic methods for throwing motion control of underactuated robots. The Pendubot, an underactuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The controller is designed based on input-output linearization and output zer...

Lie algebra is an area of mathematics that is largely used by electrical engineer students, mainly at post-graduation level in the control area. The purpose of this paper is to illustrate the use of Lie algebra to control nonlinear systems, essentially in the framework of mobile robot control. The study of path following control of a mobile robot using an input-output feedback linearization con...

The paper addresses the disturbance decoupling problem for MIMO discretetime nonlinear systems. A sufficient conditions are derived to solve the problem by dynamic measurement feedback, i.e. the feedback that depends on measurable outputs only. The solution to the disturbance decoupling problem, described in this paper, is based on the input-output linearization, which is used to linearize cert...

The paper aims to exploit multi-terminal VSC-HVDC for wind farm interconnection and seek a control strategy that can improve the operational characteristics of the interconnection system. Firstly, the paper introduces the basic structure of the wind farm interconnection system and details the wind farm control schemes, including pitch angle control and rotational speed control. Secondly, it exp...

In applying nonlinear model-predictive control to fast unstable systems, the main difficulty is that the optimization cannot be finished within one sampling interval. To solve this problem, a cascade-control scheme has been proposed, where input-output feedback linearization forms the inner loop and nonlinear predictive control the outer loop. Thus, the nonlinear predictive control has to handl...

The control system for a Doubly Fed Induction Generator (DFIG) supplied by grid-connected Current Source Converter (CSC) is presented in this paper. Nonlinear transformation of DFIG model to the multi-scalar form proposed. nonlinear strategy active and reactive power realized feedback linearization. In proposed scheme, CSI parameters are included. Two Proportional-Integral (PI) controllers dedi...

background & aim: energy is one of important debates in agriculture ecology and for this reason; the ratio of output and input energy in different agriculture ecosystems has been calculated. if one can reduce, input energy level into farms through the indices like poisons, fertilization, tractor energy and lab our force. in addition to the net income of the farmers, this issue would play a ...

We apply retrospective cost adaptive control (RCAC) to spacecraft attitude control with magnetic actuators. We compare two approaches to address the rank deficiency and time-varying nature of the input matrix. The first approach utilizes an average of the magnetic field based on a-priori knowledge, whereas the second approach uses three multi-input, single-output controllers. RCAC uses no infor...