In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main featu...

Permanent Magnet (PM) stepper motors are widely used in accurate systems which are affected by external disturbances and parameters uncertainty. Also, an appropriate nonlinear controller is needed when the problem is to track the reference signal. In this paper, a robust adaptive controller is presented to control rotor angular position in stepper motors. The main idea to make a robust controll...

This paper presents a perfect tracking control for discrete-time nonminimum phase of electro-hydraulic servo (EHS) system by adopting a combination of feedback and feedforward controller. A linear-quadratic-regulator (LQR) is firstly design as a feedback controller and a feedforward controller is then proposed to eliminate the phase error emerge by the LQR controller during the tracking control...

This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...

In this paper, photovoltaic (PV) grid-connected inverter which is the core device in PV grid-connected system has been in depth research.An improved predictive current controller has been developed by the Authors for single-phase grid-connected voltage source inverters (VSI).Based on DSP TMS320LF2407A, a 10 kW single-phase grid-connected inverter has been built in this paper.Thus is aimed at us...

The main asset of this paper is among the uses of fuzzy logic in the engineering sector and especially in the renewable energies as a large alternate of fossil energies, in this paper a PSO-based optimization is used to find the optimal scaling parameters, of a fuzzy logic-based MPPT controller, that maximize the efficiency of a photovoltaic pumping system. The tuning of input and output parame...

in this paper, the consequences of well-known characteristics of near-fault ground motions, forward directivity and fling step, on the seismic response control is investigated. an integrated fuzzy rule-based control strategy for building structures incorporated with semi active friction damping system with amplifying braces (fdsab) is developed. the membership functions and fuzzy rules of fuzzy...

A robust motion controller based on neural network and backstepping technique is proposed for a twoDOF low-quality mobile robot (MR). There are two main components in the motion controller. One is the tracking controller, which guarantees the MR follows the reference trajectory; the other one is the wheellevel inverse NN controller, which compensates the dynamics of the MR. Simulation results a...

The main objective of this paper is to design a dynamic reference trajectory based on hysteresis to avoid saturation in controlled wind turbines. Basically, the torque controller and pitch controller set-points are hysteretically manipulated to avoid saturation and drive the system with smooth dynamic changes. Simulation results obtained from a 5MW wind turbine benchmark model show that our pro...

In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main featu...