Controls and Control Theory Commons^™

Development Of Autonomous Vehicle Motion Planning And Control Algorithm With D* Planner And Model Predictive Control In A Dynamic Environment, Somnath Mondal

Dissertations, Master's Theses and Master's Reports

The research in this report incorporates the improvement in the autonomous driving capability of self-driving cars in a dynamic environment. Global and local path planning are implemented using the D* path planning algorithm with a combined Cubic B-Spline trajectory generator, which generates an optimal obstacle free trajectory for the vehicle to follow and avoid collision. Model Predictive Control (MPC) is used for the longitudinal and the lateral control of the vehicle. The presented motion planning and control algorithm is tested using Model-In-the-Loop (MIL) method with the help of MATLAB® Driving Scenario Designer and Unreal Engine® Simulator by Epic Games®. Different …

Resilience For Multi-Filter All-Source Navigation Framework With Integrity, Jonathon S. Gipson, Robert C. Leishman

Faculty Publications

The Autonomous and Resilient Management of All-source Sensors (ARMAS) framework monitors residual-space test statistics across unique sensor-exclusion banks of filters, (known as subfilters) to provide a resilient, fault-resistant all-source navigation architecture with assurance. A critical assumption of this architecture, demonstrated in this paper, is fully overlapping state observability across all subfilters. All-source sensors, particularly those that only provide partial state information (altimeters, TDoA, AOB, etc.) do not intrinsically meet this requirement.
This paper presents a novel method to monitor real-time overlapping position state observability and introduces an "observability bank" within the ARMAS framework, known as Stable Observability Monitoring (SOM). SOM …

Bibliometric Review On Inertial Sensors Based Position Estimation Using Sensor Fusion, Animesh Mishra, Hamshita Kancharlapalli, Ankit Kumar, Aditya Chauhan, Parag Narkhede

Library Philosophy and Practice (e-journal)

Background: This paper analyzes the position estimation of UAV in a 3D environment, on the basis of inertial sensors and sensor fusion algorithm, done from the year 1994 to 2020. This paper contains various bibliometric analyses previously done on this topic.

Methods: The content for this topic was taken from the popular Scopus database. The Scopus provides many filters for searching databases with different document categories like document by year, country, etc. The research carried in this paper also includes co-authorship, citation analysis, etc.

Results: A total of 345 articles were obtained from the last 20 years, on the topic …

Implementation Of Fuzzy Logic Control Into An Equivalent Minimization Strategy For Adaptive Energy Management Of A Parallel Hybrid Electric Vehicle, Jared Alexander Diethorn

Graduate Theses, Dissertations, and Problem Reports (ETD)

As government agencies continue to tighten emissions regulations due to the continued increase in greenhouse gas production, automotive industries are seeking to produce increasingly efficient vehicle technology. Electric vehicles have been introduced by the industry, showing promising signs of reducing emissions production in the automotive sector. However, many consumers may be hesitant to purchase fully electric vehicles due to several uncertainty variables including available charging stations. Hybrid electric vehicles (HEVs) have been introduced to reduce problems while improving fuel economy. HEVs have led to the demand of creating more advanced controls software to consider multiple components for propulsive power in …

Consensus Based Control Strategy For Virtual Synchronous Generators In Microgrids, Anusha Kandula

Graduate Theses, Dissertations, and Problem Reports (ETD)

Renewable energy sources such as photo-voltaic and wind energy are integrating very rapidly in power systems. These energy-based systems typically adopt power-electronic interfaced inverters to connect to the grid. However, unlike traditional generators, these sources have low inertia, resulting in system stability issues, especially in microgrids where they are the primary sources. To mitigate the low-inertia effect, the inverters are modeled as virtual synchronous generators (VSG), and their control is designed. The VSG emulates the inertia effect of the synchronous generator and maintains the stability of the system. Even though the droop control provides the primary control, it is insufficient …

Kendali Fuzzy Logic - Interleaved Boost Converter Pada Aplikasi Motor Dc, Mentari Putri Jati, Gamar Basuki, Hasnira Hasnira

Elinvo (Electronics, Informatics, and Vocational Education)

Karakteristik motor DC menjadi hal mutlak yang perlu diketahui dalam proses pengendalian kecepatan penggerak elektrik. Konverter pengemudian elektrik yang sedang berkembang yaitu Interleaved Boost Converter. Pengendali fuzzy logic merupakan kendali yang efektif diterapkan banyak sistem linier maupun nonlinier dengan waktu operasi yang cepat. Hasil penerapan aplikasi motor DC berupa penyiram kecambah dapat berfungsi dengan baik pada variasi nilai setpoint kecepatan yang mana perubahan nilai tegangan keluaran berbanding lurus dengan perubahan kecepatan motor DC (30 Volt sd. 60 Volt ‰ˆ 800 Rpm sd 1500 Rpm). Hal ini dapat membantu para petani kecambah dalam melakukan penyiraman biji kecambah secara otomatis seiring …

Sistem Pengendali Ph Air Dan Pemantauan Lingkungan Tanaman Hidroponik Menggunakan Fuzzy Logic Berbasis Iot, Rahib Lentera Alam, Aris Nasuha

Elinvo (Electronics, Informatics, and Vocational Education)

Hidroponik merupakan solusi bercocok tanam untuk lahan pertanian yang semakin menyempit. Namun, pengendalian pH serta monitoring lingkungan yang masih manual membuat hasil tanam menjadi kurang optimal. Proyek akhir ini bertujuan untuk menciptakan perangkat keras dan perangkat lunak untuk mengontrol pH air dan memonitor lingkungan tanaman hidroponik berbasis Internet of things (IoT). Sistem tersebut menggunakan sistem kontrol logika fuzzy untuk mengendalikan pH media tanam hidroponik dan terdapat pengembangan cloud server guna mempermudah petani dalam mengontrol media tanam serta lingkungan tanaman hidroponik. Pembuatan alat ini mengacu pada metode kuantitatif yang terdiri dari tahap analisis, desain/perancangan, perakitan serta pengujian. Hasil dari pengujian yang …

Pengembangan Prototipe Sistem Pengontrolan Daya Listrik Berbasis Iot Esp32 Pada Smart Home System, Afunia Bundha Lasera, Ibnu Hary Wahyudi

Elinvo (Electronics, Informatics, and Vocational Education)

Internet sudah menjadi kebutuhan pokok bagi lapisan masyarakat. Teknologi yang saat ini masih terus berkembang adalah teknologi berbasis Internet of Things. Untuk memanfaatkan teknologi IoT pastinya membutuhkan suatu konektivitas internet yang kuat dan fasilitas yang memadai. Dalam hal ini peneliti membuat suatu projek IoT yaitu sistem Smart Home dengan Kontrol Daya Listrik Berbasis IoT. Metode yang digunakan dalam pembuatan projek adalah 1) identifikasi dan analisis kebutuhan, 2) perancangan serta pembuatan software dan hardware, 3) tahap pengujian. Fitur sistem smart home yang dibuat menggunakan modul wifi ESP32, dikarenakan modul tersebut mampu menggunakan konektivitas wifi ataupun bluetooth. Sedangkan untuk aplikasi interface …

Control Of Mr Damper Using Anfis And Pid Controller For Optimum Vehicle Ride Comfort, Mohammad Faisal Yakhni, Mohamad Ali, Mohamed El-Gohary

BAU Journal - Science and Technology

Suspension system design is an important challenging duty that facing car manufacturers, so the challenge has become to design the best system in terms of providing ride comfort and handling ability under all driving situations. The goal of this paper is to provide assistance in enhancing the effectiveness of the suspension system. A full car model with eight Degrees Of Freedom (DOF) was developed using MATLAB/Simulink. Validation of the Simulink model was obtained. The model was assumed to travel over a speed hump that has a half sine wave shape and amplitude that changing from 0.01 to 0.2 m. The …

Field Testing The Effects Of Low Reynolds Number On The Power Performance Of The Cal Poly Wind Power Research Center Small Wind Turbine, John B. Cunningham

Master's Theses

This thesis report investigates the effects of low Reynolds number on the power performance of a 3.74 m diameter horizontal axis wind turbine. The small wind turbine was field tested at the Cal Poly Wind Power Research Center to acquire its coefficient of performance, C­_p, vs. tip speed ratio, λ, characteristics. A description of both the wind turbine and test setup are provided. Data filtration and processing techniques were developed to ensure a valid method to analyze and characterize wind power measurements taken in a highly variable environment. The test results demonstrated a significant drop in the …

An Exploratory Study Of Pulse Width And Delta Sigma Modulators, Logan B. Penrod

Master's Theses

This paper explores the noise shaping and noise producing qualities of Delta-Sigma Modulators (DSM) and Pulse-Width Modulators (PWM). DSM has long been dominant in the Delta Sigma Analog-to-Digital Converter (DSADC) as a noise-shaped quantizer and time discretizer, while PWM, with a similar self oscillating structure, has seen use in Class D Power Amplifiers, performing a similar function. It has been shown that the PWM in Class D Amplifiers outperforms the DSM [1], but could this advantage be used in DSADC use-cases? LTSpice simulation and printed circuit board implementation and test are used to present data on four variations of these …

Deep Learning-Based, Passive Fault Tolerant Control Facilitated By A Taxonomy Of Cyber-Attack Effects, Dean C. Wardell

Theses and Dissertations

In the interest of improving the resilience of cyber-physical control systems to better operate in the presence of various cyber-attacks and/or faults, this dissertation presents a novel controller design based on deep-learning networks. This research lays out a controller design that does not rely on fault or cyber-attack detection. Being passive, the controller’s routine operating process is to take in data from the various components of the physical system, holistically assess the state of the physical system using deep-learning networks and decide the subsequent round of commands from the controller. This use of deep-learning methods in passive fault tolerant control …

Fractional Order Identification Method And Control: Development Of Control For Non-Minimum Phase Fractional Order System, Majid Abdullah Alhomim

Graduate Theses and Dissertations

The increasing use of renewable energy has resulted in the need for improved a dc-dc converters. This type of electronic-based equipment is needed to interface the dc voltages normally encountered with solar arrays and battery systems to voltage levels suitable for connecting three phase inverters to distribution level networks. As grid-connected solar power levels continue to increase, there is a corresponding need for improved modeling and control of power electronic converters. In particular, higher levels of boost ratios are needed to connect low voltage circuits (less than 1000 V) to medium voltage levels in the range of 13 kV to …

Robust Control Of A Multi-Phase Interleaved Boost Converter For Photovoltaic Application Using Μ-Synthesis Approach, Badur Mueedh Alharbi

Graduate Theses and Dissertations

The high demand of energy efficiency has led to the development power converter topologies and control system designs within the field of power electronics. Recent advances of interleaved boost converters have showed improved features between the power conversion topologies in several aspects, including power quality, efficiency, sustainability and reliability.

Interleaved boost converter with multi-phase technique for PV system is an attractive area for distributed power generation. During load variation or power supply changes due to the weather changes the output voltage requires a robust control to maintain stable and perform robustness.

Connecting converters in series and parallel have the advantages …

Design Of A Single-Carrier Pulse Width Modulation With Submodule Fault-Tolerant Capability For Modular Multilevel Converter, Tuanku Badzlin Hashfi

Student Works (2020-2029)

Multilevel converters are attracting a lot of attention and becoming one of the energy conversion choices for new topologies and control in industry applications and research fields. Modular multilevel converters (MMCs) are considered very promising among converter topologies for future medium-voltage and high-power applications compared to NPC, FC and CHB topologies. The improved phase disposition pulse width modulation (PDPWM) technique control for MMCs, which has a fault-tolerant capability, is presented. This study presents two methods to distribute pulses into submodules (SMs) by using PDPWM which has drawback to distribute the power equally among the submodules (SMs). First method, this study …

Dynamic Between Biomass, Ph And Acid Lactic By Microorganisms In Fermentation Of Fresh Milk, Emmanuel Rodriguez, Aurelio Castillo, Paul A. Valle, Yolocuauhtli Salazar

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Hu Aquaponics Monitoring And Control System : European Annual Edunet Conference 2020, Rachel L. Fogle, Glenn P. Williams, Josh R. Krug

Harrisburg University Presidential Research Grants

The functional purpose of the HU Aquaponics Monitoring and Control System Project is to develop an environmental and plant monitoring and control system for the HU Aquaponics Lab, located in the Student Union. The project involves the design and implementation of technology that will regularly take measurements from the environment (e.g., air temperature, water temperature, pH, dissolved oxygen, etc). PLCnext Technology will systematically collect, store, and web-publish the measurement data for HU researchers and the public to use for scientific research.

Research And Simulation Of Dc Microgrid Three-Phase Ac-Dc Converter Control Strategy Based On Double Loop, Boning Wu, Zhiqiang Gao, Xuesong Zhou, Youjie Ma, Chenglong Wang

Electrical and Computer Engineering Faculty Publications

The new voltage and current double loop control strategy is proposed to solve the DC microgrid bus voltage fluctuation caused by loads fluctuation, parameters perturbation and unbalanced three-phase power supply. Firstly, the dq axis mathematical model of three-phase AC-DC bidirectional converter in DC microgrid is analyzed and established, and then the controllers are designed according to the dq axis mathematical model. The outer loop is a voltage loop based on variable gain linear extended state observer (VGLESO) and sliding mode theory. VGLESO can not only effectively overcome the problem of peak output of traditional high-gain LESO in the initial stage …

Integrated Cyberattack Detection And Resilient Control Strategies Using Lyapunov-Based Economic Model Predictive Control, Henrique Oyama, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

The use of an integrated system framework, characterized by numerous cyber/physical components (sensor measurements, signals to actuators) connected through wired/wireless networks, has not only increased the ability to control industrial systems, but also the vulnerabilities to cyberattacks. State measurement cyberattacks could pose threats to process control systems since feedback control may be lost if the attack policy is not thwarted. Motivated by this, we propose three detection concepts based on Lyapunov‐based economic model predictive control (LEMPC) for nonlinear systems. The first approach utilizes randomized modifications to an LEMPC formulation online to potentially detect cyberattacks. The second method detects attacks when …

Trust-Based User Interface Design For Islanded Alternating Current Microgrids, Yuliya Matlashova

Electrical and Computer Engineering ETDs

Futuristic microgrid systems may be capable of providing extensive information to the operator. As microgrid systems become more pervasive there will be a need to adjust the information an operator requires, to provide an optimized user-interface. In this paper, a combinatorial optimization strategy is used to provide an optimal user-interface for the microgrid operator that selects information for display depending on the operator's trust level in the system, and the assigned task. We employ a method based in sensor placement by capturing elements of the interface as different sensors, that find an optimal set of sensors via combinatorial optimization. However, …