Abstract— In this paper, we propose a decentralized variable gain robust controller which achieves not only robust stability but also satisfactory transient performance for a class of uncertain large-scale interconnected systems with state delays. The proposed decentralized robust controller consists of a fixed feedback gain controller and a variable one tuned by parameter adjustment laws. In t...

into the effective operation of variable gain amplifiers (VGA) in automatic gain control (AGC) applications. Figure 1 is a general block diagram for an AGC loop. The input signal passes through the VGA to produce the output level to be stabilized. The detector’s output is compared against a setpoint voltage to produce an error signal, which is then integrated to produce a gain control voltage. ...

One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in everyday human environments. It is, however, not t...

Uncontrolled wind turbine configuration, such as stall-regulation captures, energy relative to the amount of wind speed. This configuration requires constant turbine speed because the generator that is being directly coupled is also connected to a fixed-frequency utility grid. In extremely strong wind conditions, only a fraction of available energy is captured. Plants designed with such a confi...

Abstract – This paper discusses the development of an adaptive feedback linearisation controller for a variable speed wind turbine. The controller provides an adaptive estimate of the turbine shaft torque. A feedback linearisation controller utilises the torque estimate to provide a torque reference for a field oriented squirrel cage induction machine. The induction machine is connected through...

This paper investigates a novel method for the control of “morphing” aircraft. The concept consists of a pair of winglets with adjustable cant angle, independently actuated and mounted at the tips of a baseline flying wing. The general philosophybehind the conceptwas that for specificflight conditions such as a coordinated turn, the use of two control devices would be sufficient for adequate co...

We present new global and local policy search algorithms suitable for problems with policy-dependent cost variance (or risk), a property present in many robot control tasks. These algorithms exploit new techniques in nonparameteric heteroscedastic regression to directly model the policy-dependent distribution of cost. For local search, the learned cost model can be used as a critic for performi...

Sliding mode is used in order to retain a dynamic system accurately at a given constraint and features theoretically-in nite-frequency switching. Standard sliding modes are known to feature nite time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Having generalized the notion of sliding mode, higher order sliding modes preserve ...

Universal computation of a quantum system consisting of superpositions of well-separated coherent states of multiple harmonic oscillators can be achieved by three families of adiabatic holonomic gates. The first gate consists of moving a coherent state around a closed path in phase space, resulting in a relative Berry phase between that state and the other states. The second gate consists of "c...

In this paper, we propose a control scheme for the position of Variable Cam Timing (VCT) actuators. We take into account the observation by (Genç et al., 2001) that these actuators feature a significant nonlinearity, but we use a different approach. We perform a model reduction of mechanics, pressure, flows and balance equations. It serves to design an observer used in a motion planning strateg...