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SUMMARYThis paper presents formulation of a novel block-backstepping based control algorithm to overcome the challenges posed by the tracking and the stabilization problem for a differential drive wheeled mobile robot (WMR). At first, a two-dimensional output vector for the WMR has been defined in such a manner that it would decouple the two control inputs and, thereby, allow the designer to formulate the control laws for the two inputs one at a time. Actually, the decoupling has been carried out in a way to convert the system into block-strict feedback form. Thereafter, block-backstepping control algorithm has been utilized to derive the expressions of the control inputs for the WMR system. The proposed block-backstepping technique has further been enriched by incorporating an integral action for enhancing the steady state performance of the overall system. Global asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Finally, the proposed control algorithm has been implemented on a laboratory scale differential drive WMR to verify the effectiveness of the proposed control law in real-time environment. Indeed, the proposed design approach is novel in the sense that it has judiciously exploited the nonholonomic constraint of the WMR to result in a reduced order block-backstepping controller for the WMR, and thereby, it has eventually yielded a compact expression of the control law that is amenable to real-time implementation.

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Summary In recent times, renewable energy sources (RESs) have been potential alternatives over the conventional generation systems connected to the grid. The power electronic inverters are the principal media of interface for connecting the RESs to the utility grid system. This work is primarily focused on the comparative analysis of Droop, virtual synchronous machine (VSM), and virtual oscillator control (VOC) techniques for the parallel operated inverters in a standalone Microgrid (MG). Droop control emulates only the droop characteristics of synchronous machines such that the transient response of this controller is not significant. VSM imitates not only the droop characteristics of synchronous machines but also the swing equation. Therefore, VSM has a remarkable difference in the dynamic performance of the system. In droop and VSM, the feedback signals such as voltage and current are measured to calculate the averaged real and reactive powers. However, the VOC works on instantaneous feedback signals such that it achieves much faster synchronization and good power‐sharing. The philosophy of the proposed VOC is to control an inverter such that it emulates the behavior of a nonlinear dead‐zone oscillator. The performance analysis of the system with the aforementioned controllers has been studied based on MATLAB/Simulink and Opal‐RT digital simulation. From the comparative analysis, it is observed that the VOC gives a better performance compared to droop and VSM control. The experimental results show the efficacy of the proposed VOC control method.