Extremum seeking for moderately unstable systems and for autonomous vehicle target tracking without position measurements

Zhang, Chunlei; Siranosian, Antranik Antonio; Krstić, Miroslav

doi:10.1016/j.automatica.2007.03.009

Cited by 149 publications

(104 citation statements)

References 6 publications

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“…Nevertheless, as far as the working point is "sufficiently close" to the MPP, the only unstable pole of (19) is located very close to the imaginary axis, so that the system (18) can be classified as "moderately unstable", according to the definition provided in [20]. The same paper proves that the MPPT is capable of counteracting the natural instability of the system, at least in a small neighbourhood around the MPP, provided that the speed controller response is fast enough.…”

Section: A Generation Of the Voltage Perturbationmentioning

confidence: 99%

Energy-Efficient Autonomous Solar Water-Pumping System for Permanent-Magnet Synchronous Motors

Oboe

Carraro²,

Costabeber

et al. 2017

IEEE Trans. Ind. Electron.

139

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(2017) Energy-efficient autonomous solar water-pumping system for permanent-magnet synchronous motors. IEEE Transactions on Industrial Electronics, 64 (1). pp. 43-51. ISSN 1557-9948Access from the University of Nottingham repository: http://eprints.nottingham.ac.uk/40003/1/Energy-efficient%20autonomous%20solar%20water-pumping%20system%20for%20permanent-magnet%20synchronous%20motors.pdf Copyright and reuse:The Nottingham ePrints service makes this work by researchers of the University of Nottingham available open access under the following conditions. This article is made available under the University of Nottingham End User licence and may be reused according to the conditions of the licence. For more details see: http://eprints.nottingham.ac.uk/end_user_agreement.pdf A note on versions:The version presented here may differ from the published version or from the version of record. If you wish to cite this item you are advised to consult the publisher's version. Please see the repository url above for details on accessing the published version and note that access may require a subscription.For more information, please contact eprints@nottingham.ac.uk 1 Energy-efficient autonomous solar water-pumping system for permanent magnet synchronous motors Riccardo Antonello, Member, IEEE, Matteo Carraro, Alessandro Costabeber, Member, IEEE, Fabio Tinazzi, and Mauro Zigliotto, Member, IEEEAbstract-This paper presents a novel stand-alone solarpowered water pumping system, especially suited for usage in rural or remote areas. The system is primarily designed to reduce both cost and complexity, while simultaneously guaranteeing optimal utilisation of the photovoltaic generator. The use of standard hardware and control architectures ensures ease of installation, service and maintenance. The proposed solution consists of a water pump driven by a permanent magnet synchronous motor (PMSM), controlled by a conventional field oriented control scheme. The photovoltaic array is directly connected to the DC bus of the inverter, with no intermediate power conversion stages. A perturbation based extremum-seeking controller adjusts the motor speed reference to attain the maximum power point operation of the photovoltaic array. Both simulations and experimental results on a full-scale prototype support the effectiveness of the proposed system. Index Terms-PMSM drives, MPPT tracking, PV water pumping, extremum seeking control NOMENCLATURE Variables names convention (letter / subscript):• uppercase / uppercase: large-signal DC quantity.• lowercase / lowercase: small-signal quantity.• uppercase / lowercase: amplitude of a small-signal sinusoidal perturbation.• lowercase / uppercase: total quantities (i.e. small-signal perturbation superimposed on large-signal DC quantity) Symbols used: p P , u P PV array output power and voltage. p C , p I power stored in DC bus capacitor, power absorbed by the inverter. p R , p M Joule losses and delivered mechanical power. u D,Q , i D,Q PMSM voltages and currents in the dq frame.

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Section: A Generation Of the Voltage Perturbationmentioning

confidence: 99%

Energy-Efficient Autonomous Solar Water-Pumping System for Permanent-Magnet Synchronous Motors

Oboe

Carraro²,

Costabeber

et al. 2017

IEEE Trans. Ind. Electron.

139

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“…In both cases, we accomplish tracking to within a δ-ball of the desired trajectory. Apart from the limited effort in [10], this paper provides the first results making extremum seeking to tracking for unstable plants.…”

Section: Miroslav Krstic Is With the Department Of Mechanical And Aermentioning

confidence: 99%

Extremum seeking-based tracking for unknown systems with unknown control directions

Scheinker

Krstić

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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Abstract-We develop controllers which perform trajectory tracking for a class of unknown linear and nonlinear systems. In the linear case we work under the assumption that the timevarying input vector, which is otherwise unknown, satisfies a persistency of excitation condition over a sufficiently short window. In the multi-input nonlinear case the square of the unknown time-varying input matrix has a known lower bound. Our design does not guarantee perfect regulation to the desired trajectory, but ensures semiglobal uniform ultimate boundedness of the error system and prevents large overshoots even when the initial estimate of the control direction is wrong. The stability analysis is inspired by the approach in a recent work by Dürr, Stankovic, and Johansson, which combines a Lie bracket second-order averaging result of Gurvits and Li with an extension of the perturbation theory semiglobal practical stability result of Moreau and Aeyels.

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“…In [14] and [15] a time varying version of the algorithm has been introduced, whose convergence, with probability one, has been proved in the presence of measurement noise. It has been demonstrated how this technique can be applied to autonomous vehicles source seeking in deterministic environments [16], or optimal positioning in stochastic environments [14], [17].…”

Section: Introductionmentioning

confidence: 99%

Distributed seeking of Nash equilibria in mobile sensor networks

Stanković

Johansson

Stipanović

2010

49th IEEE Conference on Decision and Control (CDC)

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Abstract-In this paper we consider the problem of distributed convergence to a Nash equilibrium based on minimal information about the underlying noncooperative game. We assume that the players/agents generate their actions based only on measurements of local cost functions, which are corrupted with additive noise. Structural parameters of their own and other players' costs, as well as the actions of the other players are unknown. Furthermore, we assume that the agents may have dynamics: their actions can not be changed instantaneously. We propose a method based on a stochastic extremum seeking algorithm with sinusoidal perturbations and we prove its convergence, with probability one, to a Nash equilibrium. We discuss how the proposed algorithm can be adopted for solving coordination problems in mobile sensor networks, taking into account specific motion dynamics of the sensors. The local cost functions can be designed such that some specific overall goal is achieved. We give an example in which each agent/sensor needs to fulfill a locally defined goal, while maintaining connectivity with neighboring agents. The proposed algorithms are illustrated through simulations.

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Extremum seeking for moderately unstable systems and for autonomous vehicle target tracking without position measurements

Cited by 149 publications

References 6 publications

Energy-Efficient Autonomous Solar Water-Pumping System for Permanent-Magnet Synchronous Motors

Energy-Efficient Autonomous Solar Water-Pumping System for Permanent-Magnet Synchronous Motors

Extremum seeking-based tracking for unknown systems with unknown control directions

Distributed seeking of Nash equilibria in mobile sensor networks

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