Robust control approach for handling matched and/or unmatched uncertainties in port‐controlled Hamiltonian systems

SUMMARY This paper proposes a robust controller for the generation of stable limit cycles in multi-input mechanical systems subjected to model uncertainties. The proposed idea is based on Port-Controlled Hamiltonian (PCH) model and energy-based control by considering the Hamiltonian function as the Lyapunov function. For this purpose, first, a nominal controller is designed by shaping the energy function of the system according to the structure of the desired limit cycle. Then, an additional robustifying control term is designed based on the integral sliding mode method with the selection of an appropriate sliding surface. Finally, computer simulations for two practical case studies are provided to confirm the effectiveness of the proposed controller in the generation of stable limit cycles in the presence of uncertainties.

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“…Consider the following dynamical equations, which represent the motion equations of n-degree-offreedom mechanical systems: 29,35,36…”

Section: Problem Statementmentioning

confidence: 99%

Robust Stable Limit Cycle Generation in Multi-Input Mechanical Systems

Binazadeh

Karimi

2021

Robotica

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“…Hitherto, various frequency control schemes for microgrids have been reported by applications of advanced control techniques such as model predictive control [3,4], robust control [5,6], fuzzy adaptive model predictive control [7], sliding model technique [8] and so on. Although a great many achievements have been made in advanced controllers, the application of the PI/proportional-integral-derivation (PID) controller into the microgrid control system is of great practical importance because of its simplicity, clear functionality, and ease of implementation.…”

Section: Introductionmentioning

confidence: 99%

“…Hitherto, various frequency control schemes for microgrids have been reported by applications of advanced control techniques such as model predictive control [3,4], robust control [5,6], fuzzy adaptive model predictive control [7], sliding model technique [8] and so on. Although a great many achievements have been made in advanced controllers, the application of the PI/proportional-integral-derivation (PID) This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.…”

Section: Introductionmentioning

confidence: 99%

Adaptive constrained population extremal optimisation‐based robust proportional‐integral‐derivation frequency control method for an islanded microgrid

Zeng

Zhou

2021

IET Cyber-Syst and Robotics

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The expected penetration of renewable sources is driving the islanded microgrid towards uncertainties, which have highly influence the reliability and complexities of frequency control. To alleviate the influence caused by load fluctuations and inherent variability of renewable sources, this article proposes an optimised robust proportional-integralderivation (PID) frequency control method by taking full advantage of a robust control strategy while simultaneously maintaining the basic characteristics of a PID controller. During the process of iterated optimisation, a weighted objective function is used to balance the tracking error performance, robust stability and disturbance attenuation performance. Then, the robust PID frequency (RPIDF) controller is determined by an adaptive constrained population extremal optimisation algorithm based on self-adaptive penalty constraint-handling technique. The proposed control method is examined on a typical islanded microgrid, and the control performance is evaluated under various disturbances and parametric uncertainties. Finally, the simulation results indicate that the fitness value of the proposed method is 1.7872, which is lower than 2.9585 and 3.0887 obtained by two other evolutionary algorithms-based RPIDF controllers. Moreover, the comprehensive simulation results fully demonstrate that the proposed method is superior to other comparison methods in terms of four performance indices on the most considered scenarios. K E Y W O R D S constrained evolutionary algorithm, frequency control, islanded microgrid, population extremal optimisation, robust PID controllerThis is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.

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