0000000000848961
AUTHOR
Sheikh I. Azid
Dynamical Compensation of the Load Torque in a High-Performance Electrical Drive with an Induction Motor
This paper describes a new method for dynamical estimation of load disturbance in induction motors by using Nonlinear Unknown Input Observers (NUIO). This estimation is then used to compensate dynamically the load torque in a Field Oriented Control (FOC) induction motor drive to increase its load-rejection capability. The method has been verified both in simulation and experimentally on a experimental rig.
Wind gust estimation for precise quasi-hovering control of quadrotor aircraft
Abstract This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind its…
Erle-copter Simulation using ROS and Gazebo
The recent decrease in the price as well as size of semi-conductor logic and due to significant advancements in technologies such as microcontrollers, motors and sensors, the application of quadcopters in several fields has been achieved. However, testing of quadcopter prototypes still has a risk of damage due to faults and unexpected behavior. Hence, a method of testing of quadcopters in simulation mimicking the actual conditions of the real environment in an actual hardware test has been proposed. For this purpose, Gazebo simulator integrated with ROS has been chosen for the simulation of the path of the quadcopter. Moreover, the software Matlab/Simulink has been interfaced with Gazebo in…