High performance flight systems through integrative adaptation
This work considers the problem of real time control of dynamic systems in the presence of parametric uncertainties and control saturation. We propose a combination of Control Barrier Functions (CBF) and Adaptive Control (AC). High-order CBFs are used to generate safe reference commands. Open Loop and Closed Loop reference models are designed to treat control saturation as a disturbance. This is combined with an AC design. The following simulations depict the performance of the proposed Closed Loop Reference Model control algorithm on a linear 6 degrees of freedom quadrotor model subject to parametric uncertainty in control effectiveness. The animations showcase the clear advantages of using the integrative approach. Learn more
Smart Distribution Grids: Reliability and Resilience for a DER-Rich Grid Edge
The electric power grid is undergoing a transformation as we seek to reduce our environmental footprint and reliance on foreign fuels while simultaneously electrifying transportation and heating. These concerns have led to a focused effort towards a high penetration of distributed energy resources (DERs), which include distributed generation (DG), demand response (DR), and storage. These small-scale resources can provide various services to the grid including voltage support from clusters of DERs, reduced line congestion from better generation/load management, lower operating costs by using cheaper resources (ex. renewables), and demand flexibility by enabling DR throughout the distribution grid, and resilience through adjustment of generation or consumption as required. Technologies such as storage and price-responsive demand systems are also being adopted at an accelerating pace, in an attempt to reduce operational costs and manage increasingly dynamic electrical system conditions.
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