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Load Voltage Tracking of Electric Power Systems by Using Backstepping Design
Der-Cherng Liaw,Shih-Tse Chang,Yun-Hua Huang,Jen-Tze Huang,Tzu-Chung Yenn 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
A backstepping controller design is proposed for the load voltage tracking of electric power system. It is known that a power system might exhibit saddle-node and Hopf bifurcations as load change, which can lead to the appearance of dynamic and/or static voltage collapses. The output tracking control laws are proposed for the load voltage regulation of the electric power system via backstepping control scheme. The numerical simulations demonstrate that the proposed control scheme not only could provide the regulation of the load voltage but also prevent and/or delay the appearance of bifurcation phenomena and chaotic behavior.
A Design of Motion Control Law for UAV
Der-Cherng Liaw,Li-Feng Tsai 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this paper, a study of the nonlinear dynamical behavior of unmanned aerial vehicles (UAV) is presented. Based on a given mathematical model of quad-rotor UAV, all of the possible operational modes with given control input is discussed. Motion control law is also proposed for achieving a given desired operation mode by using back-stepping control approach. Simulation results are obtained to demonstrate the success of the proposed design.
A CAN-Based Design for the Control of Electric Vehicle
Der-Cherng Liaw,Cheng-Yu Yu,Kuo-Chen Wu 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Due to the development of the advanced technologies, in the recent years, electronic devices for the communication and computer engineering have been considered to implement the so-called “X-by-Wire” scheme for steering control and braking control of the vehicles. It is known that the weight reduction of vehicle systems can decrease the power consumption when the traditional mechanical components can be replaced by electronic devices. Thus, X-by-wire system will be a trend in the automotive industry for saving energy. An event trigger design for vehicle control is proposed in this paper for vehicle control by using the protocol of Controller Area Network (CAN). The proposed design covers the development of CAN communication node, which is developed by using microprocessor chip Microchip PIC18F4585 and MCP2551 CAN transceiver. In addition, an interactive GUI-based utility program developer is also built up for user to easily develop the required function call to cope with the design specification. A wireless electric-driven control vehicle is served as a platform to verify the design of drive-by-wire and brake-by-wire operations. Experimental results demonstrate the success of the proposed design.
A TDMA Based Scheme for the Construction of R2R Communication Platform
Der-Cherng Liaw,Chia-Wei Yeh,Sung-Ming Lo 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In the previous study (Liaw and Kuo, 2012), a preliminary version of the Time Division Multiple Access (TDMA)-based communication platform had been successfully tested to provide the function of wireless hopping data transmission. However, that design was only valid for the consecutive nodes which are close-by. A modified design was proposed in (Liaw, Wang and Lai, 2013) by using self-design Wireless Sensor Network (WSN) nodes to investigate the feasibility of the application in short range data communication. The effect of the packet size and distance between two consecutive nodes on the performance of remote data transmission was also studied. Instead, in this paper, we propose another scheme for time division wireless monitoring transmission protocol (TDWMTP). This design is based on IEEE 802.11a standard with the transmission method of TDMA (Time Division Multiple Access) to enhance and implement the function proposed in (Liaw, Wang and Lai, 2013). Experimental results demonstrate the success of the proposed design.
A Study of Image Processing Based Object Depth Estimation
Der-Cherng Liaw,Shao-Chun Zhao,Yi-Ming Hu 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Issue of object’s depth estimation from binocular vision technique is studied in this paper. A binocular vision platform is set up to detect and estimate the object’s depth. Mathematical derivation of object’s depth from the two cameras of the proposed platform is re-visited to reveal the linkage between system parameters such as focal length and the estimation error. Both of simulation and experimental results are obtained for parametric analysis of estimation error. A comparison with Kinect is also given to demonstrate the superiority of the proposed design.
A Bifurcation Study of Droop-Controlled Inverter-Based Microgrids with Dynamic Loads
Sheng-Jie Huang,Der-Cherng Liaw 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The paper studies the dynamical behavior of droop-controlled inverter-based microgrids with dynamic loads. A result for determining the corresponding local stability property of the system at each equilibrium point is derived. Sufficient conditions for the parameters to ensure system stability of the microgrids are also obtained. Saddle-node bifurcation was found to occur while the reactive power demand increases to the stability limit of the system. Existence conditions for such an unstable phenomenon are calculated by employing the bifurcation theory on the proposed system model. Numerical simulations for an example of six-order testing system have demonstrated the validity of the proposed results.
A Characteristic Analysis of Vehicle’s Lateral Dynamics
Wen-Ching Chung,Der-Cherng Liaw,Kuo-Liang Chang,Chiz-Chung Cheng 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, characteristic analysis of vehicle’s lateral dynamics is proposed to understand the nonlinear behavior of vehicle system. It was observed in Liaw and Chung (2006) that, with the variation of the front wheel steering angle, the vehicle dynamics would exhibit the saddle-node bifurcation. That might result in spin motion and/or system instability. To find out the key factors for causing the instability of vehicle system, the driving speed, the vehicle’s mass and the location of the center of gravity were treated as system variables for analytical study. Numerical simulations for an example model demonstrate the main results of the theoretical analysis.
Sliding Mode Stabilization of a Centrifugal Compress or with Spool Dynamics
Chau-Chung Song,Song-Shyong Chen,Der-Cherng Liaw 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, the topic of robust stabilization of a centrifugal compress or with spool dynamics is studied and presented. Sliding mode controls for systems with matching-type and mismatching-type uncertainties are seperately designed and verified. The sliding mode design is chosen to achieve the stability of the working equili brium for systems without uncertainties. However, it is known that uncertainties in the spool dynamics and the compress or characteristic are most likely to happen in the real applications. By actuating only the throttle as the single control input, the robust stabilization of the working equili brium is proposed by using as liding mode control. Numerical simulations are given to demonstrate the feasibility of the proposed and derived approaches.
SMC Reliable Design for T-S Model-Based Systems
Yew-Wen Liang,Sheng-Dong Xu,Der-Cherng Liaw,Cheng-Chang Chen,Li-Wei Ting 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper studies the robust reliable control issues based on the Takagi-Sugeno (T-S) fuzzy system modeling method and the sliding mode control (SMC) technique. The combined scheme is shown to have the merits of both approaches. It not only alleviates the on-line computational burden by using the T-S fuzzy system model to approximate the original nonlinear one (since most of the system parameters of the T-S model can be computed off-line) but it also preserves the advantages of rapid response and robustness of the SMC schemes. Moreover, the combined scheme does not require on-line computation of any nonlinear term of the original dynamics and the increase in the partition number of the region of premise variables does not create extra on-line computational burdens for the scheme. Under the design, the control mission can continue safely without prompt external support even when the susceptible actuators fail to operate. The proposed analytical results are also applied to the attitude control of a spacecraft. Simulation results demonstrate the benefits of the proposed scheme.