Current Search: Optimal control (x)
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(1 - 16 of 16)
- Title
- OPTIMAL UPFC CONTROL AND OPERATIONS FOR POWER SYSTEMS.
- Creator
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Wu, Xiaohe, Qu, Zhihua, University of Central Florida
- Abstract / Description
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The content of this dissertation consists of three parts. In thefirst part, optimal control strategies are developed for UnifiedPower Flow Controller (UPFC) following the clearance of faultconditions. UPFC is one of the most versatile Flexible ACTransmission devices (FACTs) that have been implemented thus far.The optimal control scheme is composed of two parts. The first isan optimal stabilization control, which is an open-loop `Bang'type of control. The second is an suboptimal damping...
Show moreThe content of this dissertation consists of three parts. In thefirst part, optimal control strategies are developed for UnifiedPower Flow Controller (UPFC) following the clearance of faultconditions. UPFC is one of the most versatile Flexible ACTransmission devices (FACTs) that have been implemented thus far.The optimal control scheme is composed of two parts. The first isan optimal stabilization control, which is an open-loop `Bang'type of control. The second is an suboptimal damping control,which consists of segments of `Bang' type control with switchingfunctions the same as those of a corresponding approximate linearsystem. Simulation results show that the proposed control strategyis very effective in maintaining stability and damping outtransient oscillations following the clearance of the fault. Inthe second part, a new power market structure is proposed. The newstructure is based on a two-level optimization formulation of themarket. It is shown that the proposed market structure can easilyfind the optimal solutions for the market while takeing factorssuch as demand elasticity into account. In the last part, amathematical programming problem is formulated to obtain themaximum value of the loadibility factor, while the power system isconstrained by steady-state dynamic security constraints. Aniterative solution procedure is proposed for the problem, and thesolution gives a slightly conservative estimate of the loadibilitylimit for the generation and transmission system.
Show less - Date Issued
- 2004
- Identifier
- CFE0000052, ucf:46122
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000052
- Title
- Energy-optimal Guidance of an AUV Under Flow Uncertainty and Fluid-Particle Interaction.
- Creator
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De Zoysa Abeysiriwardena, Demuni Singith, Das, Tuhin, Kumar, Ranganathan, Elgohary, Tarek, Behal, Aman, University of Central Florida
- Abstract / Description
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The work presented gives an energy-optimal solution to the guidance problem of an AUV. The presented guidance methods are for lower level control of AUV paths, facilitating existing global planning methods to be carried out comparatively more efficiently. The underlying concept is to use the energy of fluid flow fields the AUVs are navigating to extend the duration of missions. This allows gathering of comparatively more data with higher spatio-temporal resolution. The problem is formulated...
Show moreThe work presented gives an energy-optimal solution to the guidance problem of an AUV. The presented guidance methods are for lower level control of AUV paths, facilitating existing global planning methods to be carried out comparatively more efficiently. The underlying concept is to use the energy of fluid flow fields the AUVs are navigating to extend the duration of missions. This allows gathering of comparatively more data with higher spatio-temporal resolution. The problem is formulated for a generalized two dimensional uniform flow field given a fixed final time andfree end states. This allows the AUVs to navigate to certain spatial positions while maintaining the required temporal resolution of each segment of its mission. The simplistic way the problem is posed allows an analytical closed form solution of the Euler-Lagrange equations. Two dimensional thrust vectors are obtained as optimal control inputs. The control inputs are then incorporated into afeedback structure, allowing the particle to navigate in the presence of disturbance in the flow field. Further, the work also explores the influence of fluid-particle interaction on the control cost and behavior of the particle. The concept of changing the cost weights of the optimal cost formulation in situ has been introduced. Potential applications of the present concept are explored through anobstacle avoidance scenario. The optimal guidance methods are then adapted to non-uniform flow fields with quadratic and discontinuous spatial variation being the primary focus.
Show less - Date Issued
- 2018
- Identifier
- CFE0007169, ucf:52282
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007169
- Title
- Integrating Multiobjective Optimization with the Six Sigma Methodology for Online Process Control.
- Creator
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Abualsauod, Emad, Geiger, Christopher, Elshennawy, Ahmad, Thompson, William, Moore, Karla, University of Central Florida
- Abstract / Description
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Over the past two decades, the Define-Measure-Analyze-Improve-Control (DMAIC) framework of the Six Sigma methodology and a host of statistical tools have been brought to bear on process improvement efforts in today's businesses. However, a major challenge of implementing the Six Sigma methodology is maintaining the process improvements and providing real-time performance feedback and control after solutions are implemented, especially in the presence of multiple process performance objectives...
Show moreOver the past two decades, the Define-Measure-Analyze-Improve-Control (DMAIC) framework of the Six Sigma methodology and a host of statistical tools have been brought to bear on process improvement efforts in today's businesses. However, a major challenge of implementing the Six Sigma methodology is maintaining the process improvements and providing real-time performance feedback and control after solutions are implemented, especially in the presence of multiple process performance objectives. The consideration of a multiplicity of objectives in business and process improvement is commonplace and, quite frankly, necessary. However, balancing the collection of objectives is challenging as the objectives are inextricably linked, and, oftentimes, in conflict.Previous studies have reported varied success in enhancing the Six Sigma methodology by integrating optimization methods in order to reduce variability. These studies focus these enhancements primarily within the Improve phase of the Six Sigma methodology, optimizing a single objective. The current research and practice of using the Six Sigma methodology and optimization methods do little to address the real-time feedback and control for online process control in the case of multiple objectives.This research proposes an innovative integrated Six Sigma multiobjective optimization (SSMO) approach for online process control. It integrates the Six Sigma DMAIC framework with a nature-inspired optimization procedure that iteratively perturbs a set of decision variables providing feedback to the online process, eventually converging to a set of tradeoff process configurations that improves and maintains process stability. For proof of concept, the approach is applied to a general business process model (-) a well-known inventory management model (-) that is formally defined and specifies various process costs as objective functions. The proposed SSMO approach and the business process model are programmed and incorporated into a software platform. Computational experiments are performed using both three sigma (3?)-based and six sigma (6?)-based process control, and the results reveal that the proposed SSMO approach performs far better than the traditional approaches in improving the stability of the process. This research investigation shows that the benefits of enhancing the Six Sigma method for multiobjective optimization and for online process control are immense.
Show less - Date Issued
- 2013
- Identifier
- CFE0004968, ucf:49561
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004968
- Title
- ADAPTIVE EFFICIENCY OPTIMIZATION FOR DIGITALLY CONTROLLED DC-DC CONVERTERS.
- Creator
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AL-HOOR, WISAM, Batarseh, Issa, University of Central Florida
- Abstract / Description
-
The design optimization of DC-DC converters requires the optimum selection of several parameters to achieve improved efficiency and performance. Some of these parameters are load dependent, line dependent, components dependent, and/or temperature dependent. Designing such parameters for a specific load, input and output, components, and temperature may improve single design point efficiency but will not result in maximum efficiency at different conditions, and will not guarantee improvement...
Show moreThe design optimization of DC-DC converters requires the optimum selection of several parameters to achieve improved efficiency and performance. Some of these parameters are load dependent, line dependent, components dependent, and/or temperature dependent. Designing such parameters for a specific load, input and output, components, and temperature may improve single design point efficiency but will not result in maximum efficiency at different conditions, and will not guarantee improvement at that design point because of the components, temperature, and operating point variations. The ability of digital controllers to perform sophisticated algorithms makes it easy to apply adaptive control, where system parameters can be adaptively adjusted in response to system behavior in order to achieve better performance and stability. The use of adaptive control for power electronics is first applied with the Adaptive Frequency Optimization (AFO) method, which presents an auto-tuning adaptive digital controller with maximum efficiency point tracking to optimize DC-DC converter switching frequency. The AFO controller adjusts the DC-DC converter switching frequency while tracking the converter minimum input power point, under variable operating conditions, to find the optimum switching frequency that will result in minimum total loss and thus the maximum efficiency. Implementing variable switching frequencies in digital controllers introduces two main issues, namely, limit cycle oscillation and system instability. Dynamic Limit Cycle Algorithms (DLCA) is a dynamic technique tailored to improve system stability and to reduce limit cycle oscillation under variable switching frequency operation. The convergence speed and stability of AFO algorithm is further improved by presenting the analysis and design of a digital controller with adaptive auto-tuning algorithm that has a variable step size to track and detect the optimum switching frequency for a DC-DC converter. The Variable-Step-Size (VSS) algorithm is theoretically analyzed and developed based on buck DC-DC converter loss model and directed towered improving the convergence speed and accuracy of AFO adaptive loop by adjusting the converter switching frequency with variable step size. Finally, the efficiency of DC-DC converters is a function of several variables. Optimizing single variable alone may not result in maximum or global efficiency point. The issue of adjusting more than one variable at the same time is addressed by the Multivariable Adaptive digital Controller (MVAC). The MVAC is an adaptive method that continuously adjusts the DC-DC converter switching frequency and dead-time at the same time, while tracking the converter minimum input power, to find the maximum global efficiency point under variable conditions. In this research work, all adaptive methods were discussed, theoretically analyzed and its digital control algorithm along with experimental implementations were presented.
Show less - Date Issued
- 2009
- Identifier
- CFE0002838, ucf:48072
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0002838
- Title
- Bio-Inspired Cooperative Optimal Trajectory Planning for Autonomous Vehicles.
- Creator
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Remeikas, Charles, Xu, Yunjun, Kassab, Alain, Lin, Kuo-Chi, University of Central Florida
- Abstract / Description
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With the recent trend for systems to be more and more autonomous, there is a growing need for cooperative trajectory planning. Applications that can be considered as cooperative systems such as surveying, formation flight, and traffic control need a method that can rapidly produce trajectories while considering all of the constraints on the system. Currently most of the existing methods to handle cooperative control are based around either simple dynamics and/or on the assumption that all...
Show moreWith the recent trend for systems to be more and more autonomous, there is a growing need for cooperative trajectory planning. Applications that can be considered as cooperative systems such as surveying, formation flight, and traffic control need a method that can rapidly produce trajectories while considering all of the constraints on the system. Currently most of the existing methods to handle cooperative control are based around either simple dynamics and/or on the assumption that all vehicles have homogeneous properties. In reality, typical autonomous systems will have heterogeneous, nonlinear dynamics while also being subject to extreme constraints on certain state and control variables. In this thesis, a new approach to the cooperative control problem is presented based on the bio-inspired motion strategy known as local pursuit. In this framework, decision making about the group trajectory and formation are handled at a cooperative level while individual trajectory planning is considered in a local sense. An example is presented for a case of an autonomous farming system (e.g. scouting) utilizing nonlinear vehicles to cooperatively accomplish various farming task with minimal energy consumption or minimum time. The decision making and trajectory generation is handled very quickly while being able to consider changing environments laden with obstacles.
Show less - Date Issued
- 2013
- Identifier
- CFE0005053, ucf:49978
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0005053
- Title
- NEW OPTIMAL HIGH EFFICIENCY DSP-BASED DIGITAL CONTROLLER DESIGN FOR SUPER HIGH-SPEED PERMANENT MAGNET SYNCHRONOUS MOTOR.
- Creator
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zhao, limei, Wu, Thomas, University of Central Florida
- Abstract / Description
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This dissertation investigates digital controller and switch mode power supply design for super high-speed permanent magnet synchronous motors (PMSM). The PMSMs are a key component for the miniaturic cryocooler that is currently under development at the University of Central Florida with support from NASA Kennedy Space Center and the Florida Solar Energy Center. Advanced motor design methods, control strategies, and rapid progress in semiconductor technology enables production of a highly...
Show moreThis dissertation investigates digital controller and switch mode power supply design for super high-speed permanent magnet synchronous motors (PMSM). The PMSMs are a key component for the miniaturic cryocooler that is currently under development at the University of Central Florida with support from NASA Kennedy Space Center and the Florida Solar Energy Center. Advanced motor design methods, control strategies, and rapid progress in semiconductor technology enables production of a highly efficient digital controller. However, there are still challenges for such super high-speed controller design because of its stability, high-speed, variable speed operation, and required efficiency over a wide speed range. Currently, limited research, and no commercial experimental analysis, is available concerning such motors and their control system design. The stability of a super high-speed PMSM is an important issue particularly for open-loop control, given that PMSM are unstable after exceeding a certain applied frequency. In this dissertation, the stability of super high-speed PMSM is analyzed and some design suggestions are given to maximize this parameter. For ordinary motors, the V/f control curve is a straight line with a boost voltage because the stator resistance is negligible and only has a significant effect around the DC frequency. However, for the proposed super high-speed PMSM the situation is quite different because of the motor's size. The stator resistance is quite large compared with the stator reactive impedance and cannot be neglected when employing constant a V/f control method. The challenge is to design an optimal constant V/f control scheme to raise efficiency with constant V/f control. In the development, test systems and prototype boards were built and experimental results confirmed the effectiveness of the dissertation system.
Show less - Date Issued
- 2005
- Identifier
- CFE0000856, ucf:46651
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000856
- Title
- cooperative control and advanced management of distributed generators in a smart grid.
- Creator
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Maknouninejad, Ali, Qu, Zhihua, Lotfifard, Saeed, Haralambous, Michael, Wu, Xinzhang, Kutkut, Nasser, University of Central Florida
- Abstract / Description
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Smart grid is more than just the smart meters. The future smart grids are expected to include ahigh penetration of distributed generations (DGs), most of which will consist of renewable energysources, such as solar or wind energy. It is believed that the high penetration of DGs will resultin the reduction of power losses, voltage profile improvement, meeting future load demand, andoptimizingthe use of non-conventionalenergy sources. However, more serious problems will ariseif a decent control...
Show moreSmart grid is more than just the smart meters. The future smart grids are expected to include ahigh penetration of distributed generations (DGs), most of which will consist of renewable energysources, such as solar or wind energy. It is believed that the high penetration of DGs will resultin the reduction of power losses, voltage profile improvement, meeting future load demand, andoptimizingthe use of non-conventionalenergy sources. However, more serious problems will ariseif a decent control mechanism is not exploited. An improperly managed high PV penetration maycause voltage profile disturbance, conflict with conventional network protection devices, interferewith transformer tap changers, and as a result, cause network instability.Indeed, it is feasible to organize DGs in a microgrid structure which will be connected to the maingrid through a point of common coupling (PCC). Microgrids are natural innovation zones for thesmart grid because of their scalability and flexibility. A proper organization and control of theinteraction between the microgrid and the smartgrid is a challenge.Cooperative control makes it possible to organize different agents in a networked system to actas a group and realize the designated objectives. Cooperative control has been already appliedto the autonomous vehicles and this work investigates its application in controlling the DGs in amicro grid. The microgrid power objectives are set by a higher level control and the application ofthe cooperative control makes it possible for the DGs to utilize a low bandwidth communicationnetwork and realize the objectives.Initially, the basics of the application of the DGs cooperative control are formulated. This includesorganizing all the DGs of a microgrid to satisfy an active and a reactive power objective. Then, thecooperative control is further developed by the introduction of clustering DGs into several groupsto satisfy multiple power objectives. Then, the cooperative distribution optimization is introducedto optimally dispatch the reactive power of the DGs to realize a unified microgrid voltage profileand minimizethelosses. Thisdistributedoptimizationis agradient based techniqueand itis shownthat when the communication is down, it reduces to a form of droop. However, this gradient baseddroop exhibits a superior performance in the transient response, by eliminating the overshootscaused by the conventional droop.Meanwhile, the interaction between each microgrid and the main grid can be formulated as aStackelberg game. The main grid as the leader, by offering proper energy price to the micro grid,minimizes its cost and secures the power. This not only optimizes the economical interests ofboth sides, the microgrids and the main grid, but also yields an improved power flow and shavesthe peak power. As such, a smartgrid may treat microgrids as individually dispatchable loads orgenerators.
Show less - Date Issued
- 2013
- Identifier
- CFE0004712, ucf:49817
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004712
- Title
- Bio-Inspired Visual Servo Control of a Picking Mechanism in an Agricultural Ground Robot.
- Creator
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Defterli, Sinem, Xu, Yunjun, Kauffman, Jeffrey L., Lin, Kuo-Chi, Song, Sang-Eun, Zheng, Qipeng, University of Central Florida
- Abstract / Description
-
For a recently constructed disease detection agricultural ground robot, the segregation of unhealthy leaves fromstrawberry plants is a major task of the robot's manipulation subsystem in field operations. In this dissertation, the motion planning of a custom-designedpicking mechanism in the ground robot's subsystem is studied in two sections. First, a set of analytical, suboptimal semi-analyticaland numerical algorithms are studied to solve the inverse kinematics problem of the handling...
Show moreFor a recently constructed disease detection agricultural ground robot, the segregation of unhealthy leaves fromstrawberry plants is a major task of the robot's manipulation subsystem in field operations. In this dissertation, the motion planning of a custom-designedpicking mechanism in the ground robot's subsystem is studied in two sections. First, a set of analytical, suboptimal semi-analyticaland numerical algorithms are studied to solve the inverse kinematics problem of the handling mechanism in firmcircumstances. These premeditated approaches are built on the computation of the joint variables by an identified 3Dposition data of the target leaf only. The outcomes of the three solution algorithms are evaluated in terms of the performanceindexes of energy change and the CPU time cost. The resultant postures of the mechanism for different target pointlocations are observed both in simulations and the hardware experiments with each IK solution. Secondly, after the manipulation task of the mechanism via the proposed inverse kinematicalgorithms is performed, some compensation may be needed due to the sudden and unpredicted deviation of the targetposition under field conditions.For the purpose of finding optimal joint values under certain constraints, a trajectory optimization problem in image-based visual servoing method via the camera-in-handconfiguration is initiated when the end-effector is in the close proximity of the target leaf. In this part of the study, a bio-inspired trajectory optimization problem in image-basedvisual servoing method is constructed based on the mathematical model derived from the prey-predatorrelationships in nature. In this biological phenomenon, the predator constructs its path in a certain subspace whilecatching the prey. When this motion strategy is applied to trajectory optimization problems, it causes a significantreduce in the computation cost since it finds the optimum solution in a certain manifold. The performance of the introducedbio-inspired trajectory optimization in visual servoing is validated with the hardware experiments both in laboratory settings and in fieldconditions.
Show less - Date Issued
- 2018
- Identifier
- CFE0007170, ucf:52247
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007170
- Title
- Coordinated Optimal Power Planning of Wind Turbines in an Offshore Wind Farm.
- Creator
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Vishwakarma, Puneet, Xu, Yunjun, Kapat, Jayanta, Kauffman, Jeffrey, Behal, Aman, University of Central Florida
- Abstract / Description
-
Wind energy is on an upswing due to climate concerns and increasing energy demands on conventional sources. Wind energy is attractive and has the potential to dramatically reduce the dependency on non-renewable energy resources. With the increase in wind farms there is a need to improve the efficiency in power allocation and power generation among wind turbines. Wake interferences among wind turbines can lower the overall efficiency considerably, while offshore conditions pose increased...
Show moreWind energy is on an upswing due to climate concerns and increasing energy demands on conventional sources. Wind energy is attractive and has the potential to dramatically reduce the dependency on non-renewable energy resources. With the increase in wind farms there is a need to improve the efficiency in power allocation and power generation among wind turbines. Wake interferences among wind turbines can lower the overall efficiency considerably, while offshore conditions pose increased loading on wind turbines. In wind farms, wind turbines' wake affects each other depending on their positions and operation modes. Therefore it becomes essential to optimize the wind farm power production as a whole than to just focus on individual wind turbines. The work presented here develops a hierarchical power optimization algorithm for wind farms. The algorithm includes a cooperative level (or higher level) and an individual level (or lower level) for power coordination and planning in a wind farm. The higher level scheme formulates and solves a quadratic constrained programming problem to allocate power to wind turbines in the farm while considering the aerodynamic effect of the wake interaction among the turbines and the power generation capabilities of the wind turbines. In the lower level, optimization algorithm is based on a leader-follower structure driven by the local pursuit strategy. The local pursuit strategy connects the cooperative level power allocation and the individual level power generation in a leader-follower arrangement. The leader, could be a virtual entity and dictates the overall objective, while the followers are real wind turbines considering realistic constraints, such as tower deflection limits. A nonlinear wind turbine dynamics model is adopted for the low level study with loading and other constraints considered in the optimization. The stability of the algorithm in the low level is analyzed for the wind turbine angular velocity. Simulations are used to show the advantages of the method such as the ability to handle non-square input matrix, non-homogenous dynamics, and scalability in computational cost with rise in the number of wind turbines in the wind farm.
Show less - Date Issued
- 2015
- Identifier
- CFE0005899, ucf:50896
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0005899
- Title
- Optimal Attitude Control Management for a Cubesat.
- Creator
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Develle, Michael, Xu, Yunjun, Lin, Kuo-Chi, Chew, Phyekeng, University of Central Florida
- Abstract / Description
-
CubeSats have become popular among universities, research organizations, and government agencies due to their low cost, small size, and light weight. Their standardized configurations further reduce the development time and ensure more frequent launch opportunities. Early cubesat missions focused on hardware validation and simple communication missions, with little requirement for pointing accuracy. Most of these used magnetic torque rods or coils for attitude stabilization. However, the...
Show moreCubeSats have become popular among universities, research organizations, and government agencies due to their low cost, small size, and light weight. Their standardized configurations further reduce the development time and ensure more frequent launch opportunities. Early cubesat missions focused on hardware validation and simple communication missions, with little requirement for pointing accuracy. Most of these used magnetic torque rods or coils for attitude stabilization. However, the intrinsic problems associated with magnetictorque systems, such as the lack of three-axis control and low pointing accuracy, make them unsuitable for more advanced missions such as detailed imaging and on-orbit inspection. Three-axis control in a cubesat can be achieved by combining magnetic torque coils with other devices such as thrusters, but the lifetime is limited by the fuel source onboard. To maximize the missionlifetime, a fast attitude control management algorithm that could optimally manage the usage of the magnetic and thruster torques is desirable. Therefore, a recently developed method, the B-Spline-augmented virtual motion camouflage, is presented in this defense to solve the problem. This approach provides results which are very close to those obtained through other popular nonlinear constrained optimal control methods with a significantly reduced computational time.Simulation results are presented to validate the capabilities of the method in this application.
Show less - Date Issued
- 2011
- Identifier
- CFE0004099, ucf:49102
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004099
- Title
- Virtual Motion Camouflage Based Nonlinear Constrained Optimal Trajectory Design Method.
- Creator
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Basset, Gareth, Xu, Yunjun, Kassab, Alain, Lin, Kuo-Chi, Cho, Hyoung, Qu, Zhihua, University of Central Florida
- Abstract / Description
-
Nonlinear constrained optimal trajectory control is an important and fundamental area of research that continues to advance in numerous fields. Many attempts have been made to present new methods that can solve for optimal trajectories more efficiently or to improve the overall performance of existing techniques. This research presents a recently developed bio-inspired method called the Virtual Motion Camouflage (VMC) method that offers a means of quickly finding, within a defined but varying...
Show moreNonlinear constrained optimal trajectory control is an important and fundamental area of research that continues to advance in numerous fields. Many attempts have been made to present new methods that can solve for optimal trajectories more efficiently or to improve the overall performance of existing techniques. This research presents a recently developed bio-inspired method called the Virtual Motion Camouflage (VMC) method that offers a means of quickly finding, within a defined but varying search space, the optimal trajectory that is equal or close to the optimal solution.The research starts with the polynomial-based VMC method, which works within a search space that is defined by a selected and fixed polynomial type virtual prey motion. Next will be presented a means of improving the solution's optimality by using a sequential based form of VMC, where the search space is adjusted by adjusting the polynomial prey trajectory after a solution is obtained. After the search space is adjusted, an optimization is performed in the new search space to find a solution closer to the global space optimal solution, and further adjustments are made as desired. Finally, a B-spline augmented VMC method is presented, in which a B-spline curve represents the prey motion and will allow the search space to be optimized together with the solution trajectory.It is shown that (1) the polynomial based VMC method will significantly reduce the overall problem dimension, which in practice will significantly reduce the computational cost associated with solving nonlinear constrained optimal trajectory problems; (2) the sequential VMC method will improve the solution optimality by sequentially refining certain parameters, such as the prey motion; and (3) the B-spline augmented VMC method will improve the solution optimality without sacrificing the CPU time much as compared with the polynomial based approach. Several simulation scenarios, including the Breakwell problem, the phantom track problem, the minimum-time mobile robot obstacle avoidance problem, and the Snell's river problem are simulated to demonstrate the capabilities of the various forms of the VMC algorithm. The capabilities of the B-spline augmented VMC method are also shown in a hardware demonstration using a mobile robot obstacle avoidance testbed.
Show less - Date Issued
- 2012
- Identifier
- CFE0004298, ucf:49493
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004298
- Title
- General Vector Explicit - Impact Time and Angle Control Guidance.
- Creator
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Robinson, Loren, Qu, Zhihua, Behal, Aman, Xu, Yunjun, University of Central Florida
- Abstract / Description
-
This thesis proposes and evaluates a new cooperative guidance law called General Vector Explicit -Impact Time and Angle Control Guidance (GENEX-ITACG). The motivation for GENEX-ITACGcame from an explicit trajectory shaping guidance law called General Vector Explicit Guidance(GENEX). GENEX simultaneously achieves design specifications on miss distance and terminalmissile approach angle while also providing a design parameter that adjusts the aggressiveness ofthis approach angle. Encouraged by...
Show moreThis thesis proposes and evaluates a new cooperative guidance law called General Vector Explicit -Impact Time and Angle Control Guidance (GENEX-ITACG). The motivation for GENEX-ITACGcame from an explicit trajectory shaping guidance law called General Vector Explicit Guidance(GENEX). GENEX simultaneously achieves design specifications on miss distance and terminalmissile approach angle while also providing a design parameter that adjusts the aggressiveness ofthis approach angle. Encouraged by the applicability of this user parameter, GENEX-ITACG is anextension that allows a salvo of missiles to cooperatively achieve the same objectives of GENEXagainst a stationary target through the incorporation of a cooperative trajectory shaping guidancelaw called Impact Time and Angle Control Guidance (ITACG).ITACG allows a salvo of missile to simultaneously hit a stationary target at a prescribed impactangle and impact time. This predetermined impact time is what allows each missile involvedin the salvo attack to simultaneously arrived at the target with unique approach angles, whichgreatly increases the probability of success against well defended targets. GENEX-ITACG furtherincreases this probability of kill by allowing each missile to approach the target with a uniqueapproach angle rate through the use of a user design parameter.The incorporation of ITACG into GENEX is accomplished through the use of linear optimal controlby casting the cost function of GENEX into the formulation of ITACG. The feasibility GENEXITACGis demonstrated across three scenarios that demonstrate the ITACG portion of the guidancelaw, the GENEX portion of the guidance law, and finally the entirety of the guidance law. Theresults indicate that GENEX-ITACG is able to successfully guide a salvo of missiles to simultaneouslyhit a stationary target at a predefined terminal impact angle and impact time, while alsoallowing the user to adjust the aggressiveness of approach.
Show less - Date Issued
- 2015
- Identifier
- CFE0005876, ucf:50868
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0005876
- Title
- AN OPTIMAL CONTROL APPROACH FOR DETERMINATION OF THE HEAT LOSS COEFFICIENT IN AN ICS SOLAR DOMESTIC WATER HEATING SYSTEM.
- Creator
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Gil, Camilo, Simaan, Marwan, University of Central Florida
- Abstract / Description
-
Water heating in a typical home in the U.S. accounts for a significant portion (between 14% and 25%) of the total homeÂÂÂÂ's annual energy consumption. The objective of considerably reducing the homeÂÂÂÂ's energy consumption from the utilities calls for the use of onsite renewable energy...
Show moreWater heating in a typical home in the U.S. accounts for a significant portion (between 14% and 25%) of the total homeÂÂÂÂ's annual energy consumption. The objective of considerably reducing the homeÂÂÂÂ's energy consumption from the utilities calls for the use of onsite renewable energy systems. Integral Collector Storage (ICS) solar domestic water heating systems are an alternative to help meet the hot water energy demands in a household. In order to evaluate the potential benefits and contributions from the ICS system, it is important that the parameter values included in the model used to estimate the systemÂÂÂÂ's performance are as accurate as possible. The overall heat loss coefficient (Uloss) in the model plays an important role in the performance prediction methodology of the ICS. This work presents a new and improved methodology to determine Uloss as a function of time in an ICS system using a systematic optimal control theoretic approach. This methodology is based on the derivation of a new nonlinear state space model of the system, and the formulation of a quadratic performance function whose minimization yields estimates of Uloss values that can be used in computer simulations to improve the performance prediction of the ICS system, depending on the desired time of the year and hot water draw profile. Simulation results show that predictions of the systemÂÂÂÂ's performance based on these estimates of Uloss are considerably more accurate than the predictions based on current existing methods for estimating Uloss.
Show less - Date Issued
- 2010
- Identifier
- CFE0003266, ucf:48525
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0003266
- Title
- Data-driven Predictive Analytics For Distributed Smart Grid Control: Optimization of Energy Storage, Voltage and Demand Response.
- Creator
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Valizadehhaghi, Hamed, Qu, Zhihua, Behal, Aman, Atia, George, Turgut, Damla, Pensky, Marianna, University of Central Florida
- Abstract / Description
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The smart grid is expected to support an interconnected network of self-contained microgrids. Nonetheless, the distributed integration of renewable generation and demand response adds complexity to the control and optimization of smart grid. Forecasts are essential due to the existence of stochastic variations and uncertainty. Forecasting data are spatio-temporal which means that the data correspond to regular intervals, say every hour, and the analysis has to take account of spatial...
Show moreThe smart grid is expected to support an interconnected network of self-contained microgrids. Nonetheless, the distributed integration of renewable generation and demand response adds complexity to the control and optimization of smart grid. Forecasts are essential due to the existence of stochastic variations and uncertainty. Forecasting data are spatio-temporal which means that the data correspond to regular intervals, say every hour, and the analysis has to take account of spatial dependence among the distributed generators or locations. Hence, smart grid operations must take account of, and in fact benefit from the temporal dependence as well as the spatial dependence. This is particularly important considering the buffering effect of energy storage devices such as batteries, heating/cooling systems and electric vehicles. The data infrastructure of smart grid is the key to address these challenges, however, how to utilize stochastic modeling and forecasting tools for optimal and reliable planning, operation and control of smart grid remains an open issue.Utilities are seeking to become more proactive in decision-making, adjusting their strategies based on realistic predictive views into the future, thus allowing them to side-step problems and capitalize on the smart grid technologies, such as energy storage, that are now being deployed atscale. Predictive analytics, capable of managing intermittent loads, renewables, rapidly changing weather patterns and other grid conditions, represent the ultimate goal for smart grid capabilities.Within this framework, this dissertation develops high-performance analytics, such as predictive analytics, and ways of employing analytics to improve distributed and cooperative optimization software which proves to be the most significant value-add in the smart grid age, as new network management technologies prove reliable and fundamental. Proposed optimization and control approaches for active and reactive power control are robust to variations and offer a certain level of optimality by combining real-time control with hours-ahead network operation schemes. The main objective is managing spatial and temporal availability of the energy resources in different look-ahead time horizons. Stochastic distributed optimization is realized by integrating a distributed sub-gradient method with conditional ensemble predictions of the energy storage capacity and distributed generation. Hence, the obtained solutions can reflect on the system requirements for the upcoming times along with the instantaneous cooperation between distributed resources. As an important issue for smart grid, the conditional ensembles are studied for capturing wind, photovoltaic, and vehicle-to-grid availability variations. The following objectives are pursued:- Spatio-temporal adaptive modeling of data including electricity demand, electric vehicles and renewable energy (wind and solar power)- Predictive data analytics and forecasting- Distributed control- Integration of energy storage systemsFull distributional characterization and spatio-temporal modeling of data ensembles are utilized in order to retain the conditional and temporal interdependence between projection data and available capacity. Then, by imposing measures of the most likely ensembles, the distributed control method is carried out for cooperative optimization of the renewable generation and energy storage within the smart grid.
Show less - Date Issued
- 2016
- Identifier
- CFE0006408, ucf:51481
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0006408
- Title
- Vision-Based Sensing and Optimal Control for Low-Cost and Small Satellite Platforms.
- Creator
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Sease, Bradley, Xu, Yunjun, Lin, Kuo-Chi, Bradley, Eric, University of Central Florida
- Abstract / Description
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Current trends in spacecraft are leading to smaller, more inexpensive options whenever possible. This shift has been primarily pursued for the opportunity to open a new frontier for technologies with a small financial obligation. Limited power, processing, pointing, and communication capabilities are all common issues which must be considered when miniaturizing systems and implementing low-cost components. This thesis addresses some of these concerns by applying two methods, in attitude...
Show moreCurrent trends in spacecraft are leading to smaller, more inexpensive options whenever possible. This shift has been primarily pursued for the opportunity to open a new frontier for technologies with a small financial obligation. Limited power, processing, pointing, and communication capabilities are all common issues which must be considered when miniaturizing systems and implementing low-cost components. This thesis addresses some of these concerns by applying two methods, in attitude estimation and control. Additionally, these methods are not restricted to only small, inexpensive satellites, but offer a benefit to large-scale spacecraft as well.First, star cameras are examined for the tendency to generate streaked star images during maneuvers. This issue also comes into play when pointing capabilities and camera hardware quality are low, as is often the case in small, budget-constrained spacecraft. When pointing capabilities are low, small residual velocities can cause movement of the stars in the focal plane during an exposure, causing them to streak across the image. Additionally, if the camera quality is low, longer exposures may be required to gather sufficient light from a star, further contributing to streaking. Rather than improving the pointing or hardware directly, an algorithm is presented to retrieve and utilize the endpoints of streaked stars to provide feedback where traditional methods do not. This allows precise attitude and angular rate estimates to be derived from an image which, with traditional methods, would return large attitude and rate error. Simulation results are presented which demonstrate endpoint error of approximately half a pixel and rate estimates within 2% of the true angular velocity. Three methods are also considered to remove overlapping star streaks and resident space objects from images to improve performance of both attitude and rate estimates. Results from a large-scale Monte Carlo simulation are presented in order to characterize the performance of the method.Additionally, a rapid optimal attitude guidance method is experimentally validated in a ground-based, pico-scale satellite test bed. Fast slewing performance is demonstrated for an incremental step maneuver with low average power consumption. Though the focus of this thesis is primarily on increasing the capabilities of small, inexpensive spacecraft, the methods discussed have the potential to increase the capabilities of current and future large-scale missions as well.
Show less - Date Issued
- 2013
- Identifier
- CFE0005249, ucf:50603
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0005249
- Title
- Advanced Control Techniques for Efficiency and Power Density Improvement of a Three-Phase Microinverter.
- Creator
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Tayebi, Seyed Milad, Batarseh, Issa, Mikhael, Wasfy, Sundaram, Kalpathy, Sun, Wei, Kutkut, Nasser, University of Central Florida
- Abstract / Description
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Inverters are widely used in photovoltaic (PV) based power generation systems. Most of these systems have been based on medium to high power string inverters. Microinverters are gaining popularity over their string inverter counterparts in PV based power generation systems due to maximized energy harvesting, high system reliability, modularity, and simple installation. They can be deployed on commercial buildings, residential rooftops, electric poles, etc and have a huge potential market....
Show moreInverters are widely used in photovoltaic (PV) based power generation systems. Most of these systems have been based on medium to high power string inverters. Microinverters are gaining popularity over their string inverter counterparts in PV based power generation systems due to maximized energy harvesting, high system reliability, modularity, and simple installation. They can be deployed on commercial buildings, residential rooftops, electric poles, etc and have a huge potential market. Emerging trend in power electronics is to increase power density and efficiency while reducing cost. A powerful tool to achieve these objectives is the development of an advanced control system for power electronics. In low power applications such as solar microinverters, increasing the switching frequency can reduce the size of passive components resulting in higher power density. However, switching losses and electromagnetic interference (EMI) may increase as a consequence of higher switching frequency. Soft switching techniques have been proposed to overcome these issues. This dissertation presents several innovative control techniques which are used to increase efficiency and power density while reducing cost. Dynamic dead time optimization and dual zone modulation techniques have been proposed in this dissertation to significantly improve the microinverter efficiency. In dynamic dead time optimization technique, pulse width modulation (PWM) dead times are dynamically adjusted as a function of load current to minimize MOSFET body diode conduction time which reduces power dissipation. This control method also improves total harmonic distortion (THD) of the inverter output current. To further improve the microinverter efficiency, a dual-zone modulation has been proposed which introduces one more soft-switching transition and lower inductor peak current compared to the other boundary conduction mode (BCM) modulation methods.In addition, an advanced DC link voltage control has been proposed to increase the microinverter power density. This concept minimizes the storage capacitance by allowing greater voltage ripple on the DC link. Therefore, the microinverter reliability can be significantly increased by replacing electrolytic capacitors with film capacitors. These control techniques can be readily implemented on any inverter, motor controller, or switching power amplifier. Since there is no circuit modification involved in implementation of these control techniques and can be easily added to existing controller firmware, it will be very attractive to any potential licensees.
Show less - Date Issued
- 2017
- Identifier
- CFE0007136, ucf:52328
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007136
