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  • 1.
    Alexis, Kostas
    et al.
    Electrical and Computer Science Department, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    Electrical and Computer Science Department, University of Patras.
    Model predictive quadrotor control: attitude, altitude, and position experimental studies2012In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 12, p. 1812-1827Article in journal (Refereed)
    Abstract [en]

    This article addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localization data. Based on an attached Inertia Measurement Unit, a sonar and an optic flow sensor, the state vector is estimated using sensor fusion algorithms. A novel Switching Model Predictive Controller is designed in order to achieve precise trajectory control, under the presence of forcible wind–gusts. The quadrotor’s attitude, altitude and horizontal linearized dynamics result in a set of Piecewise Affine models, enabling the controller to account for a larger part of the quadrotor’s flight envelope while modeling the effects of atmospheric disturbances as additive–affine terms in the system. The proposed controller algorithm accounts for the state and actuation constraints of the system. The controller is implemented on a quadrotor prototype in indoor position tracking, hovering and attitude maneuvers experiments. The experimental results indicate the overall system’s efficiency in position/altitude/attitude set–point maneuvers.

  • 2.
    Hu, Liang
    et al.
    Department of Computer Science, Brunel University London, United Kingdom.
    Wang, Zidong
    Department of Computer Science, Brunel University London, United Kingdom.
    Liu, Xiaohui
    Department of Computer Science, Brunel University London, United Kingdom.
    Vasilakos, Athanasios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.
    Alsaadi, Fuad Eid S.
    Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia.
    Recent advances on state estimation for power grids with unconventional measurements2017In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 18, p. 3221-3232Article in journal (Refereed)
    Abstract [en]

    State estimation problem for power systems has long been a fundamental issue that demands a variety of methodologies depending on the system settings. With the recent introduction of advanced devices of phasor measurement units (PMUs) and dedicated communication networks, the infrastructure of power grids has been greatly improved. Coupled with the infrastructure improvements are three emerging issues for the state estimation problems, namely, the coexistence of both traditional and PMU measurements, the incomplete information resulting from delayed, asynchronous and missing measurements due to communication constraints, and the cyber-attacks on the communication channels. In this study, the authors aim to survey some recent advances on the state estimation methods which tackle the above three issues in power grids. Traditional state estimation methods applied in power grids are first introduced. Latest results on state estimation with mixed measurements and incomplete measurements are then discussed in great detail. In addition, the techniques developed to ensure the cyber-security of the state estimation schemes for power grids are highlighted. Finally, some concluding remarks are given and some possible future research directions are pointed out. 

  • 3. Norlander, Torbjörn
    et al.
    Mäkilä, Pertti
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Parametric linear quadratic control and random delays2000In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 147, no 6, p. 641-647Article in journal (Refereed)
    Abstract [en]

    The authors derive the design equations for parametric linear quadratic control of continuous-time systems with random delays. This problem motivates a more general setup that is utilised for the development of efficient numerical algorithms. Systems with random delays are important in control problems over communication networks. The generalised setup allows robustness issues against modelling errors and statistically varying disturbances to be addressed. The results are illustrated with examples

  • 4. Stocks, Mikael
    et al.
    Medvedev, Alexander
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Linear-quadratic optimal time-varying observers with time-varying guaranteed convergence rate2009In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 3, no 2, p. 181-188Article in journal (Refereed)
    Abstract [en]

    well-known method by Anderson and Moore for optimal quadratic feedback design with guaranteed constant convergence rate for linear time-invariant systems is generalised to linear complex-valued time-varying systems and time-varying convergence rates. The resulting method is readily applicable to observer design for state-affine systems and unifies methods developed there with the classical quadratic optimal state estimation and control. A pre-assigned time-varying convergence rate is shown to significantly improve the observer's transients in comparison with a constant one being employed for flux estimation in induction machines.

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