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A disturbance accommodating controller (DAC) to reject wind speed perturbations is applied on a 5MW wind turbine mounted on a tension leg platform (TLP). Multi-blade coordinate (MBC) transformation is used to address the periodicity of the floating wind turbine system. A method to apply DAC after applying MBC transformation is developed and several(More)
The present study applies an approximate output regulator for controlling a MIMO nonlinear non-minimum phase system, considering the example of a four degree of freedom spherical inverted pendulum. The spherical pendulum consists of a slim cylinder attached to a universal joint upon which the planar control force acts. The aim in output tracking is to(More)
Individual blade pitch state space (IBP SS) control and disturbance accommodating control (DAC) that reject wind speed perturbations are applied on a 5 MW wind turbine mounted on the barge and tension leg floating platforms for performance comparison in above rated wind speed region. The DAC used in this study is simply an IBP SS controller with a wind(More)
A Two Wheeled Mobile Robot (TWMR) is a highly nonlinear and open-loop unstable system. Dynamic analysis and control design to keep the body of the robot balanced has been an area of research in the last decade. This problem has been dealt by many researchers for the robot motion on flat surfaces. A few studies have addressed the motion control on constant(More)
Two‐wheeled mobile robots (TWMRs) have a capability of avoiding the tip‐over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real‐time implementation of position control, an(More)
The spar-buoy floating wind turbine is one of the three main floating wind turbine concepts and one of the first to proceed to a full-scale prototype stage. Multiobjective linear state feedback controllers are implemented on the spar-buoy floating wind turbine with individual blade pitching (IBP). The spar-buoy's deep draft results in a low platform pitch(More)
Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed(More)
Most of the research so far on two wheeled mobile robots is on the control of the robot body. However when a robot is implemented in real environment the range of initial conditions of different states of the robot need to be known for safe operation. This paper presents the estimation of safe region of initial conditions of states for a statically unstable(More)
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