In this paper, a neural-network-based control method to achieve trajectory tracking and balancing of a ball-balancing robot with uncertainty is presented. Because the ball-balancing robot is an underactuated system and has nonlinear couplings in the...
In this paper, a fast equalizer for series-connected battery packs with adaptive balancing current control is proposed. As the duty cycle of the power switch in conventional equalizers is kept constant during the equalization process, smaller voltage...
A wheeled–legged robot has the advantage of stable and agile movement on flat ground and an excellent ability to overcome obstacles. However, when faced with a narrow footprint, there is a limit to its ability to move. We developed the control...
Various balancing topology and control methods have been proposed for the inconsistency problem of battery packs. However, these strategies only focus on a single objective, ignore the mutual interaction among various factors and are only based on th...
Modular multilevel converters (MMCs) with integrated battery energy storage systems (BESSs) are becoming crucial for modern power grids. This paper investigates the modeling and control of a grid-connected MMC-BESS, with a specific emphasis on state-...
The auto-balancing bridge method is an impedance measurement method with higher accuracy than other traditional methods. The balance control algorithm within the auto-balancing bridge is a crucial component. Its performance in maintaining symmetry be...
Steering-assistance systems for two-wheeled vehicles have gained attention in recent years. The intended range of application may include either low-speed or high-speed scenarios. It is well known that all two-wheeled vehicles are open-loop unstable...
Nowadays, the Balancing Authority Area Control Error (ACE) Limit (BAAL) Standard has been adopted to replace the Control Performance Standard 2 (CPS2) in the North American power grid. According to the new standard’s mechanism, a new control logic, n...
The bipolar DC microgrid topology is characterized by three voltage levels and is able to transfer power more efficiently than a conventional DC microgrid. This paper proposes an advanced control strategy aiming to ensure the voltage balancing betwee...
Submodule capacitor voltage balancing in modular multilevel converters (MMCs) is a key issue for ensuring stable converter operation and reducing device voltage stress. To address the high computational burden and high switching frequency of the conv...
This paper presents and compares two model predictive control (MPC) approaches for battery cell state-of-charge (SOC) balancing. In both approaches, a linearized discrete-time model that takes into account individual cell capacities is used. The firs...
The optimal state of charge (SoC) balancing control for series-connected lithium-ion battery cells is presented in this paper. A modified SoC balancing circuit for two adjacent cells, based on the principle of a bidirectional Cuk converter, is propos...
This article presents a decentralized control technique applied to a Cascaded Full-Bridge Multilevel Converter (CFBMC) to balance the amount of power provided by its independent cells connected in series. It is based on the use of elementary modular...
The Li-ion battery is becoming the optimal choice for the Electric Vehicle’s (EV) power supply. In order to protect the Li-ion battery from charging damage and to prolong the battery’s life, a special control strategy based on the dynamic balanced po...
In modular multilevel converter battery energy storage systems (MMC-BESS), state-of-charge (SOC) balancing is essential for ensuring safe and reliable operation. Existing methods based on linear controllers or conventional model-predictive control (M...
Based on the droop control, voltage regulation at the secondary control is required to eliminate the deviation of the average voltage across the microgrid. Meanwhile, to prevent any of energy storage (ESs) from over-charging or over-discharging, Stat...
Trajectory tracking and self-balancing capacity is crucial for an unmanned bicycle robot (UBR) applied in off-road trails and narrow space. However, self-balancing is hard to be guaranteed once the steering angle manipulates for the tracking task, bo...
The modular multilevel converter with embedded supercapacitor energy storage system (MMC-SCES) is a promising solution to the integration challenges posed by large-scale renewable energy. However, inconsistencies in supercapacitor characteristics acr...
This paper presents a comprehensive study of an ESP32 microcontroller-based self-balancing mobile robot system designed in conjunction with an Android app for Bluetooth control. The robot employs an MPU6050 accelerometer/gyroscope to execute dynamic...
Two-wheeled self-balancing robots (TWSBRs) are underactuated, inherently nonlinear systems that exhibit unstable dynamics. Due to their structural simplicity and rich control challenges, TWSBRs have become a standard platform for validating and bench...
In complex terrain, such as uneven roads or irregular terrain, two-wheeled heavy-duty self-balancing vehicles are easily affected by external interference factors, causing rollover or rendering the vehicle unable to move, which poses a greater challe...
Known for their compact size, mobility, and off-road capabilities, motorcycles are increasingly used for logistics, emergency rescue, and reconnaissance. However, due to their two-wheeled nature, motorcycles are susceptible to instability, heightenin...
In this paper, a switching method is proposed for power device temperature-balancing in a phase-shift full-bridge (PSFB) converter. PSFB is commonly used for applications that require high efficiency, because a zero-voltage switching (ZVS) operation...
For the purpose of accurate power sharing and the state of charge (SOC) balancing of each energy storage unit (ESU), a novel secondary control scheme which regulates the virtual impedance is proposed herein. However, there is a coupling relationship...
In order to achieve a state-of-charge (SOC) balance among multiple energy storage units (MESUs) in an islanded DC microgrid, a SOC balancing and coordinated control strategy based on the adaptive droop coefficient algorithm for MESUs is proposed. Whe...
Modular multilevel converter with integrated battery energy storage system (MMC-BESS) has been proposed for energy storage requirements in high-voltage applications. The state-of-charge (SOC) equilibrium of batteries is essential for BESS to guarante...
This paper proposes a fuzzy PDC (parallel distributed compensation)-based LQR (Linear Quadratic Regulator) sliding neural network methodology to control a two-wheeled self-balancing cart. Firstly, a mathematical model of a two-wheeled self-balancing...
This research proposes a power loss analysis and a control strategy of an active cell balancing system based on a bidirectional flyback converter. The system aims to achieve an energy storage application with cells connected in 6 series and 1 parrare...
To address the instability of wind power caused by the randomness and intermittency of wind generation, as well as the challenges in power compensation by hybrid energy storage systems (HESSs), this paper proposes a state of charge (SOC) balancing co...
A modified dual hierarchical terminal sliding mode control (MDHTSMC) strategy is developed in this study for the control of a two-wheeled self-balancing robot (TWSBR). The control framework incorporates individually designed sliding surfaces within a...
Two-wheeled self-balancing robots exhibit nonlinear and inherently unstable dynamics due to their inverted-pendulum structure, making control design challenging under terrain variations and external disturbances. This paper proposes a hybrid master&n...
Cascaded H-bridge rectifiers suffer from severe DC-link voltage imbalance under unbalanced load conditions. Considering the difficulties of parameter tuning and unsatisfactory dynamic response of traditional voltage balancing control schemes under co...
The neutral-point potential balance issues in three-level converters have obtained great attention. The popular view thinks that the neutral-point voltage deviation can be suppressed by regulating the injected zero-sequence component, whether via car...
This article presents a study on the fuzzy control of self-balancing, two-wheel-driven, simultaneous localization and mapping (SLAM)-based, unmanned systems for Agriculture 4.0 applications. The background highlights the need for precise and efficien...
The sorting algorithm is the most widely accepted capacitor voltage balancing strategy for a modular multilevel converter. This strategy offers to keep the balance among submodule capacitor voltages under all of the modular multilevel converter worki...
This paper studies the stationary balancing of a full-scale bicycle robot using a scissored-pair control moment gyroscope (CMG). The test robot weighs 60 kg and includes two counter-rotating flywheels, a 20:1 geared gimbal system, an inertial measure...
In isolated operation, DC microgrids require multiple distributed energy storage units (DESUs) to accommodate the variability of distributed generation (DG). The traditional control strategy has the problem of uneven allocation of load current when t...
This paper focuses on the development and experimental validation of a single-phase modular multilevel converter (MMC) based on a battery energy storage system (BESS) for residential uninterruptible power supply (UPS) with two-level active SoC balanc...
Optimal control techniques such as model predictive control (MPC) have been widely studied and successfully applied across a diverse field of applications. However, the large computational requirements for these methods result in a significant challe...
State-of-charge (SoC) balancing across multiple battery energy storage systems (BESS) is a central challenge in renewable-rich mini-grids. Heterogeneous battery capacities, differing states of health, stochastic renewable generation, and variable loa...
Recent Modular Multilevel Converter (MMC) topology allows for drastic improvements in power electronic conversion such as higher energy quality, lower power semiconductors electrical stress, decreased Electro-Magnetic Interferences (EMI), and reduced...
High voltage electric power equipment requires rigorous regulation testing to specific standards which ensure proper and safe operation in the grid. Manufacturers conduct these tests in order to prove standard compliance and product liability. Variab...
Thickness and shape are two significant indices in the tandem hot strip rolling process. Excessive thickness correction can cause rolling force imbalance, leading to deteriorated shape conditions. Aiming at this problem, we propose a new monitor auto...
Switched reluctance motors (SRMs) are attractive for fault-tolerant drives because their rare-earth-free rotor and intrinsic phase isolation support continued operation after a converter fault. Realising this requires a post-fault control policy that...
Parallel discrete-event simulation (PDES) of register-transfer-level (RTL) designs on multi-socket NUMA platforms demand dynamic load balancing to mitigate barrier-induced tail latency. However, the ultra-fine event granularity of RTL simulation make...
The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However, traditional metaheuristic algori...
Under overmodulation conditions, the capacitor voltages of half-bridge and full-bridge submodules in hybrid modular multilevel converters (MMCs) may become unbalanced. This imbalance not only gives rise to overvoltage stress on submodule capacitors,...
Sustained uphill motion of two-wheeled self-balancing wheelchairs is challenging. Slope-induced gravity changes the equilibrium condition, driving-torque demand, and velocity response. This paper proposes a smoothly weighted hybrid control method. Th...
High penetration of distributed renewable generation in active distribution networks frequently leads to severe voltage fluctuations and challenges system voltage stability, as the inherent power-flow symmetry is disrupted by stochastic and bidirecti...
In the paper, a coordinated control methodology of single-phase (1-P) end-users switching operations on the phases of an active electric distribution network (AEDN) has been proposed to obtain a minimum unbalance degree at the coupling common point (...
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