@misc{RuedaEscobedoMetzkowSchiffer, author = {Rueda-Escobedo, Juan G. and Metzkow, Ren{\´e} and Schiffer, Johannes}, title = {Robust current control of IPMSM drives under uncertain and varying inductances}, series = {Automatica}, volume = {152}, journal = {Automatica}, issn = {0005-1098}, doi = {10.1016/j.automatica.2023.110998}, abstract = {Interior permanent magnet synchronous machines (IPMSMs) are gaining popularity in e-mobility applications due to their wide constant power speed range when compared with other electric motors. The high-performance of IPMSMs is due to the pronounced degree of magnetic saliency, which originates from embedding their magnets inside the rotor. Yet, this feature complicates their control since it increases nonlinear phenomena such as cross-magnetization and saturation. This results in pronounced variations of the machine inductances, which are highly dependent on the machine current. This behaviour is of particular relevance in e-mobility applications, where a highly dynamic operation of the machine is required. In contrast to most existing current control approaches, where precise inductance knowledge is required, we address this challenge by deriving a controller that exploits the machine dynamics to achieve exponential current tracking in the presence of unknown and varying inductances. By interpreting the flux linkage as a modelled disturbance, we propose a dynamic compensator based on the internal model principle. As a by-product, the method provides an estimate of the flux linkage. The gain in performance compared to the standard PI controller is illustrated in simulation.}, language = {en} } @misc{ZuritaBustamanteRuedaEscobedoSchiffer, author = {Zurita-Bustamante, Erik W. and Rueda-Escobedo, Juan G. and Schiffer, Johannes}, title = {Passivity-Based Conditions for Asymptotic Stability of Speed Control for Three-Phase and Dual Three-Phase Permanent Magnet Synchronous Motors}, series = {62nd IEEE Conference on Decision and Control (CDC), 2023}, journal = {62nd IEEE Conference on Decision and Control (CDC), 2023}, isbn = {979-8-3503-0124-3}, issn = {2576-2370}, doi = {10.1109/CDC49753.2023.10383817}, pages = {6}, language = {en} } @misc{JeeningaMachadoCucuzzellaetal., author = {Jeeninga, Mark and Machado, Juan Eduardo and Cucuzzella, Michele and Como, Giacomo and Scherpen, Jacquelien}, title = {On the existence and uniqueness of steady state solutions of a class of dynamic hydraulic networks via actuator placement}, series = {62nd IEEE Conference on Decision and Control (CDC), 2023}, journal = {62nd IEEE Conference on Decision and Control (CDC), 2023}, isbn = {979-8-3503-0124-3}, issn = {2576-2370}, doi = {10.1109/CDC49753.2023.10384050}, pages = {6}, language = {en} } @misc{MendozaAvilaEfimovMercadoUribeetal., author = {Mendoza-Avila, Jesus and Efimov, Denis and Mercado-Uribe, Angel and Schiffer, Johannes}, title = {Design of Controls for Boundedness of Trajectories of Multistable State Periodic Systems}, series = {62nd IEEE Conference on Decision and Control (CDC), 2023}, journal = {62nd IEEE Conference on Decision and Control (CDC), 2023}, isbn = {979-8-3503-0124-3}, issn = {2576-2370}, doi = {10.1109/CDC49753.2023.10383528}, pages = {6}, language = {en} } @misc{MercadoUribeMendozaAvilaEfimovetal., author = {Mercado-Uribe, Angel and Mendoza-{\´A}vila, Jes{\´u}s and Efimov, Denis and Schiffer, Johannes}, title = {A Control Leonov Function Guaranteeing Global ISS of Two Coupled Synchronverters}, series = {62nd IEEE Conference on Decision and Control (CDC), 2023}, journal = {62nd IEEE Conference on Decision and Control (CDC), 2023}, isbn = {979-8-3503-0124-3}, issn = {2576-2370}, doi = {10.1109/CDC49753.2023.10383811}, pages = {6}, language = {en} } @misc{JaramilloCajicaMercadoUribeSchiffer, author = {Jaramillo-Cajica, Ismael and Mercado-Uribe, Angel and Schiffer, Johannes}, title = {Coordinated Control of Load Tap Changer Transformers for Voltage Regulation and Voltage Hunting Prevention: A Switched Systems Approach}, series = {62nd IEEE Conference on Decision and Control (CDC), 2023}, journal = {62nd IEEE Conference on Decision and Control (CDC), 2023}, isbn = {979-8-3503-0124-3}, issn = {2576-2370}, doi = {10.1109/CDC49753.2023.10383763}, pages = {6}, language = {en} } @misc{NattkeRottaNatarovetal., author = {Nattke, Matthias and Rotta, Randolf and Natarov, Roman and Archila, Oscar and Mykytyn, Pavlo}, title = {Precise sensors for localization in the drone swarm}, series = {Proceedings iCCC2024 - iCampµs Cottbus Conference, 2024-05-14 - 2024-05-16, Cottbus}, volume = {2024}, journal = {Proceedings iCCC2024 - iCampµs Cottbus Conference, 2024-05-14 - 2024-05-16, Cottbus}, publisher = {AMA}, isbn = {978-3-910600-00-3}, doi = {10.5162/iCCC2024/P16}, pages = {166 -- 169}, abstract = {Drones can be connected as a swarm to precisely monitor large agricultural areas and manage them more sustainable. They test sensor technology in real environments and solve complex tasks faster. Key aspects include accurate localization, reliable communication, and dynamic flight control. The localization accuracy of RTK-GNSS-enabled system, which includes GPS, GLONASS, GALILEO positioning systems is compared with Ultra-Wideband (UWB) one. The UPWARDS communication hub is presented as a processing and connection point across swarm agents. This controller also incorporates collision avoidance features and testing of evasion strategies.}, language = {en} } @misc{ShahinRottaArchilaetal., author = {Shahin, Keyvan and Rotta, Randolf and Archila, Oscar and Mykytyn, Pavlo and Nattke, Matthias and Reichenbach, Marc and Nolte, J{\"o}rg and Natarov, Roman}, title = {A Modular Communication Architecture for Adaptive UAV Swarms}, series = {2023 IEEE International Conference on Omni-layer Intelligent Systems (COINS)}, journal = {2023 IEEE International Conference on Omni-layer Intelligent Systems (COINS)}, publisher = {IEEE}, address = {Berlin}, isbn = {979-8-3503-4647-3}, doi = {10.1109/COINS57856.2023.10189245}, pages = {6}, abstract = {Small Unmanned Aerial Vehicles (UAVs) have vast application potential from industrial logistics and disaster monitoring to smart farming, for example, to create maps with Normalized Difference Vegetation Index (NDVI) cameras and AI-based image classification or the precision spot application of fertilizers. Operating multiple UAVs in parallel, including those with different specializations, enables efficient coverage of large areas. While existing research focused mainly on predefined flight formations for swarms or autonomous missions for single UAVs, the focus of this work is on multiple UAVs with individually adaptable missions. We derive communication system requirements from swarm coordination algorithms and present a respective design. The resulting modular architecture enables future research on autonomous adaptive UAV swarms and their use as flying sensor platforms.}, language = {en} }