The power generated by wind turbines varies due to variations in the wind speed. A pack of rechargeable batteries could be used as a reserve power source to alleviate the intermittency in the wind turbine power. An integrated wind turbine and battery storage system is constructed where the wind turbine is electrically connected to a rechargeable battery system. Such a system can operate in two modes depending on the wind speed, power demand, and battery limit. The switching conditions for the wind turbine to operate in multi-input, single-output and single-input, single-output control mode are discussed. Linearized approximations of the closed loop wind turbine system are derived in order to analyze the switching stability between control modes. Common quadratic Lyapunov function (CQLF) is established for both control modes to prove the system stability. Simulation results demonstrating system stability are also presented.
We combine a "hybrid" force/position control scheme with a potential field approach into a novel method for collision recovery and navigation in unknown environments. It can be implemented both on manipulators and mobile robots. The use of force sensors allows us to locally sense the environment and design a dynamic control law. Multiple Lyapunov functions are used to establish asymptotic stability of the closed loop system. The switching conditions and stability criteria are established under reasonable assumptions on the type of obstacles present in the environment. Extensive simulation results are presented to illustrate the system behavior under designed control scheme, and verify its stability, collision recovery and navigation properties.
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