A novel non-dissipative two-stage equalization circuit topology based on the traditional Buck-Boost circuit is proposed to achieve balancing of series-connected lithium-ion battery packs with higher efficiency and less cost, considering the background on international energy issues and the development trend of battery balancing. The proposed topology achieves high efficient balancing of lithium-ion battery packs without adding additional devices. Detailed illustration of the presented topology, the operation principles and control approaches are described with visualized figures in this paper. Then, under the condition of accurate modeling of the lithium-ion battery, relying on the experimental data, the simulation block is built based on MATLAB. Furthermore, the prototype of the proposed topology was designed and manufactured. The effectiveness of the proposed topology is verified by both the simulation and experiment.
A double-layer formation control is proposed to solve the repeated tasks for multiple quadrotor unmanned aerial vehicle systems. The first layer aims at achieving a formation target in which the iterative learning control is designed based on relative distance with neighbor unmanned aerial vehicles and absolute distance with virtual leader unmanned aerial vehicle. The formation controller is responsible for keeping the formation shape and generating the desired flying trajectories for each drones. The second layer control aims at achieving a high-precision tracking to desired flying trajectories which are generated from the formation controller. A double closed-loop proportional-derivative strategy is designed to ensure the accuracy of trajectory tracking for each individual drone. Simulations for the circle formation mission of the multiple quadrotor unmanned aerial vehicle system are given to verify the efficiency of the proposed method.
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