Browsing by Author "Wang, S."
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Item Multivariable L1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments(Elsevier B.V., 2022-10-01) Chikh, L.; Chemori, A.; Wang, S.; Rincon-Ardilla, Liz; Tecnalia Research & InnovationThis paper deals with L1 adaptive control of a novel omnidirectional underwater vehicle called MEROS. To the best of our knowledge, this is the first study of depth and attitude (i.e. φ, θ, and ψ) tracking control on an underwater vehicle. We experimentally prove the effectiveness of the proposed control approach by commanding in closed-loop simultaneously the four aforementioned degrees of freedom (DoFs). The dynamic model of MEROS is highly nonlinear with coupling effects between the different DoFs making its stabilization and tracking control more challenging than conventional ROVs (remotely operated vehicles). Therefore, the use of a robust controller becomes essential, and the proposed scheme allows to ensure robustness whilst fast adaptation is achieved. Real-time experiments are performed to show the effectiveness of the proposed control design.Item Open access simulation toolbox for the grid connection of offshore wind farms using multi-terminal HVDC networks(Institution of Engineering and Technology, 2017) Ugalde-Loo, C. E.; Adeuyi, O. D.; Wang, S.; Liang, J.; Jenkins, N.; Ceballos, S.; Santos, M.; Vidaurrazaga, I.; D'Arco, S.; Bergna, G.; Barenys, M.; Parker, M.; Finney, S.; Gatti, A.; Pitto, A.; Rapizza, M.; Cirio, D.; Lund, P.; Castro, A.; Azpiri, I.; POWER ELECTRONICS AND SYSTEM EQUIPMENT; POWER SYSTEMS; SISTEMAS FOTOVOLTAICOSDecarbonisation of the European electricity system can become dauntingly costly due to transmission and distribution network issues arising from the integration of intermittent renewable generation sources. It is expected that wind energy will be the principal renewable source by 2050 and, as such, a number of initiatives in the academia and in the industry are being carried out to propose solutions to best accommodate the wind resource. This paper presents work carried out by DEMO 1 partners within the EU FP7 project BEST PATHS. A MATLAB/Simulink toolbox consisting of the necessary building blocks for the simulation and integration of offshore wind farms using enabling technologies such as multiterminal high-voltage direct-current grids is presented. To illustrate the toolbox capabilities, a number of system topologies is studied. System performance is assessed and measured against a set of key performance indicators. To ensure knowledge dissemination, the toolbox has been made available as open access in the BEST PATHS project website.