Faculty Publications

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    A comprehensive review on control techniques for power management of isolated DC microgrid system operation
    (Institute of Electrical and Electronics Engineers Inc., 2021) Bhargavi, K.M.; Sabhahit, N.S.; Gaonkar, D.N.; Shrivastava, A.; Jadoun, V.K.
    The present research investigations in power management fraternity are focused towards the realization of smart microgrid (MG) technologies. Due to intrinsic advantages of Direct Current (DC) system in terms of compatibility with power generation sources, modern loads and storage devices, DC MG has becoming popular over Alternate Current (AC) system. A secondary voltage and current control schemes of DC MG system are mainly based on the distributed consensus control of Multi-agent system (MAS) to balance generation and the demand. The basic concern of the cooperative control of MAS is consensus, which is to design a suitable control law such that the output of all agents can achieve synchronization. The distributed consensus algorithm requires much less computational power and information exchange in between the neighbor's agent. Meanwhile the other controllers such as model predictive control (MPC) requires accurate dynamic models with high computational cost and it suffers from lack of flexibility. The hierarchical consensus control technique is classified into three levels according to their features, namely primary, secondary, and tertiary. MAS is a popular distributed platform to efficiently manage the secondary control level for synchronization and communication among the power converters in autonomous MGs. In this article, various primary control techniques for local voltage control, voltage restoration in the secondary control level and tertiary control for energy management techniques are discussed. With this, the key emphasis to reduce the voltage deviation and disturbances in a heterogeneous DC MG network solutions are discussed. Furthermore, to analyze the system response and the charging and discharging characteristics of the battery unit, the developed second order heterogeneous consensus controller is compared with the traditional homogeneous consensus control and droop control methods. Finally a detailed discussion on simulation case study using heterogeneous consensus control method over the traditional methods are provided using MATLAB/Simulink platform. © 2021 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.
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    Automated multi-agent search using centroidal Voronoi configuration
    (2011) Guruprasad, K.R.; Ghose, D.
    This paper addresses the problem of automated multiagent search in an unknown environment. Autonomous agents equipped with sensors carry out a search operation in a search space, where the uncertainty, or lack of information about the environment, is known a priori as an uncertainty density distribution function. The agents are deployed in the search space to maximize single step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for the proposed sequential deploy and search strategy. It is shown that with the proposed control law the agent trajectories converge in a globally asymptotic manner to the centroidal Voronoi configuration. Simulation experiments are provided to validate the strategy. © 2010 IEEE.
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    Model-based manipulator control and the computational cost
    (Institute of Advanced Scientific Research, Inc. dheep.infotel@gmail.com, 2018) Soumya, S.; Guruprasad, K.R.
    This paper addresses the computational cost associated with the manipulator control. Manipulator dynamics are known to be computationally intense owing to its coupled nonlinear nature. In this work we analyze the computational cost associated with a traditional nonlinear model-based control scheme of a manipulator with that of the model-based distributed control scheme. We restrict our focus on planar serial link manipulators as the coupling effects are maximum in such configurations. The computational cost associated with the model-based control and its distributed counterpart are compared as the degrees-of-freedom of the manipulator increases from two to six. © 2018, Institute of Advanced Scientific Research, Inc. All rights reserved.
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    A Multilevel Distributed Hybrid Control Scheme for Islanded DC Microgrids
    (Institute of Electrical and Electronics Engineers Inc., 2019) Mathew, P.; Madichetty, S.; Mishra, S.
    This paper proposes a multilevel hybrid control scheme, including grid control and node control, for an islanded 48-V solar photovoltaic-based low voltage dc microgrid that aims to overcome the drawbacks of centralized and decentralized control schemes. The analyzed microgrid includes a 35-kW rooftop solar system as the main power source at bus-1 with battery storage, 5-kW hybrid energy storage system (Vanadium Redox flow battery with super capacitor) at bus-2, and variable loads such as electrical vehicles at bus-3. In the case of a central failure, the proposed hybrid control scheme is capable of seamlessly switching between high bandwidth communication and low bandwidth communication channels of communications to implement a distributed control scheme. The central supervisory controller is responsible for updation of grid characteristics and sending/receiving information to/from local node controllers, which are responsible for bus voltage regulation and energy management. The control hierarchy features optimized and safe operation (charge and discharge) of storage devices in dc microgrids. The paper also demonstrates the application of battery-supercapacitor systems to absorb system transients during load changes. The simulation showcases the continuous flow of information and decision processes via each level of control while simultaneously taking into consideration the constraints of each subsystem. The scheme has been simulated in MATLAB/Simulink environment for various case studies to evaluate system robustness. Further, the proposed scheme has been tested experimentally with its prototype and its results are explored. © 2007-2012 IEEE.
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    Multi-agent system inspired distributed control of a serial-link robot
    (Industrial Research Institute for Automation and Measurements aladan@piap.pl, 2020) Soumya, S.; Guruprasad, K.R.
    Inspired by the multi-agent systems, we propose a model-based distributed control architecture for robotic manipulators. Here, each of the joints of the manipulator is controlled using a joint level controller and these controllers account for the dynamic coupling between the links by interacting among themselves. Apart from the reduced computational time due to distributed computation of the control law at the joint levels, the knowledge of dynamics is fully utilized in the proposed control scheme, unlike the decentralized control schemes proposed in the literature. While the proposed distributed control architecture is useful for a general serial-link manipulator, in this paper, we focus on planar manipulators with revolute joints. We provide a simple model-based distributed control scheme as an illustration of the proposed distributed model-based control architecture. Based on this scheme, distributed model-based controller has been designed for a planar 3R manipulator and simulations results are presented to demonstrate that the manipulator successfully tracks the desired trajectory. © 2020, Industrial Research Institute for Automation and Measurements. All rights reserved.