The bond-graph method is a graphical approach to modeling in which component energy ports are connected by bonds that specify the transfer of energy between system components. Power, the rate of energy transport between components, is the universal currency of physical systems. Bond graphs are inherently energy based and thus related to other energy-based methods, including dissipative systems and port-Hamiltonians. This article has presented an introduction to bond graphs for control engineers. Although the notation can initially appear daunting, the bond graph method is firmly grounded in the familiar concepts of energy and power. The essential element to be grasped is that bonds represent power transactions between components

This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle's changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.

Recent advances in technology have paved the way for the increased penetration of wind energy conversion systems (WECSs) into the grid, worldwide. However, the existence of model uncertainties and intermittency of wind power can lead to malfunction of the stabilizing controllers and degrade the WECSs' power production performance. In this work, a compound control scheme comprising active fault-tolerant fractional-order nonsingular terminal sliding mode controllers (AFTSMCs) and a sliding mode observer (SMO) is developed to enhance the robustness of doubly-fed induction generator (DFIG) -based WECSs against uncertainties and maintain their desired performance. The developed AFTSMCs alleviate the chattering problem and overcome the compromise between fast response and the undesirable chattering problem. At the same time, it performs the speed trajectory tracking and rotor current regulation tasks. Moreover, under inevitable false fault detections due to unavoidable gradual performance degradations in the current sensors, a tolerance boundary is circumscribed for actual faults occurrence, allowing the developed robust SMO to estimate and reconstruct the rotor current during sensor faults with a high level of reliability. Evaluations of comparative performance are provided and validate the cooperative fault-tolerant method's superior control performance over other advanced approaches.