This study proposes a formation control scheme for a group of quad-rotor aircrafts. The formation is realised by considering a constant altitude for the group of aircrafts. The authors propose a stability analysis that considers the aircraft group as a large-scale interconnected linear system in order to compute the value of the formation gain that guarantees its stabilisation. The control scheme for the group is based on the potential field theory, whereas the stabilising control law for each rotorcraft is done through nested saturation functions. The author also propose repulsive functions in order to guarantee obstacle avoidance. The repulsive functions take into account the attractive forces to compute, in a suitable way, the repulsive forces. Simulation results emphasise the effectiveness of the proposed control scheme.

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This paper is focused in the development of a parallel control loop of the angular velocity and torque for Brushless Direct Current (BLDC) motors. This parallel loop is proposed as an improvement for the performance of those cascaded solutions commonly reported in the body of literature of the field. Performance is improved by reducing the steady state error of the speed considerably when compared with the typical cascaded loop solution under a commanded change of torque. In addition, the steady state response of the parallel loop is reached in a shorter time. Simulations were designed to carry out a comparison between both methodologies. The results of these simulations consider only changes in the set point for speed or torque and are reported here. The control signal was applied to a simulated driver using a switching method known as Direct Torque Control of 2 and 3 phases (DTC-2+3P). These preliminary results show that the parallel control loop outperforms the cascaded control of BLDC motors.

The present work describes the implementation of a prototype to characterize thermoelectric modules (TEM). The goal is to study the energy conversion by means of thermoelectric modules mounted on concrete structures. The proposed experimental system is used for the electrical characterization of a commercially available thermoelectric module TEC1-12710 to prove its operation while embedded in a concrete slab, typical of building constructions. In this case, the parameters that define thermal energy conversion into electrical energy are open-circuit voltage generation, loaded circuit voltage generation, and load current. A known external load is connected to the terminals of the TEM for the purpose of its electric characterization. An electrical heating element on the hot side and a thermoelectric cooler on the cold side produce a temperature difference on the concrete slab. This arrangement allows the emulation of a temperature gradient produced by sunlight over a concrete structure. The objective is to measure the resulting electrical energy produced by the combination of concrete slab and the thermoelectric module. By controlling the temperature difference between the sides of the thermoelectric module under test, it is possible to simulate the effect of the temperature gradient under different sunlight conditions. Two digital PI controllers regulate the temperature conditions, thus providing controlled conditions for the experiments.