This paper introduces a robust adaptive control strategy of shunt active power filters (SAPF) for power-factor correction, harmonic compensation, and balancing of nonlinear loads. The proposed control scheme is implemented without load harmonic detection. The compensation constraints are obtained by regulating indirectly the currents of the power mains. The reference currents of are generated by the dc-link voltage controller based on the active power balance of system. They are aligned to the phase angle of the power mains voltage vector, by using a phase-locked loop system. The current control strategy is implemented by an adaptive pole-placement control strategy integrated to a variable structure control scheme. This control scheme uses the internal model principle of reference currents for achieving the zero steady-state tracking error. Experimental results are shown for determining the effectiveness of an -proposed control system.

Shunt active power filters (SAPFs) implemented without harmonic detection schemes are susceptible to sudden load variations. This paper proposes a robust control strategy to reduce this drawback. In this strategy, the dc-link voltage is regulated by a hybrid control technique combining a standard proportional-integral PI and a sliding-mode (SM) controllers. The SM scheme continuously determines the gains of the PI controller based on the control loop error and its derivative. The chattering due to the SM scheme is reduced by a transition rule that fixes the controller gains when steady-state condition is reached. This controller is termed as dual-sliding-mode-proportional-integral. The phase currents of the power grid are indirectly regulated by double-sequence controllers with two degrees of freedom, where the internal model principle is employed to avoid reference frame transformation. The proposed control strategy ensures zero steady-state error and improves the performance under hard transients such as load variation. Additionally, it presents robustness when the SAPF is operating under unbalanced conditions. Experimental results demonstrate the performance of the proposed control scheme.

This paper presents a feed-forward control strategy for DC-link regulator in a Shunt Power Active Filter SAPF. The DC-Link regulator is cascaded with an indirect current control. The feed-forward control strategy is based on load current estimates. With this control strategy, the DC-link regulator achieves a fast transient response when subject to load variations increasing protection against capacitor over voltage or significant voltage drop in the DC-link. Experimental results are presented in order to show the effectiveness of the proposed control strategy.

Conventional control strategies, used in shunt active power filters (SAPF), employ real-time instantaneous harmonic detection schemes which are usually implemented with digital filters. This increases the number of current sensors on the filter structure which results in high cost. Furthermore, these detection schemes introduce time delays which can deteriorate the harmonic compensation performance. Differently from the conventional control schemes, this paper proposes a non-standard control strategy which indirectly regulates the phase currents of the power mains. The reference currents of system are generated by the dc-link voltage controller and is based on the active power balance of SAPF system. The current control strategy is implemented through an adaptive pole placement control strategy integrated to a variable structure control scheme (VS-APPC). The V S-APPC uses the internal model principle (IMP) of reference currents for achieving the zero steady state tracking error. This forces the phase current of the system mains to be sinusoidal with low harmonics content. Experimental results are showing for determining the effectiveness of SAPF proposed control system.

Many authors have been working on approaches that can be applied to social robots to allow a more realistic/comfortable relationship between humans and robots in the same space. This paper proposes a new navigation strategy for social environments by recognizing and considering the social conventions of people and groups. To achieve that, we proposed the application of Delaunay triangulation for connecting people as vertices of a triangle network. Then, we defined a complete asymmetric Gaussian function (for individuals and groups) to decide zones where the robot must avoid passing. Furthermore, a feature generalization scheme called socialization feature was proposed to incorporate perception information that can be used to change the variance of the Gaussian function. Simulation results have been presented to demonstrate that the proposed approach can modify the path according to the perception of the robot compared to a standard A* algorithm.

Shunt active power filters (SAP F) implemented without harmonic detection schemes compensate simultaneously harmonic distortion and reactive power of the load. Their compensation capabilities, however, are limited by the SAP F power converter rating. Such a restriction can be minimized if the level of the reactive power correction is managed. An estimation scheme for determining the filter currents is introduced to manage the compensation of reactive power. The effectiveness of the proposed control strategy is ensured by introducing a feedforward scheme on the DC − link regulation. Also, a robust control based on adaptive pole placement regulates the grid currents. Experimental results are shown for demonstrating the performance of the proposed SAP F system.