An autonomous underwater vehicle (AUV) is a crewless robotic vehicle that dives into the water and performs without human assistance. This paper focuses on developing trajectory tracking control for bio-mimetic AUV system under uncertain environments. Therefore, a relatively new control technique called time delay-based estimation control is proposed for trajectory tracking under multiple uncertainties. This algorithm estimates the total disturbance in the system using immediate past information of input and output of feedback state and control variables. The benefit of this scheme is that it avoids assumptions about a priori upper bound information of disturbance. Further, the control structure is simple and does not require any high-frequency switching or high gain to nullify the effects of disturbance. The theoretical analysis of the proposed scheme guarantees the uniformly ultimate bounded stability of the closed-loop system. The numerical analysis is also carried out to validate the control performance of the given algorithm for lemniscate reference path tracking.

This paper investigates the attitude stabilization problem for a bandwidth-constrained spacecraft subjected to model uncertainty, external disturbances, actuator faults, and saturated input. The proposed attitude controller is developed by combining the disturbance observer with an event-trigger technique to provide disturbance attenuation meanwhile respecting the constraint on the wireless control network. The proposed disturbance observer estimates the lumped disturbance within a finite time, and its output is then fed to the composite control law. The presented control scheme relaxes the use of a priori upper bound knowledge of disturbance and resolves the unwinding problem in the quaternion-based attitude representation. The closed-loop stability analysis under the proposed algorithm shows the uniformly ultimately bounded convergence of state trajectories. Moreover, the designed event trigger approach avoids the Zeno behavior. The numerical simulation with comparative analysis illustrates the efficacy of the proposed controller in terms of convergence time, steady-state bound, rate of control update, and energy consumption.

The use of renewable energy-based converters is continuously increasing in modern power systems which inject voltage harmonics in the line. In this work, a novel, simple technique based on a binary (on/off) control of an analog switch is proposed to measure reactive current and reactive power. This method eliminates the requirement of finding sin(f) and its multiplication with the current signal in reactive power computation. The proposed transducer gives a dc signal proportional to the reactive current of a power system, i.e., Isin(f), which is suitable for static VAr compensator (SVC) applications. This transducer output is sufficient as the terminal voltage is common for the measurement as well as for the compensation current. Thus, the required current of SVC for compensation is equal to or proportional to Isin(f). Moreover, voltage harmonics are common in a power system. These harmonics affect the measurement of fundamental reactive power. This method eliminates the need for voltage measurement and hence the measurement is independent of the harmonics of the voltage, which reduces the measurement error. The proposed method is proved mathematically, and its performance is successfully validated through simulation analysis and hardware implementation. The advantages of the proposed technique are linearity of the transducer output, simple working, inexpensive hardware realization, fast response, and online measurement capability. The response time of the transducer is one cycle of supply voltage which is suitable for SVC applications.