This paper presents a nonlinear flatness-based control (FBC) approach for a full-order doubly fed induction generator (DFIG) in the wind turbine system. Flat outputs of the DFIG and the FBC controller are derived using differential flatness theory. The proposed approach ensures an efficient decoupled control for both active and reactive powers of the DFIG. Also, it provides a smooth trajectory tracking in the start-up and the rest to rest modes without any saturation. Therefore, the system satisfactory operates at a variable speed of the rotor with an effective active/reactive power tracking. The variable rotor speed represents a perturbation caused by changes in the wind speed or different wind energy capacity. The requirements on the active and the reactive power are converted into system variables using a high-level reference trajectory generator (HLRTG). The effectiveness of the proposed system is verified by simulations.

The aim of this research is to finalize implementation of new method and algorithm of Collaborative and Non-Collaborative Dynamic Path Prediction for Mobile objects Collision Detection with Dynamic Obstacles in 2D and 3D Space. The method is based human behavior in collision detection with vehicles in real-life natural environment. Advantages of proposed method are full decentralization of the system, minimizing network traffic and simplifying inclusion of additional agents in the system. The proposed method is inspired by nature and implemented in mobile robotics. The method decreases uncertainty and increases predictability in collision detection with dynamic obstacles. Method allows implementation of fully functional algorithm which is tested in experimental environment and shows excellent results both in collaborative mode using exchange of coordinates as well as non-collaborative mode using OpenCV library for computer imaging and mobile objects tracking. The proposed algorithm is named Sliding Holt algorithm. This research paper should be considered as a part of series of research papers published earlier.

This paper presents an experimental procedure for the identification of parameters of an octorotor unmanned aerial vehicle (UAV), as well as the obtained model validation via control. The octorotor UAV is a highly nonlinear, multivariable and strongly coupled system. The mathematical model of used UAV includes rigid body dynamics, the Gyroscopic effect and motor dynamics. In order to estimate eleven unknown parameters, the experiments are specially prepared and conducted on the custom made apparatus. Therefore, on basis of obtained measurements, some modifications of the octorotor model are made.