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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control)
Edwin Villarreal-Lopez
Fundación Universitaria Los Libertadores
Computer Science & IT

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Enhanced torque control for horizontal-axis wind turbines via disturbance observer assistance Edwin Villarreal-Lopez; Horacio Coral-Enriquez; Sergio Tamayo-Leon
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 23, No 5: October 2025
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v23i5.26805

Abstract

This paper presents an enhanced control strategy for optimizing energy capture in horizontal axis wind turbines operating in the partial-load region (region 2). The proposed approach builds upon conventional standard torque control (STC) by incorporating a generalized extended state observer (GESO) that follows the active-disturbance-rejection paradigm. Although traditional torque control methods have proven effective under steady wind conditions, they often lack robustness against disturbances, system faults, and model uncertainties inherent in wind energy systems. The proposed observer-assisted control scheme addresses these limitations by estimating and compensating for total disturbance signals, including non-modeled dynamics, parameter uncertainties, and actuator faults. The effectiveness of the proposed control strategy is validated through comprehensive simulations using a 5 MW wind turbine model subjected to realistic operational conditions. Simulation scenarios include turbulent wind speed profiles and actuator degradation to assess controller performance. The results demonstrate improved robustness and energy capture efficiency compared to the conventional control approach, while maintaining the simplicity of the implementation. This work contributes to the development of more reliable wind energy conversion systems (WECSs) by offering a practical solution that improves both performance and fault tolerance in partial load operation.
Extended-state observer control with online payload identification for HRI in series elastic actuators Edwin Villarreal-López; Horacio Coral-Enriquez; Luini L. Hurtado-Cortés
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 24, No 4: August 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v24i4.27787

Abstract

Safe human–robot interaction requires actuators that combine compliance with accurate force inference. Series elastic actuators (SEAs) are particularly suitable for this purpose; however, separating payload-induced torques from voluntary human interaction forces without dedicated sensors remains a critical challenge. This paper proposes a unified observer-based control framework for SEAs that integrates three key components: a linear parameter-varying extended state ob server (LPV-ESO), an online algebraic payload estimator, and a disturbance driven motion intention identification (MII) mechanism. The payload estimator continuously updates the observer gains to adapt to load variations, while the LPV-ESO decouples payload dynamics from human interaction forces. The dis turbance estimate is then processed through the MII block to infer operator intent in real time without additional sensing hardware. Numerical simulations under nominal conditions and ±10% parametric uncertainty confirm bounded trajec tory tracking error, rapid convergence of payload estimation, and effective sepa ration of payload-induced torques from voluntary interaction forces. The results demonstrate that the proposed framework achieves sensorless force decompo sition and reliable motion intention inference, offering a practical solution for SEA-based collaborative robots in rehabilitation, assistance, and industrial ap plications.
Co-Authors Horacio Coral-Enriquez Horacio Coral-Enriquez Luini L. Hurtado-Cortés Sergio Tamayo-Leon