@inproceedings{27d006453f62471786fc128daad4d38e,
title = "Modelling and Current Control of Supercapacitor Controller for Lightweight Robots",
abstract = "This paper presents a modelling and control method of a Supercapacitor controller for lightweight robots. We develop an averaged state-space model that involves arbitrary number of parallel capacitor branches with their equivalent series resistance (ESR) considered, and derive a direct transfer function from duty cycle to supercapacitor current. Based on power stage transfer function, We synthesise a Type-III compensator for closed-loop current regulation. PLECS simulations on a six-branch capacitor network show that the controller (i) limits battery peak current and reduces ripple under dynamic loading, (ii) achieves fast current transitions (0.4 ms) during load steps, and (iii) performs regenerative braking energy recovery while keeping the battery current regulated. Our approach reduces tuning complexity and enhances robustness, while ensuring predictable system response.",
keywords = "current regulation, hybrid energy storage systems (HESS), Supercapacitors, system modelling",
author = "Xiuqi Wang and Kwong, \{Chiew Foong\} and Adam Rushworth and Salman Ijaz",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 5th International Conference on Mechanical Automation and Electronic Information Engineering, MAEIE 2025 ; Conference date: 27-11-2025 Through 29-11-2025",
year = "2025",
doi = "10.1109/MAEIE68099.2025.11405877",
language = "English",
series = "2025 5th International Conference on Mechanical Automation and Electronic Information Engineering, MAEIE 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "307--310",
booktitle = "2025 5th International Conference on Mechanical Automation and Electronic Information Engineering, MAEIE 2025",
address = "United States",
}