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2010 49th IEEE Conference on Decision and Control

作者： Jose-Marcio Luna Rafael Fierro Chaouki Abdallah John Wood Department of Electrical & Computer Engineering The University of New Mexico Albuquerque NM 87131-0001 USA Department of Mechanical Engineering The University of New Mexico Albuquerque NM 87131-0001 USA

ISBN: (纸本)9781424477456

We show the Lyapunov stability and convergence of an adaptive and decentralized coverage control for a team of mobile sensors. This new approach assumes nonholonomic sensors rather than the usual holonomic sensors found in the literature. The kinematics of the unicycle model and a nonlinear control law in polar coordinates are used in order to prove the stability of the controller applied over a team of mobile sensors. The convergence and feasibility of the coverage control algorithm are verified through simulations in Matlab. Furthermore, some experiments are carried out using a team of four Pioneer 3-AT robots sensing a piecewise constant light distribution function.

关键词： Sensors deployment computer algorithms Lyapunov methods Coverage Self tuning Mobile Polar coordinates Teams control law Converge Distribution function Robot

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algorithms for Managing, Querying and Processing Big Data in Cloud Environments

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algorithms 2016年第1期9卷 13-13页

作者： Cuzzocrea, Alfredo Univ Trieste DIA Dept I-34127 Trieste Italy ICAR CNR I-34127 Trieste Italy

An introduction is presented in which the editor discusses various reports within the issue on topics including problem of mining big data, Resource Description Framework (RDF) graphs, and cloud particle optimization ... 详细信息

关键词： BIG data RDF (Document markup language) computer algorithms

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Optimal Reactive Power Allocation for Photovoltaic Inverters to Limit Transformer Tap Changes

Optimal Reactive Power Allocation for Photovoltaic Inverters...

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IEEE Power and Energy Society General Meeting

作者： Oguzhan Ceylan Aleksandar Dimitrovski Michael Starke Kevin Tomsovic Department of Electrical and Electronics Engineering Istanbul Kemerburgaz University Power and Energy Systems Group Oak Ridge National Lab. Department of Electrical Engineering and Computer Science University of Tennessee

ISBN: (纸本)9781509041695

This paper combines an iterative approach based voltage control algorithm for allocating the reactive power outputs of distributed energy sources (DERs) with an Augmented Lagrangian voltage deviation optimization model that takes tap positions into consideration. The approach is applied to a modified IEEE 123 bus distribution test system with several PVs of varying output. Voltage variations due to the intermittent nature of the PVs in the distribution system are constrained by scheduling reactive power injections from the inverters. Allocating reactive power outputs of PVs and changing transformer tap positions allows the proposed approach to be used as an alternative to traditional distribution voltage control approaches. Simulation results show that the proposed method is able to keep voltage magnitudes in the normal voltage magnitude range with few tap operations.

关键词： Reactive power Inventors WATER FAUCETS dispensing system power splitting voltage magnitude Transformer tapping position computer algorithms

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Variable Step ILSE Based Control Algorithm for Power Quality Improvement of SPV System

Variable Step ILSE Based Control Algorithm for Power Quality...

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IEEE International Conference on Industrial and Information Systems

作者： Priyank Shah Ikhlaq Hussain Bhim Singh Dept. of Electrical Engineering Indian Institute of Technology Delhi Hauz-Khas New Delhi-110016 India

This paper proposes the use of a variable step based improved least sum of exponentials (VS-ILSE) control algorithm for single stage three phase grid connected photovoltaic (PV) system. The VS-ILSE algorithm provides a fundamental weight of active and reactive power components of load currents which are used to generate reference grid currents. This control algorithm provides the power quality improvement of distribution network likes load balancing, power factor correction. The perturb and observe (P&O) MPPT (Maximum Power Point Tracking) algorithm is used to obtain reference DC link voltage of VSC and also used to extract maximum power from the SPV array during varying environmental conditions. The proposed system is simulated in MATLAB/Simulink based environment of simpower system toolbox. The proposed algorithm is verified on a developed hardware and obtained responses are found satisfactory. The total harmonics distortions (THDs) of the grid currents and CCP (Common Coupling Point) voltages are found well according to an IEEE-519 and IEEE-929 standards.

关键词： Voltage control Switches Convergence Feeds Power quality Algorithm design and analysis Algorithm design and analysis Power quality computer algorithms Voltage regulation Switches Fodder FEEDS Quality Improvement Converge surface photovoltage maximum power point trackers

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Sensor Guided Robot Motions Using the Example of the Inverted Pendulum

Sensor Guided Robot Motions Using the Example of the Inverte...

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Joint international symposium on robotics

作者： Alexander Winkler Jozef Suchy Department of Robotic Systems Chemnitz University of Technology Germany

ISBN: (纸本)9781617387197

This article presents the implementation of the well known inverted pendulum problem together with an industrial robot. The inverted pendulum is an adequate controlled system to demonstrate advanced control algorithms. Regarding this system there are more restrictions in comparison with the pendulum mounted on a linear ball screw, e.g., lower acceleration, smaller traversing range and the relatively high cycle time of the commercial robot controller which was used. In this paper two control algorithms are designed, one for swinging up the pendulum by coordinated robot motions, and one for balancing the pendulum in the upper position based on a state space controller with an additional feature of zero point offset adaptation. The approaches were implemented into the robot controller and verified with the real system.

关键词： Clock weights robot controller Robot kinematics computer algorithms INVERTED PENDULUM Sensors time cycles

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Artificial force in robust control of mobile manipulator application

Artificial force in robust control of mobile manipulator app...

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Workshop on Robot Motion and Control

作者： Alicja Mazur Mateusz Cholewinski Institute of Computer Engineering Control and Robotics Wroclaw University of Technology

ISBN: (纸本)9781467355094

In the paper mobile manipulator using skid steering platform, has been considered. Such system is underactuated. This paper presents the concept of artificial force applied in robust control an discussion of obtained results. Artificial force concept assumes full rank of input matrix, describing relationships between controlled variables and number of actuators. Despite of assumption that the additional actuator signal is identically equal to zero, the invertibility of the input matrix is achieved. This signal is used to generate reference signal, needed in control algorithm. Mathematical proof of proper action of such a control law has been presented using Lyapunov-like function. Usefulness of this concept, under the assumption of parametric uncertainty of the terrain as well as in order to track inadmissible trajectories, has been verified in numerous simulations.

关键词： Robust control Mobile manipulator control law full rank actuators Reversibility Force Reference signals computer algorithms terrains

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ROS+Unity: An Efficient High-fidelity 3D Multi-UAV Navigation and Control Simulator in GPS-Denied Environments

ROS+Unity: An Efficient High-fidelity 3D Multi-UAV Navigatio...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Wei Meng Yuchao Hu Jiaxin Lin Feng Lin Rodney Teo Temasek Laboratories National University of Singapore

ISBN: (纸本)9781479917631

In this paper, we will introduce our newly developed 3D simulation system for miniature unmanned aerial vehicles (UAVs) navigation and control in GPS-denied environments. As we know, simulation technologies can verify the algorithms and identify potential problems before the actual flight test and to make the physical implementation smoothly and successfully. To enhance the capability of state-of-the-art of research-oriented UAV simulation system, we develop a 3D simulator based on robot operation system (ROS) and a game engine, Unity3D. Unity3D has powerful graphics and can support high-fidelity 3D environments and sensor modeling which is important when we simulate sensing technologies in cluttered and harsh environments. On the other hand, ROS can provide clear software structure and simultaneous operation between hardware devices for actual UAVs. By developing data transmitting interface and necessary sensor modeling techniques, we have successfully glued ROS and Unity together. The integrated simulator can handle real-time multi-UAV navigation and control algorithms, including online processing of a large number of sensor data.

关键词： Maneuvering simulators Unmanned Aerial Vehicle Simulation Systems navigation high fidelity Software Frameworks simultaneous operation FLIGHT TESTS Environments drone honey bees Harsh environments Sensor Data ROS1 gene computer algorithms

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On Communication in Decentralized Pole-Placement Formation Control and Parallel Estimation

On Communication in Decentralized Pole-Placement Formation C...

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2009 American Control Conference (ACC 2009)

作者： Lingji Chen Jayesh Amin Raman K. Mehra Scientific Systems Company Inc. 500 West Cummings Park Suite 3000 Woburn MA 10801 USA

ISBN: (纸本)9781424445233

We consider a class of decentralized formation flying control algorithms that stem from assigning the closed loop poles for the Multi-Input-Multi-Output formation system, and examine the role communication plays. First we revisit Smith and Hadaegh [2007], where as many parallel estimators as there are spacecraft are used. We show an intuitive way of demonstrating the existing results, and by a re-interpretation of the quantities communicated, extend the results to the case where observability of the full formation state at each spacecraft is not available. Next we show that the pole-placement formation control can be carried out with only one estimator and no communication, for the double-integrator system used to model deep space formation flying. We treat the task of having one estimator on each spacecraft as separate from the task of control, and show how it can be accomplished with communication.

关键词： Communication Research Spacecraft Decentralized Formation flight computer algorithms Observability Parallel Lines Standing Orders PRINT

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Congestion control using an improved variant of the AIMD scheme

Congestion control using an improved variant of the AIMD sch...

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Proceedings of the 45th IEEE Conference on Decision and Control, Volume 3 of 14

作者： Eugenius Kaszkurewicz Amit Bhaya Dept. of Electrical Engineering COPPE Federal University of Rio de Janeiro P.O. Box 68504 RJ 21945-970 BRAZIL

ISBN: (纸本)1424401704;9781424401703

The Additive-Increase Multiplicative-Decrease (AIMD) congestion control algorithm is approached from a variable structure control perspective, leading to a variant of this classical algorithm in which a (sliding) equilibrium can be attained, while giving preference to either fairness or full link utilization in the reaching phase. The price to be paid is that each source must have information on the sending or injection rates of its neighbor(s), in addition to the usual bit of information regarding congestion in the bottleneck link(s). Simulations are presented showing the improved responsiveness and smoothness of convergence of the injection rates to a fair, full utilization equilibrium in the presence of delays.

关键词： INJECTION RATE Smoothness Traffic Bottlenecks Variable structure control Preferences preference Converge information computer algorithms simulating

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Improved Steady State and Transient Behavior of Static Power Converters by Means of an Operating Mode Identifier Algorithm

Improved Steady State and Transient Behavior of Static Power...

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Annual Conference of the IEEE Industrial Electronics Society

作者： E. Maurelia J. Espinoza R. Ramirez M. Reyes P. Melin Cesar A. Silva Javier Munoz Electrical Engineer Department Concepcion University Electronic Engineer Department Santa Maria University Department of Industrial Technologies Universidad de Talca

ISBN: (纸本)9781479902255

Nowadays Finite-Control-Set Model Predictive Control (FCS-MPC) is being successfully used in static power converters. The algorithm requires defining a functional in order to optimize it and thus find the best switch combination. So far the functional optimizes either the steady state or the transient operation. In fact, for steady state operation, the minimization of the switching frequency as well as high quality waveforms are the basic objectives. Contrary, during transient conditions the settling time minimization is usually used as a basic objective. This work presents an algorithm that is able to detect if the system is either under steady state or transient operating mode and applies the appropriate control algorithm. Hence, both operating modes are controlled under optimum conditions. Simulated results show the performance of the proposed control scheme.

关键词： Current control Transient identification Steady state identification Predictive control Predictive control Current control Transient performance Static power converters operation mode Steady state power conversion unit Economic Resources TRANSIENT OPERATION computer algorithms algorithms

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