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Oceans Aberdeen Conference

作者： Vio, Renato P. Cristi, Roberto Smith, Kevin B. Naval Postgrad Sch Monterey CA 93943 USA Naval Postgrad Sch Engn Acoust Program Monterey CA 93943 USA

ISBN: (纸本)9781509052783

Underwater navigation is particularly challenging due to the fact that a number of navigation aids, such as GPS and similar, are not available. In order to accurately estimate a UUV's position at any time during a mission, we are relying on acoustic communication between the UUV and a network of surface platforms at known locations (reference points). By using the acoustic modems and a model of the environment, the acoustic wave travel time from the UUV to the reference points can be measured and converted into a distance. These distance measurements are then used by a tracking algorithm to improve the UUV positioning accuracy. In previous work [1], a tracking algorithm based on the Unscented Kalman Filter (UKF) was developed presenting satisfactory results. As part of the UUV tracking model, the drift caused by the ocean current was modeled as a random walk and is part of the state of the system. Based on predictions for the ocean current made by different UUVs at different times, a consensus algorithm was developed [2]. The knowledge of the ocean current provided by the consensus algorithm is then used to improve the UUV positioning. The developed algorithms were initially tested using synthetic data. To validate the simulation results, the algorithms were applied to data collected during sea tests that took place in Monterey Bay in August, 2015

关键词： underwater navigation systems acoustic modems unscented Kalman filter consensus algorithm

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Distributed Control algorithm for Optimal Power Allocation of EV Parking Lots

Distributed Control Algorithm for Optimal Power Allocation o...

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2017 IEEE Power & Energy Society General Meeting

作者： Pourbabak, Hajir Xu, Shengyao Chen, Tao Liang, Zheming Su, Wencong Univ Michigan Dept Elect & Comp Engn Coll Engn & Comp Sci Dearborn MI 48128 USA

ISBN: (纸本)9781538622124

This paper proposes a distributed control algorithm for determining the optimal power allocation of EV parking lots. A conventional central controller can be eliminated in order to reduce computational burden, remove single point of failures and improve interoperability. The proposed algorithm can iteratively share and update power mismatch with other parking lots to achieve optimal power allocation. Power mismatch as a shared information does not include any private information;thus, the privacy of the whole system will be improved. In addition, the proposed distributed method is evaluated through two case studies using software simulations.

关键词： Optimal Power Allocation Distributed Control consensus algorithm Electric Vehicles

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Feasibility of Distributed Monitoring and Distributed Control in Power System

Feasibility of Distributed Monitoring and Distributed Contro...

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IEEE PES Innovative Smart Grid Technologies Conference - Latin America (ISGT Latin America)

作者： Gamboa, Silvana Orduna, Eduardo Escuela Politec Nacl Dept Automatizac & Control Ind Quito Ecuador Univ Nacl San Juan Inst Energia Elect San Juan Argentina

ISBN: (纸本)9781538633120

This article presents an analysis of the feasibility of executing wide-area monitoring and control functions in a distributed way in the power system, taking advantage of interconnected system's behavior that describes the power system. For this purpose, observability is analyzed when the state estimation is performed in a distributed way and only with local measurements. Also, power system is adjusted to a distributed cooperative control problem based on consensus algorithms. After the analysis presented, it can be concluded that the power system can be represented through a disaggregated model, based on models of interconnected subsystems, which proves the feasibility of executing monitoring or control tasks in a distributed way without information exchange with neighboring areas.

关键词： WAMPAC DCS SCADA Distributed Monitoring Distributed Control Cooperative Control consensus algorithm

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System Architecture Design for Coordinated-control of Large-scale Distributed Equipment in Energy Universal Service Bus System 3

System Architecture Design for Coordinated-control of Large-...

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3rd IEEE International Conference on Computer and Communications (ICCC)

作者： Tan, Zhukui Cheng, Lefeng Zhao, Yuanliang Xu, Changbao Yu, Tao Guizhou Power Grid Co Ltd Elect Power Res Inst Guiyang 550002 Guizhou Peoples R China South China Univ Technol Coll Elect Power Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781509063529

This paper designs a system architecture for the coordinated-control of large-scale distributed equipment (DE) in energy universal service bus (USB) system based on the consensus coordinated-control algorithm, the JADE-based multi-agent control platform and the grid-connected supporting platform. The interaction mechanism between large-scale DE and distribution network, the coordinated control mechanism of DE containing electric vehicles (EVs), as well as the consensus coordinated-control algorithm are investigated. The JADE-based multi-agent control platform and the grid-connected supporting platform are designed, based on which, the overall system architecture is developed for distributed-optimization analysis and coordinated-control of large-scale DE, making them access to distribution network in a universal interface standard (namely USB). The system can facilitate the production of DE in a grid-connecting operation mode, thus achieving optimal allocation of the renewable energy resources and supporting the development of unified standard interface for plug-and-play of distributed resources, i.e., distributed generation, energy storage, electric vehicles and controllable loads, in future.

关键词： energy USB system distributed equipment coordinated-control plug-and-play JADE consensus algorithm

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Vibration suppression of distributed parameter flexible structures by Integral consensus Control

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JOURNAL OF SOUND AND VIBRATION 2016年 364卷 1-13页

作者： Omidi, Ehsan Mahmoodi, S. Nima Univ Alabama Dept Mech Engn Nonlinear Intelligent Struct Lab Tuscaloosa AL 35487 USA

Integral consensus Control (ICC) is proposed and implemented in this paper for the first time, as a novel approach for vibration control in distributed parameter flexible structures. The ICC consists of multiple parallel first-order lossy integrators, with the goal of targeting all major participating resonant modes in the oscillation of the structure. The vibration control design is taken to a different level, by integrating the concept of consensus control design into the new dynamics. Each control patch on the flexible structure is considered as a node of a network, and a communication topology with consensus control terms are augmented in the controller design dynamics. The result is an effective vibration controller, which is also robust to failures and inconsistencies in the control system. A cantilever is used as a sample flexible structure to investigate the control method. Multiagent representation of the system, state estimator dynamics and the ICC model are designed for the structure. Extensive numerical simulations have been conducted to show the suppression performance of the ICC under different input disturbances. A comparative study is presented to show the advantage of the decentralized design over the conventional centralized approach. The new consensus control design provides new possibilities to vibration control problems, where an effective, robust and synchronized suppression is needed. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Active vibration control consensus algorithm Distributed parameter structure H-2 norm Integral controller Network-based design

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consensus-Based Distributed Mixture Kalman Filter for Maneuvering Target Tracking in Wireless Sensor Networks

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2016年第10期65卷 8669-8681页

作者： Yu, Yihua Beijing Univ Posts & Telecommun Sch Sci Beijing 100876 Peoples R China

We consider the distributed state estimation for conditional dynamic linear systems (CDLSs) in a wireless sensor network without a data fusion center. Each sensor only exchanges its local information with its neighbors. The mixture Kalman filter (MKF) is an effective technique for the state estimation in the CDLSs. We extend the MKF and develop a distributed MKF for the CDLSs. Each sensor in the network runs a local MKF and interacts with other sensors to generate a mixture Gaussian representation of the global posterior distribution. Since the global likelihood in the CDLSs is not suitable for the distributed computation, we apply the cubature rule for the calculation of likelihood, to enable the distributed implementation of the likelihood computation. consensus algorithms are executed to fuse the observations from all sensors. For the distributed MKF, the number of particles can be significantly reduced, compared with the distributed particle filtering. Finally, we apply the distributed MKF to the maneuvering target tracking. We consider that the maneuvering variable is discrete and continuous. We also consider that the observation equation is linear and nonlinear. Simulation results illustrate that the performance of the distributed MKF is close to that of the centralized MKF in various scenarios of maneuvering target tracking.

关键词： consensus algorithm distributed state estimation maneuvering target tracking mixture Kalman filter (MKF) wireless sensor network (WSN)

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A novel consensus based prediction strategy for data sensing

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NEUROCOMPUTING 2016年 215卷 175-183页

作者： Sui, Cong Wang, Zongyao Ye, Renzhen Dongbei Univ Finance & Econ Sch Finance Lab Expt Econ Dalian 116025 Liaoning Peoples R China Dongbei Univ Finance & Econ Surrey Int Inst Artificial Intelligence Lab Dalian 116025 Liaoning Peoples R China Huazhong Agr Univ Coll Sci Wuhan 430074 Hubei Peoples R China

Financial contagion problems have been extensively studied in area of financial research. Most of the works focus on studying the contagion effect on the financial system. Contagion prediction is considered as one of the most important strategies to prevent contagion. But the prediction issue is seldom researched in the financial area. Traditional financial management uses a centralized method to predict contagion risk. But the central management cannot instantly acquire complete information of entire network. A decentralized method is needed to achieve a prediction in real time. This paper introduces a distributed risk contagion prediction strategy of the financial network. Firstly, consensus algorithm is used to distributively acquire contagion risk information of the entire financial network. This distributed strategy enables the system to instantly predict the risk of contagion. Secondly, the impact of the financial crisis could enormously influence the convergency of consensus algorithm. So a consensus based Kalman filter (CAF) is proposed to maintain the convergency of consensus and ensure the accuracy of the prediction. Finally, the strategy is tested in different kinds of financial systems which are impacted by different levels of the financial crisis. The simulation result shows that the strategy is robust, flexible and feasible for practical use. It also proves that the proposed strategy can provide an accurate prediction in any condition. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Data sensing Contagion consensus algorithm Distributed system Noise models

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A New consensus algorithm for Multi-Agent Systems via Decentralized Dynamic Output Feedback

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2011年第2期63卷 309-322页

作者： Zhai, Guisheng Okuno, Shohei Imae, Joe Kobayashi, Tomoaki Shibaura Inst Technol Dept Math Sci Minuma Ku Saitama 3378570 Japan Osaka Prefecture Univ Dept Mech Engn Naka Ku Sakai Osaka 5998531 Japan

In this paper, we study a consensus problem for multi-agent systems via dynamic output feedback control. The entire system is decentralized in the sense that each agent can only obtain output information from its neighbor agents. For practical purpose, we assume that actuator limitation exists, and require that the consensus be achieved among the agents at a specified convergence rate. By using an appropriate coordinate transformation, we reduce the consensus problem on hand to solving a strict matrix inequality, and then propose to use the homotopy based method for solving the matrix inequality. It turns out that our algorithm includes the existing graph Laplacian based algorithm as a special case.

关键词： Multi-agent systems consensus algorithm Decentralized dynamic output feedback Graph Laplacian Matrix inequality Homotopy method LMI

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Leader-Following Attitude consensus for Spacecraft Formation with Rigid and Flexible Spacecraft

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2016年第4期39卷 941-948页

作者： Du, Haibo Chen, Michael Z. Q. Wen, Guanghui Hefei Univ Technol Sch Elect Engn & Automat Hefei 230009 Peoples R China Univ Hong Kong Dept Mech Engn Pokfulam Hong Kong Peoples R China Southeast Univ Dept Math Nanjing 210096 Jiangsu Peoples R China

The problem of attitude consensus for spacecraft formation with a leader-following architecture has been investigated. The spacecraft formation consists of rigid and flexible spacecraft, and the desired attitude is allowed to be available to only a subset of the spacecraft. Based on the backstepping design, the angular velocity has been first taken as a virtual control. Using graph theory, a distributed attitude cooperative control law has been proposed. Under the control law, the attitudes of all spacecraft can reach synchronization and track the desired attitude. Meanwhile, the induced vibrations by flexible appendages for flexible spacecraft can be damped out at the same time. Finally, the control torque has been designed such that the virtual angular velocity can be tracked by the real angular velocity. Numerical simulations have been presented to demonstrate the effectiveness of the proposed control method.

关键词： Flexible Spacecrafts Attitude Control System Backstepping Control consensus algorithm Variable Structure Control Vibration Suppression Flexible Structures Stiffness Matrices Nonlinear Systems Output Feedback

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TIME AVERAGING algorithmS WITH STOPPING RULES FOR MULTI-AGENT consensus WITH NOISY MEASUREMENTS

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ASIAN JOURNAL OF CONTROL 2016年第6期18卷 1969-1982页

作者： Morita, R. Wada, T. Masubuchi, I. Asai, T. Fujisaki, Y. Osaka Univ Grad Sch Informat Sci & Technol 1-5 Yamadaoka Suita Osaka 5650871 Japan Gifu Univ Fac Engn 1-1 Yanagito Gifu 5011193 Japan Kobe Univ Grad Sch Syst Informat Nada Ku 1-1 Rokkodai Kobe Hyogo 6578501 Japan Nagoya Univ Grad Sch Engn Chikusa Ku Nagoya Aichi 4648603 Japan

A time averaging technique is introduced to consensus algorithms in networked multi-agent systems under a noisy environment. Each agent communicates with its neighboring agents via a constant gain, while the time averaging states of the agents are considered as the values for agreement. The variation of the time averaging states then is evaluated at a specific number of iterations, where the number is given explicitly in terms of parameters related to the consensus accuracy and its probabilistic guarantee. This result establishes a rigorous stopping rule for the multi-agent consensus with noisy measurements. Several results on this type of stopping rules are provided for undirected, directed, and time-varying communication graphs. These theoretical results are illustrated through numerical examples.

关键词： Multi-agent system consensus algorithm stochastic approximation stopping rule

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