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A decentralized control algorithm for Large-Scale Building Structures

COMPUTER-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING 2012年第1期27卷 2-13页

作者： Lei, Ying Wu, D. T. Lin, Y. Xiamen Univ Dept Civil Engn Xiamen 361005 Peoples R China

decentralized control strategy is more suitable for structural control of large-scale structural systems as it increases in the feasibility of control implementation and decreases the risk on the failure of the control system compared with the conventional centralized control approach. In this article, a decentralized control algorithm is proposed for large-scale linear building structures. A large-scale building structure is divided into a set of smaller substructures based on its finite element model. Interconnections between adjacent substructures are treated as disturbances to the individual substructure. Each substructure is controlled by its own local controller using linear quadratic Gaussian control scheme with acceleration measurements as feedback signals. A computational procedure is developed for the recursive estimation of the unknown disturbances to each substructure. Two cases, with substructure interface measurement and without substructure interface measurement respectively, are considered. A numerical example of the decentralized control of the 20-story Structural Engineers Association of California (SAC) benchmark linear building under seismic excitation is studied to evaluate the performance of the proposed algorithm. Simulation results demonstrate that the decentralized control algorithm has quite good control performance compared with the conventional centralized control approach. Therefore, the proposed decentralized control algorithm is viable for structural control of large-scale linear structural systems.

关键词： linear quadratic Gaussian control control systems control performance acceleration measurement numerical example Substructures Computer algorithms Structural systems computational procedure INTEGRATED SHIP control decentralised control structure control recursive estimation decentralized control algorithm built structure

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Wave Energy Converter model based on a decentralized Hybrid Energy Storage System with MPPT control algorithm 15

Wave Energy Converter model based on a decentralized Hybrid ...

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15th International Conference on Ecological Vehicles and Renewable Energies (EVER)

作者： Artal-Sevil, J. S. Martinez-Lopez, D. Guillen-Asensio, A. Dominguez-Navarro, J. A. Univ Zaragoza Univ Tech Sch Engn & Architecture Dept Elect Engn Zaragoza 50018 Spain

ISBN: (纸本)9781728156415

This paper presents the analysis of a hydraulic transmission model used in various types of wave energy conversion systems. In this case, a multi-point absorber wave energy converter is used because its structure is simple and efficient. This design offers some advantages such as greater energy harvesting and stabilization of the output power. In this way, the union of the hydraulic system and electric generator in detail is presented. The objective of the proposed approach has been to maintain the speed in the electric generator and reduce the effect of wave energy fluctuation on the output power. At the same time, an MPPT (Maximum Power Point Tracking) control algorithm is incorporated. Its purpose is to obtain maximum efficiency of the proposed system. In addition, the system uses an HVDC line and high-power DC/DC converters to connect to the power grid. The different modules are connected in parallel on the side of the buoy-farm and in series on the HVDC transmission line to achieve high power and high voltage. The developed model also incorporates a decentralized hybrid energy storage system (dHESS) based on ultracapacitors. In many cases, ESS is necessary for the grid integration of marine energy due to flicker restrictions in the devices, which allows us to attenuate the oscillations of energy injected into the HVDC line. The WEC system and the dHESS model have been simulated in Matlab-Simulink. In this way, different simulations have been developed to verify the basic characteristics of the proposed system. The results of the simulated model and the conclusions obtained are also presented in this document.

关键词： Wave Energy Converter (WEC) Hydraulic Transmission Ultracapacitor decentralized Hybrid Energy Storage System (dHESS) MPPT control algorithm HVDC Transmission Line Efficiency Energy harvesting Power rating decentralized control algorithm

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A decentralized algorithm for control of autonomous agents coupled by feasibility constraints

A decentralized algorithm for control of autonomous agents c...

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American control Conference

作者： Ugo Rosolia Francesco Braghin Andrew G. Alleyne Stijn De Bruyne Edoardo Sabbioni Department of Mechanical Engineering University of California at Berkeley Mechanical Engineering Department Politecnico di Milano Mechanical Science and Engineering University of Illinois at UrbanaChampaign McKinsey & Company

ISBN: (纸本)9781509045839

In this paper a decentralized control algorithm for systems composed of N dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into N optimal control sub-problems and a communication scheme is proposed to decouple computations. The derivative of the solution of each sub-problem is used to approximate the evolution of the system allowing the algorithm to decentralize and parallelize computations. The effectiveness of the proposed algorithm is shown through simulations in a cooperative driving scenario.

关键词： Intelligent agents decentralized algorithms DECOUPLING decentralized control algorithm Standing Orders

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decentralized control and fair load-shedding compensations to prevent cascading failures in a smart grid

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2015年 67卷 582-590页

作者： Shi, Benyun Liu, Jiming Nanjing Univ Finance & Econ Sch Informat Engn Nanjing Jiangsu Peoples R China Hong Kong Baptist Univ Dept Comp Sci Kowloon Tong Hong Kong Peoples R China

Evidence shows that a small number of line contingencies in power systems may cause a large-scale blackout due to the effects of cascading failures. With the development of new technologies and the growing number of heterogeneous participants, a modem/smart grid should be able to self-heal its internal disturbances by continually performing self-assessment to deter, detect, respond to and restore from unpredictable contingencies. Along this line, this research focuses on the problem of how to prevent the occurrence of cascading failures through load shedding by considering heterogeneous shedding costs of grid participants. A fair load-shedding algorithm is proposed to solve the problem in a decentralized manner, where a load-shedding participant need only monitor its own operational status and interact with its neighboring participants. Using an embedded feedback mechanism, the fair load-shedding algorithm can determine a marginal compensation price for each load-shedding participant in real time based on the proportional fairness criterion, without knowing the shedding costs of the participants. Such fairly determined compensations can help motivate loaders/generators to actively participate in the load shedding in the face of internal disturbances. Finally, the properties of the load-shedding algorithm are evaluated by carrying out an experimental study on the standard IEEE 30 bus system. The study will offer new insights into emergency planning and design improvement of self-healing smart grids. (C) 2014 The Authors. Published by Elsevier Ltd.

关键词： Cascading failures decentralized control algorithm Load-shedding compensations Embedded feedback mechanism The proportional fairness criterion

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HIGHLY-EFFICIENT ROBOT DYNAMICS LEARNING BY DECOMPOSED CONNECTIONIST FEEDFORWARD control-STRUCTURE

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1995年第1期25卷 145-158页

作者： KATIC, DM VUKOBRATOVIC, MK Dept. of Robotics Mihailo Pupin Inst. Belgrade Serbia Robotics Department Mihajlo Pupin Institut Belgrade Serbia

A major objective in this paper is the application of connectionist architectures for fast and robust on-line learning of dynamic relations used in robot control at the executive hierarchical level. The proposed connectionist robot controllers as new feature use decomposition of robot dynamics in the space of internal robot coordinates. In this way, this method enables the training of neural networks on the simpler input-output relations with significant reduction of learning time. The proposed controller structure comprises a form of intelligent feedforward control in the frame of decentralized control algorithm with feedback-error or driving torque error learning method. The another important features of these new algorithms are fast and robust convergence properties because the problem of adjusting the weights of internal hidden units is considered as a problem of estimating parameters by recursive least square method and Kalman Filter approach. From simulation examples of robot trajectory tracking it is shown that when a sufficiently trained network is desired, the learning speed of the proposed algorithms is faster than that of the standard back propagation algorithm.

关键词： robot dynamics Fasting controller structure e-learning FEEDFORWARD control Learning decentralized control algorithm Robot control

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Disturbance compensation in electric generator network control

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JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL 2016年第1期55卷 115-124页

作者： Furtat, I. B. Chugina, Yu. V. IPME RAS St Petersburg Russia St Petersburg Natl Res Univ Informat Technol Mech ITMO Univ St Petersburg Russia

The paper considers electric generator network control under conditions of parametric uncertainty and disturbing actions caused by the mechanical power nonstationarity and possible changes in transmission-line admittance. A decentralized control algorithm that maintains operator generation stability and network phase synchronization with the required accuracy is synthesized. Numerical examples and computational simulation results are presented illustrating the operation capability of the proposed control scheme.

关键词： impedance Simulation results network control mechanical power Transmission Lines phase synchronization decentralized control algorithm

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Distributed Formation control for Swarm Robots Using Mobile Agents 10

Distributed Formation Control for Swarm Robots Using Mobile ...

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10th Jubilee IEEE International Symposium on Applied Computational Intelligence and Informatics

作者： Oikawa, Ryotaro Takimoto, Munehiro Kambayashi, Yasushi Tokyo Univ Sci Dept Informat Sci 2641 Yamazaki Noda Chiba 2788510 Japan Nippon Inst Technol Dept Comp & Informat Engn Miyashiro 3458501 Japan

ISBN: (纸本)9781479999118

This paper presents a decentralized control algorithm for composing a specific formation of swarm robots. The swarm robots are expected to compose formations that represent symbols. The robots are connected by communication networks and not necessary intelligent;they initially do not have any control program to compose symbols. control programs that implement our algorithm are introduced later from outside as mobile software agents, which are able to migrate from one robot to another robot connected by the network. Our controlling algorithm is based on the indirect pheromone communication of social insects such as ants. We have implemented the ant and the pheromone as mobile software agents. Ant agents control the robots. Each ant agent has partial information about the formation they are supposed to compose. The partial information consists of relative locations with neighbor robots that are cooperatively composing the target formation. Once the ant agent detects an idle robot, it occupies that robot and generates the pheromone agent to attract other ant agents to the location for neighbor robots. Then the pheromone agent repeatedly migrates to other robots to diffuse attracting information. Once the pheromone agent reaches the robot with an ant agent, the ant agent migrates to the robot closest to the location pointed by the pheromone agent, and then, drives the robot to the location. We have implemented a simulator based on our algorithm, and conducted experiments to demonstrate the feasibility of our approach.

关键词： Robot Ants Pheromones Intelligent agents Agents Mobile agents dike swarms decentralized control algorithm Signs and symbols decentralised control

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A novel Cooperative Adaptive Cruise control approach: theory and Hardware in the loop experimental validation 22

A novel Cooperative Adaptive Cruise Control approach: theory...

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22nd Mediterranean Conference on control and Automation (MED)

作者： Montanaro, Umberto Tufo, Manuela Fiengo, Giovanni Santini, Stefania Media Mot Srl R&D Dept Naples Italy Univ Sannio Benevento Dept Engn Benevento Italy Univ Naples Federico II Dept Elect & ICT Engn I-80125 Naples Italy

ISBN: (纸本)9781479959013

In this paper we propose and experimentally validate within an ad hoc Hardware In the Loop (HIL) environment a novel approach for the control of a fleet of vehicles. In particular, the Cooperative Adaptive Cruise control (CACC) for vehicles platooning is extended to the case when, due to the recent advances on vehicular wireless technologies, each vehicle can communicate not only with its follower but also with a subset of vehicles in the fleet. In so doing, a network of dynamical system emerges, and it is shown that the platooning problem is equivalent to find a control algorithm so that the resulting network is asymptotically stable. It is analytically shown that the decentralized control algorithm guarantee exponential stability despite heterogeneous tim-evarying communication delays which are unavoidable when wireless protocol are used. Finally, experimental results show the effectiveness and the robustness of the control approach also to variations of the leader velocity, as well as to generic topologies of the underlining network emerging from the communication features.

关键词： adaptive control asymptotic stability decentralised control vehicles velocity control CACC cooperative adaptive cruise control approach decentralized control algorithm dynamical system exponential stability generic topologies hardware in the loop experimental validation heterogeneous time-varying communication delays platooning problem vehicle fleet control vehicles platooning vehicular wireless technologies wireless protocol Delays Network topology Robustness Topology Vehicle dynamics Vehicles Wireless communication

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A modular robot that exploits a spontaneous connectivity control mechanism

A modular robot that exploits a spontaneous connectivity con...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shimizu, M Ishiguro, A Kawakatsu, T Nagoya Univ Dept Computat Sci & Engn Chikusa Ku Nagoya Aichi 4648603 Japan

ISBN: (纸本)0780389123

This paper discusses a fully decentralized algorithm able to control the morphology of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment", the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which plays as the core of the control mechanism for the generation of locomotion. Simulation results indicate that the proposed algorithm can induce locomotion, which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.

关键词： modular robot emergent phenomena morphology control decentralized control algorithm spontaneous connectivity control mechanism

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Adaptive Interlimb Coordination Mechanism for Hexapod Locomotion Based on Active Load Sensing

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FRONTIERS IN NEUROROBOTICS 2022年第0期16卷 645683页

作者： Fukuhara, Akira Suda, Wataru Kano, Takeshi Kobayashi, Ryo Ishiguro, Akio Tohoku Univ Res Inst Elect Commun Sendai Miyagi Japan Hiroshima Univ Grad Sch Integrated Sci Life Program Math & Life Sci Hiroshima Japan

Insects can flexibly coordinate their limbs to adapt to various locomotor conditions, e.g., complex environments, changes in locomotion speed, and leg amputation. An interesting aspect of insect locomotion is that the gait patterns are not necessarily stereotypical but are often highly variable, e.g., searching behavior to obtain stable footholds in complex environments. Several previous studies have focused on the mechanism for the emergence of variable limb coordination patterns. However, the proposed mechanisms are complicated and the essential mechanism underlying insect locomotion remains elusive. To address this issue, we proposed a simple mathematical model for the mechanism of variable interlimb coordination in insect locomotion. The key idea of the proposed model is "decentralized active load sensing," wherein each limb actively moves and detects the reaction force from the ground to judge whether it plays a pivotal role in maintaining the steady support polygon. Based on active load sensing, each limb stays in the stance phase when the limb is necessary for body support. To evaluate the proposed model, we conducted simulation experiments using a hexapod robot. The results showed that the proposed simple mechanism allows the hexapod robot to exhibit typical gait patterns in response to the locomotion speed. Furthermore, the proposed mechanism improves the adaptability of the hexapod robot for leg amputations and lack of footholds by changing each limb's walking and searching behavior in a decentralized manner based on the physical interaction between the body and the environment.

关键词： hexapod locomotion inter-limb coordination decentralized control algorithm active load sensing chains of reflex

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