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control Of An Islanded Microgrid Based On A distributed Finite control Set-model predictive control: A Double Synchronous Reference Frame Approach 7

Control Of An Islanded Microgrid Based On A Distributed Fini...

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7th IEEE International Symposium On Power Electronics for distributed Generation Systems (PEDG)

作者： Toman, Riyadh T. Asumadu, Johnson Western Michigan Univ Coll Engn & Appl Sci Dept Elect & Comp Engn Kalamazoo MI 49008 USA

ISBN: (纸本)9781467386173

In this work primary control loop of the microgrid (MG) hierarchy is implemented by decomposing converter voltage and current into two oppositely rotating reference frames. The double Synchronous reference frame method is used with a filter-based extraction to yield values of each sequence component. A distributed finite control set-model predictive control (DFCS-MPC) is extended and applied to control both sequences with one cost function. In this way the use of any parameters tuning, as in the classical PI controller is eliminated. The method exhibits features of the powerful MPC approach. Since an island mode is assumed, voltage and current control strategies are used. Power quality at the point of coupling is considerably improved by setting the voltage negative sequence component to zero in the cost function and nullifying the negative sequence current share of the relevant voltage-creating converter. Cases corresponding to different sharing conditions are studied. The validity of the proposed approach is verified under all considered conditions.

关键词： Microgrid island mode distributed model predictive control double synchrouns reference frame

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Combined Scheduling and control Design for the Coordination of Automated Vehicles at Intersections

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IFAC-PapersOnLine 2020年第2期53卷 15259-15266页

作者： Maximilian Kneissl Adam Molin Sebastian Kehr Hasan Esen Sandra Hirche Corporate R&D DENSO Automotive Deutschland GmbH Freisinger Str. 21-23 85386 Eching Germany Institute for Information-oriented Control Technische Universität München Arcisstr. 21 80290 München Germany

Solving the problem of intersection crossing for autonomous vehicles is a challenging task due to combined combinatoric and dynamical control decisions. To reduce the complexity of the computations and distribute the resulting global optimization problem, we propose a combined scheduling-control method. Thereby, in this paper, we focus on the formulation of a resource-constrained-project-scheduling problem (RCPSP) to solve the combinatoric decision, i.e. the order in which vehicles cross an intersection area in a central coordination unit. This problem considers control decisions from the vehicles, which are computed using model predictive control (MPC) laws. In turn, the resulting scheduling solution is incorporated again in local vehicle MPC problems, which negotiate among each other to find a dynamically feasible solution. This seamless combination of scheduling and control results in efficient solutions, which is illustrated using numerical simulation and the results are compared with a first-come-first-served (FCFS) strategy.

关键词： Interactive vehicle control Autonomous vehicles Intersection crossing distributed model predictive control Scheduling algorithms

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distributed Parameterized predictive control for Multi-robot Curve Tracking

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IFAC-PapersOnLine 2020年第2期53卷 3144-3149页

作者： Gabriel V. Pacheco Luciano C.A. Pimenta Guilherme V. Raffo Graduate Program in Electrical Engineering - Universidade Federal de Minas Gerais - Belo Horizonte MG Brazil Department of Electronic Engineering - Universidade Federal de Minas Gerais - Belo Horizonte MG Brazil

This work proposes a guidance strategy of multiple robots to converge and circulate a curve while avoiding collisions by using a distributed model predictive control. To build the model predictive control framework, systems guided by control laws with parameters are considered, which laws are embedded in the optimization problem. After that, the same problem is distributed using the Alternating Direction Method of Multipliers and nonlinear optimization. To solve the task of convergence and circulation of a closed path, a vector field based control law is embedded in the predictive control scheme. The control law results from the sum of two components, a convergence term and a circulation term, whereas each term has one proportional parameter associated. Numerical results present an application example, and the strategy effectiveness is discussed.

关键词： Vector fields distributed model predictive control alternating direction method of multipliers multi-robot systems coordination

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distributed predictive control for String Stability of Heterogonous Vehicle Platoons with Multiple Communication Topologies 38

Distributed Predictive Control for String Stability of Heter...

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38th Chinese control Conference (CCC)

作者： Lu Liangye He Defeng Yu Shiming Dong Shijian Zhejiang Univ Technol Coll Informat Engn Hangzhou 310023 Peoples R China

ISBN: (纸本)9789881563972

This paper considers the longitudinal string stability problem of large-scale heterogeneous nonlinear vehicle platoons with multiple unidirectional communication topologies and we propose a distributed model predictive control (MPC) strategy with guaranteed string stability for the vehicle platoon. Each vehicle in the platoon is viewed as be dynamically decoupled but coupled by spatial constraints with different information flows. Moreover, a local receding horizon open-loop optimal problem is formulated for the individual vehicles, where each cost function is defined based on the information of connected vehicles and the errors between the predicted and assumed trajectories. By average terminal constraints, some conditions are derived to ensure string stability of the platoon in closed with the distributed MPC. The effectiveness of the proposed results is illustrated by some simulation experiments.

关键词： vehicle platoons distributed model predictive control multiple communication topologies stability

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model predictive control for Autonomous Ship Landing in a Search and Rescue Scenario

Model Predictive Control for Autonomous Ship Landing in a Se...

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Persson, Linnea Wahlberg, Bo KTH Royal Inst Technol Sch Elect Engn & Comp Sci Dept Automat Control Stockholm Sweden

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

This paper presents a model predictive control approach for autonomous landing of a quadcopter on the deck of a moving boat. The research is motivated by a large-scale demonstrator arena equipped with autonomous boats and drones that should collaborate to perform various tasks related to search and rescue missions. The landing maneuver is executed in a cooperative manner where both the boat and the drone take actions to reach their common objective. The maneuver is designed to be feasible under a range of conditions, including scenarios where the boat is moving across the water or when it is subjected to disturbances such as waves and winds. During the landing, the vehicles must also consider various safety constraints for landing safely and efficiently. The algorithms are implemented both in hardware-in-the-loop simulations, wherewe demonstrate some of the different scenarios that the algorithm is expected to handle, as well as on a real boat-drone system, on which initial tests have been carried out.

关键词： Boats cage set drone honey bees Rescue predictive control distributed model predictive control nonlinear model predictive control Religious Missions Moving model predictive control

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Application of distributed and Hierarchical model predictive control in Hydro Power Valleys

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IFAC Proceedings Volumes 2012年第17期45卷 375-383页

作者： Minh Dang Doan Tamás Keviczky Bart De Schutter Delft University of Technology Delft The Netherlands

We provide an overview on the application of distributed and hierarchical model predictive control (MPC) algorithms for the power reference tracking problem of the HD-MPC Hydro Power Valley (HPV) system (Savorgnan and Diehl, 2011). Serving as a case study for distributed and hierarchical MPC, the HPV benchmark has various challenging features, including nonlinear, non-smooth, and coupled cost function and nonlinear coupled subsystem dynamics. We propose different approaches to address these challenges and summarize our recently developed hierarchical and distributed MPC frameworks that could be applied to the HPV control problem. A comparison of distributed MPC based on a state-of-the-art distributed optimization method (Giselsson et al., 2012) with centralized and decentralized MPC is provided via numerical simulations. It is shown that by using a dynamic division of total power reference to deal with the coupling in the cost function and a specific formulation of the dual optimization problem, distributed MPC achieves almost the same tracking performance as centralized MPC, with the advantage of being implementable in a distributed setting.

关键词： distributed model predictive control Hydro Power Valley control Power Reference Tracking MPC

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distributed resource allocation for multi-zone commercial buildings 10

Distributed resource allocation for multi-zone commercial bu...

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10th International Conference on Applied Energy (ICAE)

作者： Mei, Jun Xia, Xiaohua Univ Pretoria Dept Elect Elect & Comp Engn ZA-0002 Pretoria South Africa

Advanced building structures are extremely complicated with a large number of dynamically interacting components and widely equipped with multi-zone air conditioning (ME A/C) systems. In this paper, multi-zone commercial building systems are built as second order Resistance-Capacitance (RC) models with individual zones communicating to the whole network through neighbors. The presented thermal dynamics are different from that in our previous work [8], which does not consider the wall's thermal dynamics. The second order RC models are more accurate in capturing the thermal dynamics of a building in comparison with the first order model employed in [8]. We first propose a hierarchical distributed method using ME A/C systems in commercial building for demand response. The idea of the upper layer strategy is based on the balance of building's energy demand and users' comfort level to generate reference signals. The lower layer is designed as distributed model predictive controllers (DMPC) to track the reference signals whereas energy cost and demand are reduced. Simulation results are provided to verify the effectiveness of the proposed control. (C) 2019 The Authors. Published by Elsevier Ltd.

关键词： ME A/C system distributed model predictive control energy efficiency multi-zone commercial buildings

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Optimization-Driven control and Organization of a Robot Swarm for Cooperative Transportation 8

Optimization-Driven Control and Organization of a Robot Swar...

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8th International-Federation-of-Automatic-control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-control (IFAC) Symposium on Nonlinear control Systems (NOLCOS)

作者： Ebel, Henrik Eberhard, Peter Univ Stuttgart Inst Engn & Computat Mech Pfaffenwaldring 9 D-70569 Stuttgart Germany

The cooperation of autonomous robotic systems, forming a robotic network by communicating with each other, brings about the potential to improve both performance and robustness in robotics applications, but introduces additional complexity in control design. In this context, this paper examines a cooperative transportation task that can serve as a test bed for distributed control algorithms, but may also inspire applications in logistics. In the proposed approach, the task solution is split into an organization scheme, determining formations useful for the current situation, as well as a distributed controller maintaining the formation. Both of these rely on the solution of optimization problems, with the latter drawing from distributed model predictive control theory. The optimization problems are formulated in a way that they can be derived automatically from the intrinsic properties of the considered scenario, e.g. the number of participating robots and the shape of the transported object. Therefore, no human intervention or scenario-specific design steps are necessary while still being able to cater to a wide range of scenarios. Challenging simulation scenarios illustrate the performance achievable with the proposed scheme. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： object transportation distributed model predictive control networked robotic systems cooperative control formation control particle swarm optimization

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Safe Spacecraft Rendezvous Using Dual Quaternions on Time-Dependent Trajectories Generated by model predictive control

Safe Spacecraft Rendezvous Using Dual Quaternions on Time-De...

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Buyukkocak, Ali Tevfik Tekinalp, Ozan Middle East Tech Univ Dept Aerosp Engn TR-06800 Ankara Turkey

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

Rendezvous and docking (R-D) problem of a pair of low Earth orbit spacecraft is addressed. Two different sets of equations for the nonlinear orbital relative motion of spacecraft are derived, and simulation codes for this motion are developed. First, Hill-Clohessy-Wiltshire (HCW) equations are used in chaser-target spacecraft configuration with model predictive control (MPC) algorithm including several safety considerations such as debris avoidance, approach direction constraint and slow impact requirement. The HCW equations are linearized assuming a circular orbit. All authority is given to the chaser spacecraft, and the target is kept passive. The safe trajectory generated by MPC approach is also tracked by a novel Lyapunov based control algorithm. The algorithm is based on dual quaternions for the motion parametrization and provides a combined control of both translational and rotational motions. An error dual quaternion and its derivative are found from desired attitude and position information. As desired attitude trajectory is a time-dependent polynomial function, position trajectory is retrieved from MPC solution directly. Two control approaches are compared. Simulation results are given and discussed.

关键词： Quaternion Spacecraft trajectory SPACE RENDEZVOUS model predictive control combined control predictive control Maximum Allowable Concentration distributed model predictive control nonlinear model predictive control Computer algorithms Dual

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Min-max coalitional model predictive control algorithm 22

Min-max coalitional model predictive control algorithm

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22nd International Conference on control Systems and Computer Science (CSCS)

作者： Maxim, Anca Maestre, Jose M. Caruntu, Constantin F. Lazar, Corneliu Gheorghe Asachi Tech Univ Iasi Dept Automat Control & Appl Informat Blvd D Mangeron 27 Iasi 700050 Romania Univ Ghent Dept Elect Energy Met Mech Construct & Syst Technol Pk 914 B-9052 Ghent Belgium Univ Seville Dept Syst & Automat Engn Camino Descubrimientos S-N Seville 41092 Spain

ISBN: (纸本)9781728123318

This paper proposes a coalitional model predictive control algorithm with feasibility guarantees for systems with bounded additive uncertainties. This formulation, suitable for sub-systems coupled through the inputs, assumes the coupling variables as disturbances and ensures a robust consensus with minimum information exchange. The simulation results show that the coalitional method has similar behaviour to the fully centralized algorithm and improved performance with respect to the decentralized and the iterative min-max distributed model predictive controllers.

关键词： Coalitional control distributed model predictive control Min max control

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