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International Conference on Automation (AUTOMATION)

作者： Korobiichuk, Igor Davydenko, Liudmyla Davydenko, Volodymyr Davydenko, Nina Ind Res Inst Automat & Measurements PIAP Warsaw Poland Lutsk Natl Tech Univ Lutsk Ukraine Natl Univ Water & Environm Engn Rivne Ukraine

ISBN: (纸本)9783030132736;9783030132729

The principles of information support organization of control procedures, which take into consideration the features of the research object functioning for obtaining the correct control results, have been considered in the article. The energy efficiency monitoring system is considered as a tool for forming a database. Complex analysis of daily water consumption graphs has been provided for taking into consideration of water consumption unevenness and influence of external factors during the water supply planning. Its results are the basis of planning and control procedures. An architecture of the information support system of the control, which reflects the connection between its procedures, has been proposed. The formalization of energy efficiency control has been accomplished based on object-oriented technology. Classes that take into consideration the characteristic of the facility, water consumption, environment, and energy consumption, methods of planning and control of energy consumption have been formed. Examples of calculated procedures realization have been demonstrated. Using the proposed principles gives an opportunity to take into consideration the actual operation conditions of the research object and provide information for correct control.

关键词： Municipal water supply system Energy efficiency operative control

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Mechanisms of Situational Management Providing of Stability of Parameters of Unique Programmatic-Technical Means 8

Mechanisms of Situational Management Providing of Stability ...

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8th International Conference on Information, control, and Communication Technologies, ICCT 2024

作者： Yurkevich, Evgenij Tuturov, Alexey Kryukova, Lidia V.A. Trapeznikov Institute of Control Sciences of RAS Laboratory of Technical Diagnostics and Fault Tolerance Moscow Russia

ISBN: (纸本)9798331517564

Paper offers mechanisms of situational management with purpose in unique programmatic-technical means of the parameters stability providing in the side system of space vehicle. Offered approach, allowing minimize the errors of treatment of results of tests on external influences. The mechanism of minimization of number of surface tests of the means created in an only copy is formed. © 2024 IEEE.

关键词： control of stability of parameters meaning external influences mechanisms of situational management number of surface tests operative control space vehicle unique means of the side programmatic-technical system

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Fault-Tolerant Cooperative control for Multiple UAVs Based on UDE and Model Following SMC

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IFAC-PapersOnLine 2018年第24期51卷 447-452页

作者： Li, Peng Yu, Xiang Zhang, Youmin College of Mechatronics Engineering and Automation National University of Defense Technology Changsha410073 China College of Automation Science and Electrical Engineering Beihang University Beijing100191 China Department of Mechanical Industrial and Aerospace Engineering Concordia University MontrealH3G 1M8 Canada

This paper presents a fault-tolerant cooperative control (FTCC) design approach with application to multiple unmanned aerial vehicles (UAVs), where the outer-loop control and the inner-loop control are designed. By virtue of a proportional control, the outer-loop of the follower UAV is able to generate reference commands. Moreover, within the proposed FTCC context, the inner-loop control is designed by resorting to the uncertainty and disturbance estimator (UDE) and model following sliding mode control (SMC) techniques, such that the deleterious effects of failed actuators can be counteracted and the safety of the cooperative flight can be ensured. The effectiveness of the developed FTCC scheme is illustrated by the numerical simulations of UAVs cooperative flight. © 2018

关键词： Aircraft control Actuators Antennas Fault tolerance Flight simulators Sliding mode control Unmanned aerial vehicles (UAV) Actuator fault Co operative control Disturbance estimator Inner loop controls Outer loop controls Proportional control uncertainty Uncertainty and disturbance estimators

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Adaptive Event-triggered Cooperative control of Uncertain Networked Systems

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IFAC-PapersOnLine 2018年第12期51卷 82-87页

作者： Garcia, Eloy Weintraub, Isaac Casbeer, David W. Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH45433 United States Aerospace Systems Directorate Air Force Research Laboratory Wright-Patterson AFB OH45433 United States

Coordination and cooperation of networked multi-agent systems is usually constrained by dynamic and communication limitations. In this work we consider the problem of distributed leader following of heterogeneous and uncertain multi-agent systems. Each agent or subsystem implements a local and completely decentralized adaptive controller in order to compensate for the uncertainty on its system parameters. At the inter-agent communication level and due to the limitations on broadcasting continuous signals, each agent employs a decentralized event-triggered multi-agent system (MAS) controller which tracks the state of the leader and reduces broadcasting of information. Hence, the two layer controller architecture provides a useful framework for the multiple agents to follow the leader in the presence of system uncertainties and absence of continuous exchange of information. © 2018

关键词： Multi agent systems Adaptive control systems controllers Networked control systems Uncertainty analysis Adaptive controllers Co operative control Exchange of information Inter agent communications Networked multi agent systems System uncertainties Two layer controllers Uncertain networked systems

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On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms

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IFAC-PapersOnLine 2019年第34期51卷 21-27页

作者： Surya Atman, Made Widhi Noda, Kosei Funada, Riku Yamauchi, Junya Hatanaka, Takeshi Fujita, Masayuki Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Division of Electrical Electronic and Information Engineering Graduate School of Engineering Osaka University Osaka Japan

This paper analyzes perceived workload and passivity-shortage of human operators for a class of semi-autonomous robotic swarms. First, we briefly introduce the passivity-short-based architecture presented in one of our previous works, which guarantees human-enabled motion synchronization to desired position/velocity references under the assumption that the human operator's thought process is a passivity-short system. It is observed that changes in parameter affects the visual feedback to the operator and also the complexity of the setups. Through user-studies using a human-in-the-loop simulator and questionnaires, we observe an increase in the perceived workload of the human operator for more complex setups. The result imposes the trade-off for less workload vs. clarity of the robotic swarms’ information to the human operator. Furthermore, through non-parametric system identification on data from user-studies, it is observed that all obtained models of the participants have the passivity-short property. © 2019

关键词： Visual servoing Economic and social effects Personnel Robotics Surveys Visual communication Autonomous robotics Co operative control Desired position Human in the loop Non parametric Robotic swarms Thought process Visual feedback

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First-Order Average Consensus for Cooperative control Problems Using Novel Weighting Strategies

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IFAC-PapersOnLine 2017年第1期50卷 14302-14307页

作者： Mirali, Furugh Mendez Gonzalez, Antonio Werner, Herbert Institute of Control Systems Hamburg University of Technology Germany

In this paper we show how average consensus can be guaranteed in cooperative control schemes for multi-agent systems, even when normalised or weighted Laplacians are used. First we present weighting strategies for improving the performance that can be applied in a distributed manner (only local information is used), based on a recently proposed importance matrix. Then we modify the first-order consensus protocol, such that average consensus is guaranteed. It is then shown how this scheme can be used to improve the performance of cooperative control schemes. For this purpose, the effect of a formation reference on the consensus states is explicitly stated. A simulation result with second order LTI agent models illustrates the proposed approach. © 2017

关键词： Multi agent systems Networks (circuits) Agent model Average consensus Co operative control Consensus protocols distributed Local information Second orders Weighting strategies

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Safety analysis of a vehicle equipped with Cooperative Adaptive Cruise control

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IFAC-PapersOnLine 2018年第9期51卷 367-372页

作者： Ligthart, Jeroen A.J. Ploeg, Jeroen Semsar-Kazerooni, Elham Fusco, Mauro Nijmeijer, Henk Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Integrated Vehicle Safety Department TNO Helmond Netherlands

Stability and string stability of platoons equipped with Cooperative Adaptive Cruise control (CACC) is widely discussed in literature. However, safe behavior of a vehicle in a platoon, i.e., making sure that a vehicle is not involved in a collision with its preceding vehicle, is not considered to a large extent. This paper exploits techniques from invariant set theory to perform a safety analysis of vehicle behavior in a platoon. Here, regions in the state space are determined that guarantee safe behavior of a vehicle for all future time. These so-called safe sets are determined for CACC under various circumstances, in particular with and without wireless inter-vehicle communication. The proposed safety analysis framework supports real-time safety monitoring in vehicles. © 2018

关键词： Adaptive cruise control control system synthesis Set theory Vehicles Co operative control Cooperative adaptive cruise control Inter vehicle communications Invariant set theory Safety analysis Safety monitoring String stability Vehicle control

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Decentralized Cooperative Merging using Sliding Mode control

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IFAC-PapersOnLine 2018年第9期51卷 349-354页

作者： Rupp, Astrid Stolz, Michael Horn, Martin Institute of Automation and Control Graz University of Technology Austria VIRTUAL VEHICLE Research Center Graz Austria

This work presents a novel cooperative merging algorithm for lane reduction scenarios using decentralized control. A smart choice of a suitable formation and sliding mode techniques are used to decrease the inter-vehicle distances safely without communication between the vehicles. Simulation results confirm that the proposed topology selection and longitudinal control are capable of increasing the traffic flow without the need for communication or a centralized supervision. © 2018

关键词： Decentralized control Adaptive control systems Adaptive systems Automatic guided vehicles Longitudinal control Merging Sliding mode control Vehicle to vehicle communications Automated guided vehicles Co operative control Lane reductions Merging algorithms Sliding mode techniques Traffic flow Variable structure system

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Impact Studies and Cooperative Voltage control for High PV Penetration

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IFAC-PapersOnLine 2018年第28期51卷 684-689页

作者： Rathbun, Michael Xu, Ying nejad, Reza Roofegari Qu, Zhihua Sun, Wei Department of ECE University of Central Florida OrlandoFL United States

The drastically increasing penetration of photovoltaic (PV) has posed tremendous challenges in operation, control, and protection in distribution networks. The over-voltage issue is one of major concerns for extremely high PV penetration (e.g. 100%). It is critical to identify the most sensitive locations to high PV penetration and apply effective methods to mitigate the over-voltage issue. This paper introduced a novel greedy search algorithm to locate worst-case scenarios of over-voltage in both distributed and centralized PV configurations, as well as a cooperative voltage control method to mitigate over-voltage. The search algorithm has the computational advantage over existing stochastic approach and provides more insights in impact studies. The cooperative control method relies upon reactive power compensation to converge system voltage to a predefined value within standard limits. Moreover, a clustering strategy is applied to divide the network into several clusters, within which all nodes share information with neighboring nodes following a scalable communication architecture. The control algorithms and communication hierarchies presented in this paper have been implemented into OpenDSS to form the Multi Agent (MA) OpenDSS package, which has been made available to the reader. The effectiveness of developed methods are demonstrated through simulation studies on the IEEE 123-node test feeder under four different load levels. © 2018

关键词： Power control Distributed power generation Learning algorithms Multi agent systems Reactive power Stochastic systems Voltage control Clustering strategy Co operative control Computational advantages Greedy search algorithms Reactive power compensation Scalable communication Voltage control methods Worst case scenario

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System Reconfiguration and Fault-Tolerant for Distributed Model Predictive control Using Parameterized Network Topology

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IFAC-PapersOnLine 2018年第18期51卷 524-529页

作者： Xiao, Guannan Liu, Fei Institute of Automation Jiangnan University Wuxi214122 China

A parameterized network topology based distributed model predictive control (DMPC) framework is proposed in this work, it is mainly applied in system reconfiguration and sensor fault-tolerant control. The Lyapunov stability condition for DMPC with a parameterized network topology is derived. Regarding to system reconfiguration, the parameterized network topology is served as the explicit reconfiguration model. Furthermore, for fault-tolerant control with sensor bias, the parameterized network topology is used to compensate the sensor fault, and a residual generator is designed by states of predictor and consider a time varying threshold for fault detection. The proposed approach is able to handle the system reconfiguration and fault-tolerant control without backup controllers or controllers redesign, and there is no need of the information of fault because of the using of predictor. © 2018

关键词： Topology controllers Distributed parameter networks Fault detection Fault tolerance Model predictive control Parameterization Co operative control Distributed Model predictive control Fault tolerant control Lyapunov stability Reconfigurable control Reconfiguration model Residual generator System reconfiguration

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