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On the Limit Behavior for Multi-Agent Dynamical systems

IFAC Proceedings Volumes 2012年第5期45卷 106-111页

作者： Ionela Prodan Georges Bitsoris Sorin Olaru Cristina Stoica Silviu-Iulian Niculescu SUPELEC Systems Sciences (E3S) - Automatic Control Department France CNRS-SUPELEC - Laboratory of Signal and Systems France Control Systems Laboratory Electrical Engineering Department University of Patras Greece

This paper dresses the optimal control of multiple linear agents in the presence of a set of adversary constraints. This type of constraints makes the convergence of the agents’ dynamics towards the “natural” equilibrium position, impossible to fulfill. Therefore, this default equilibrium point has to be replaced by a set of equilibrium points or even accept the existence of limit cycles. Furthermore, the constraints introduced in the transitory optimization problem are non convex. The present paper proposes a dual-mode control strategy which switches between an unconstrained optimum controller and a constrained control law whenever the adversary constraints are activated. The proposed method builds on invariance concepts and proves to be related to eigenstructure assignment problems. The technique exhibits effective performance and is validated here by an illustrative example.

关键词： Multi-Agent systems positive invariance non convex constraints constrained MPC

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Constrained time-optimal control for nonlinear systems: A fast explicit approximation

Constrained time-optimal control for nonlinear systems: A fa...

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4th IFAC Conference on Nonlinear Model Predictive control, NMPC'12

作者： Raimondo, D.M. Huber, O. Schulze Darup, M. Mönnigmann, M. Morari, M. Department of Computer Engineering and Systems Science University of Pavia Pavia 27100 Italy Inria Grenoble Rĥone-Alpes 655 avenue de l'Europe Inovallée 38334 Saint Ismier France Automatic Control and Systems Theory Ruhr-Universität Bochum 44780 Bochum Germany Automatic Control Laboratory ETH Zurich 8092 Zurich Switzerland

ISBN: (纸本)9783902823076

We present a method for the calculation of approximate explicit solutions to constrained time-optimal control problems for nonlinear discrete-time systems. We aim to pre-compute offline a low complexity control law that provides feasibility guarantees and fast online computation. Related approaches build on hyperrectangular state space partitions that, unfortunately, lead to a large number of regions. We introduce a method based on a hierarchy of Voronoi diagrams, which leads to partitions with fewer elements. Thereby, we use the aforementioned hyperrectangular partitions as initializations and try to systematically reduce the number of regions. © 2012 IFAC.

关键词： Discrete time control systems

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Trajectory Optimization for Vehicles in a Constrained Environment

Trajectory Optimization for Vehicles in a Constrained Enviro...

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IEEE Annual Conference on Decision and control

作者： Florian Bayer John Hauser Institute for Systems Theory and Automatic Control University of Stuttgart Department of Electrical Computer and Energy Engineering University of Colorado

ISBN: (纸本)9781467320658

An approach for trajectory optimization for vehicles maneuvering in a constrained environment is developed. Within this framework, a benchmark problem, the minimimzation of the transit time of a point mass vehicle through a chicane is proposed. This problem is solved using the projection operator Newton method with barrier functions to manage the acceleration and roadwidth constraints. The numerical solution of the benchmark problem is analyzed in detail as is the characteristics of the solution itself.

关键词： Benchmark testing trajectory optimization vehicle Digestion TRANSIT TIME Environments

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Supervisory control design for networked systems with time-varying communication delays

Supervisory control design for networked systems with time-v...

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4th IFAC Conference on Analysis and Design of Hybrid systems, ADHS'12

作者： Demirel, Burak Briat, Corentin Johansson, Mikael Automatic Control Laboratory School of Electrical Engineering KTH Royal Institute of Technology Stockholm SE-100 44 Sweden Department of Mathematics Division of Optimization and Systems Theory KTH Royal Institute of Technology Stockholm SE-100 44 Sweden

ISBN: (纸本)9783902823007

This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the closed-loop performance relative to what can be obtained using a single robust controller. Our analysis considers average dwelltime switching and is based on a novel multiple Lyapunov-Krasovskii functional. We develop analysis conditions that can be verified by semi-definite programming, and show that associated state feedback synthesis problem also can be solved using convex optimization. Small and large scale networked control systems are used to illustrate the effectiveness of our approach. © 2012 IFAC.

关键词： controllers

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A probabilistic framework for security constrained reserve scheduling of networks with wind power generation

A probabilistic framework for security constrained reserve s...

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IEEE International Energy Conference and Exhibition (EnergyCon)

作者： Maria Vrakopoulou Kostas Margellos John Lygeros Göran Andersson Power Systems Laboratory Department of Electrical Engineering ETH Zürich Zurich Switzerland Automatic Control Laboratory Department of Electrical Engineering ETH Zürich Zurich Switzerland

This paper proposes a novel probabilistic framework to design an N-1 secure day-ahead dispatch, while determining the minimum cost reserves for power systems with high wind penetration. To achieve this, we build on previous work, and formulate a stochastic optimization program with chance constraints, which encode the probability of satisfying the transmission capacity constraints of the lines. To incorporate then a reserve decision scheme, we take into account the steady state behavior of the secondary frequency controller, and hence consider the reserves to be a linear function of the total generation-load mismatch. The overall problem results in a chance constrained bilinear program; to achieve tractability, two alternative convex reformulations are proposed, and the so called scenario approach is employed. This approach is based on sampling the uncertain parameter (in this paper the wind power) while keeping the desired probabilistic guarantees. To illustrate the effectiveness of the proposed technique we apply it to the IEEE 30-bus network, and compare the alternative reformulations in terms of cost and performance by means of Monte Carlo simulations, corresponding to different wind power realizations generated by a Markov chain based model.

关键词： Wind power generation Generators Vectors Probabilistic logic Security Optimization Frequency control

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Evaluating market designs in power systems with high wind penetration

Evaluating market designs in power systems with high wind pe...

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International Conference on European Electricity Market, EEM

作者： Tobias Haring Göran Andersson John Lygeros EEH-Power Systems Laboratory ETH Zurich Zurich Switzerland Automatic Control Laboratory Department of Electrical Engineering ETH Zurich Switzerland

In this paper we assess the incidence of strategic behavior of demand and supply units in market set ups which should enable the efficient in-feed of renewable energy sources. Therefore, a sequence of energy and reserve power auctions is modeled in an agent-based framework in order to approximately come up with the drawbacks of the different market designs. The main focus lies on the reserve power market. The generation companies as well as representative consumers are facilitated with Q-learning in order to exploit market flaws. The representative network includes a renewable in-feed, which is characterized by low marginal generation costs. In terms of congestion management, we assume in a first step uniform marginal pricing, in a second step nodal pricing for the energy power auction.

关键词： Power markets Generators Procurement Learning systems Optimization Pricing

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Impulse response estimation with binary measurements: a regularized FIR model approach

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IFAC Proceedings Volumes 2012年第16期45卷 113-118页

作者： Tianshi Chen Yanlong Zhao Lennart Ljung Division of Automatic Control Department of Electrical Engineering Linköping University Linköping Sweden Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing China

FIR (finite impulse response) model is widely used in tackling the problem of the impulse response estimation with quantized measurements. Its use is, however, limited, in the case when a high order FIR model is required to capture a slowly decaying impulse response. This is because the high variance for high order FIR models would override the low bias and thus lead to large MSE (mean square error). In this contribution, we apply the recently introduced regularized FIR model approach to the problem of the impulse response estimation with binary measurements. We show by Monte Carlo simulations that the proposed approach can yield both better accuracy and better robustness than a recently introduced FIR model based approach.

关键词： Impulse response estimation regularization quantization

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Structured remote laboratory development

Structured remote laboratory development

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Technologies Applied to Electronics Teaching (TAEE)

作者： Rafael Pastor Daniel Sánchez Nourdine Aliane Roberto Hernandez Gonzalo Mariscal Antonio Robles-Gómez Agustín Caminero Salvador Ros Mohamed Tawfik Elio San Cristóbal Gabriel Diaz Manuel Castro Control and Communication Systems Department Spanish University of Distance Education Spain Computer Systems and Automatic Control Department European University of Madrid Spain Electrical and Computer Engineering Department Spanish University of Distance Education Spain

The use of remote laboratories has become a common technique in universities to provide educational services related to engineering. However, the development efforts of these laboratories have not been contemplated in a structured way, with no specific methodologies that allow the reuse of such laboratories or parts thereof. This problem of structured and methodological development is associated with a number of disadvantages which imply that the development of new labs or their integration with other services is a complex task. This paper shows how this goal can be achieved using RELATED (REmote LAboratories exTendED). It is shown the development model proposed by this methodology, as well as the services provided by this development framework. The article shows an example of application of this methodology, using a magnetic levitation system, which is prepared for “on-site” experiences. From this laboratory, and following specific methodological steps, is shown as is possible to reuse developed code and provide a set of remote experiments for the magnetic levitation system.

关键词： XML Java Remote laboratories Coils Servers Steel

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Cyber-security of SCADA systems

Cyber-security of SCADA systems

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Innovative Smart Grid Technologies (ISGT)

作者： Göran Andersson Peyman Mohajerin Esfahani Maria Vrakopoulou Kostas Margellos John Lygeros André Teixeira György Dán Henrik Sandberg Karl H. Johansson Power Systems Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology (ETH) Zurich Switzerland Automatic Control Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology (ETH) Zurich Switzerland Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Sweden Laboratory for Communication Networks School of Electrical Engineering Royal Institute of Technology Stockholm Sweden

After a general introduction of the VIKING EU FP7 project two specific cyber-attack mechanisms, which have been analyzed in the VIKING project, will be discussed in more detail. Firstly an attack and its consequences on the automatic Generation control (AGC) in a power system are investigated, and secondly the cyber security of State Estimators in SCADA systems is scrutinized.

关键词： automatic generation control SCADA systems computer security Power grids Electronic mail

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