The inherent uncertainties in the dynamic and kinematic parameters of robot manipulators pose significant challenges for their control in task space. This paper introduces an innovative adaptive sliding mode control s...
详细信息
The AC-DC Energy Nodes (ADENs) concept offers a transformative approach to modernizing power grids, particularly in the context of supergrids. By centralizing power flows from diverse renewable energy sources, such as...
详细信息
Fault diagnosis of rotating machinery driven by induction motors has received increasing attention. Current diagnostic methods, which can be performed on existing inverters or current transformers of three-phase induc...
详细信息
In response to the escalating demand for electricity, the aging process and inherent failures in power lines have become unavoidable challenges in their operational integrity. This research addresses the imperative ne...
详细信息
Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed...
详细信息
Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secu...
详细信息
The AC-DC Energy Nodes (ADENs) concept offers a transformative approach to modernizing power grids, particularly in the context of supergrids. By centralizing power flows from diverse renewable energy sources, such as...
详细信息
ISBN:
(数字)9798350377170
ISBN:
(纸本)9798350377187
The AC-DC Energy Nodes (ADENs) concept offers a transformative approach to modernizing power grids, particularly in the context of supergrids. By centralizing power flows from diverse renewable energy sources, such as offshore wind farms, ADENs enable efficient long-distance power transmission through HVDC technology. This design enhances the balance of supply and demand across regions and countries, significantly improving grid stability and resilience. However, the implementation of ADENs presents substantial technical, regulatory, and cybersecurity challenges. This study delves into these challenges while also addressing the geopolitical complexities of transnational connections, underscoring the critical importance of policy alignment for successful deployment.
The inherent black-box nature of deep reinforcement learning (DRL) poses challenges in ensuring safety constraints. This paper, therefore, introduces a DRL reward design inspired by Lyapunov stability theory for safe ...
详细信息
ISBN:
(数字)9798331508272
ISBN:
(纸本)9798331508289
The inherent black-box nature of deep reinforcement learning (DRL) poses challenges in ensuring safety constraints. This paper, therefore, introduces a DRL reward design inspired by Lyapunov stability theory for safe robot navigation in the presence of obstacles. The navigation problem is formulated as a state-space control problem with close obstacle locations integrated into the state representation. To ensure safe obstacle avoidance, we introduce a novel reward-shaping strategy utilizing a Lyapunov function that discourages fast movement toward obstacles. Our numerical experiments demonstrate the effectiveness of the reward design strategy compared to baselines in achieving consistent superior learning with higher mission completion rates while maintaining speeds closer to a desired target speed. In addition, we show that our reward design enables a generally smaller choice for the discount factor for value-function-based DRL algorithms, which can lead to faster convergence. This is possible since the reward design merely penalizes the one-step decay of the Lyapunov function. Furthermore, policy training simulations employ an early episode termination method to constrain exploration and add more valuable samples to the DRL training replay memory. Finally, real-world experiments with a quadrotor validate the ability of our method to safely navigate around varying densities of obstacles. The proposed method consistently takes cautious maneuvers near obstacles by slowing down, achieving greater obstacle clearance compared to baseline, although with an increase in mission completion time.
Wind power producers (WPPs) participating in short-term power markets face significant imbalance costs due to their non-dispatchable and variable production. While some WPPs have a large enough market share to influen...
详细信息
In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linea...
详细信息
暂无评论