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arXiv 2018年

作者： Li, Aming Wang, Long Schweitzer, Frank Chair of Systems Design Department of Management Technology and Economics ETH Zurich Weinbergstrasse 56/58 ZurichCH-8092 Switzerland Center for Systems and Control College of Engineering Peking University Beijing100871 China

controllability, a basic property of various networked systems, has gained profound theoretical applications in complex social, technological, biological, and brain networks. Yet, little attention has been given to the control trajectory (route), along which a controllable system can be controlled from any initial to any final state, hampering the implementation of practical control. Here we systematically uncover the fundamental relations between control trajectory and several other key factors, such as the control distance between initial and final states (δ), number of driver nodes, and the control time. The length (L) and maximum distance to the initial state (R) are employed to quantify the locality and globality of control trajectories. We analyze how the scaling behavior of the averaged L and R changes with increasing δ for different initial states. After showing the scaling behavior for each trajectory, we also provide the distributions of L and R. Further attention is given to the control time tf and its inuence on L and R. Our results provide comprehensive insights in understanding control trajectories for complex networks, and pave the way to achieve practical control in various real systems. Copyright © 2018, The Authors. All rights reserved.

关键词： Complex networks

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Research on hybrid modified cuckoo search algorithm for optimal reactive power dispatch problem

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2018年第2期45卷 328-339页

作者： Chen, Gonggui Lu, Zhengqin Zhang, Zhizhong Sun, Zhi Key Laboratory of Network control and Intelligent Instrument Chongqing University of Posts and Telecommunications Ministry of Education Chongqing400065 China Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Communication Network and Testing Technology Chongqing University of Posts and Telecommunications Chongqing400065 China Guodian Enshi Hydropower Development Enshi445000 China

In this paper, an efficient and reliable approach based on hybrid modified cuckoo search algorithm (MCS) combining with differential evolutionary algorithm (DE) (named MCS-DE) is proposed to solve optimal reactive power dispatch (ORPD) problem with minimization of power losses (Ploss), voltage stability index (Lindex) and voltage deviation (Vd) as objectives. The original CS method often converges to local optima. In order to avoid this shortcoming, a series of modifications is purposed to the assimilation policy rule of CS. The variations of the two main parameters and an improved search equation are introduced into the MCS-DE to improve local search near the global best, and it profits from DE to further improve the optimization performance. The proposed MCS-DE is examined and implemented on IEEE 30-bus and IEEE 57-bus test power systems with three different objectives. The simulation results presented in this paper demonstrate the effectiveness and robustness of hybrid MCS-DE approach for solving ORPD problem and it can be made better results compared to the CS, DE, and other methods reported in the literature as demonstrated by simulation results. © International Association of Engineers.

关键词： Optimization

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Quasi-oppositional cuckoo search algorithm for multi-objective optimal power flow

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2018年第2期45卷 255-266页

作者： Chen, Gonggui Qiu, Siyuan Zhang, Zhizhong Sun, Zhi Key Laboratory of Network control and Intelligent Instrument Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Communication Network and Testing Technology Chongqing University of Posts and Telecommunications Chongqing400065 China Guodian Enshi Hydropower Development Enshi445000 China

This paper introduces the multi-objective cuckoo search (MOCS) method for solving the multi-objective optimal power flow (MOOPF) which is a multi-variable, multi-constraint and nonlinear programming problem. In order to speed up convergence and enhance the quality of solution, the quasi-opposition based learning mechanism is adopted to propose the multi-objective quasi-oppositional cuckoo search (MOQOCS) algorithm in this paper. In MOCS and MOQOCS methods, the feasibility-prior domination principle (FDP) is presented to ensure the feasibility of simulation result which is based on the objective values and the sum of constraint violation values. The crowding-distance sorting is considered to enhance the diversity of Pareto-optimal solutions and obtain better distributed Pareto optimal front. IEEE 30-bus and IEEE 57-bus systems have been considered to check the performance of the proposed methods. The simulation results confirm that MOQOCS algorithm obtains superior compromise solution and produces better distributed Pareto optimal front compared to other methods. © International Association of Engineers.

关键词： Nonlinear programming

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Design of a networked controller for a Two-Wheeled Inverted Pendulum Robot ?

arXiv

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arXiv 2018年

作者： Music, Zenit Molinari, Fabio Gallenmüller, Sebastian Ayan, Onur Zoppi, Samuele Kellerer, Wolfgang Carle, Georg Seel, Thomas Raisch, Jörg Control Systems Group - Technische Universität Berlin Germany Chair of Network Architectures and Services - Technische Universität München Germany Chair of Communication Networks - Technische Universität München Germany Max-Planck-Institut für Dynamik komplexer technischer Systeme Germany

The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN communication. The robot has to keep a vertical upright position. Incorporating wireless communication in the control loop introduces multiple uncertainties and affects system performance and stability. The proposed networked control scheme employs model predictive techniques and deliberately extends delays in order to make them constant and deterministic. The performance of the resulting networked control system is evaluated experimentally with a predefined benchmarking experiment and is compared to local control involving no delays. Copyright © 2018, The Authors. All rights reserved.

关键词： Benchmarking

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Optimal LQG control under delay-dependent costly information

arXiv

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arXiv 2018年

作者： Maity, Dipankar Mamduhi, Mohammad H. Hirche, Sandra Johansson, Karl Henrik Baras, John S. Department of Electrical & Computer Engineering Institute for Systems Research University of Maryland United States Department of Automatic Control Royal Institute of Technology StockholmSE-100 44 Sweden Chair of Information-Oriented Control Technical University of Munich Arcisstraße 21 MünchenD-80290 Germany

In the design of closed-loop networked control systems (NCSs), induced transmission delay between sensors and the control station is an often-present issue which compromises control performance and may even cause instability. A very relevant scenario in which network-induced delay needs to be investigated is costly usage of communication resources. More precisely, advanced communication technologies, e.g. 5G, are capable of offering latency-varying information exchange for different prices. Therefore, induced delay becomes a decision variable. It is then the matter of decision maker's willingness to either pay the required cost to have low-latency access to the communication resource, or delay the access at a reduced price. In this article, we consider optimal price-based bi-variable decision making problem for single-loop NCS with a stochastic linear time-invariant system. Assuming that communication incurs cost such that transmission with shorter delay is more costly, a decision maker determines the switching strategy between communication links of different delays such that an optimal balance between the control performance and the communication cost is maintained. In this article, we show that, under mild assumptions on the available information for decision makers, the separation property holds between the optimal link selecting and control policies. As the cost function is decomposable, the optimal policies are efficiently computed. Copyright © 2018, The Authors. All rights reserved.

关键词： Decision making

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UAV Formation Flight Cooperative Tracking controller Design

UAV Formation Flight Cooperative Tracking Controller Design

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International Conference on control, Automation, Robotics and Vision

作者： Jialong Zhang Jianguo Yan Maolong Lv Xiangjie Kong Pu Zhang School of Automation Northwestern Polytechnical University xi'an China Delft Center for Systems and Control Delft University of Technology Delft The Netherlands Key Laboratory for Ubiquitous Network and Service Software of Liaoning Province Dalian University of Technology Dalian China

Aiming at the collision between the unmanned aerial vehicles (UAVs) in tracking motion target due to the inconsistency information, we design the unmanned aerial vehicle (UAV) formation cooperative tracking controller and analyze the flight-stability of the designed controller in the case of only knowing the UAV local information. Recently, a Lyapunov guidance vector field approach is proposed to achieve the desired circular trajectory in the paper. The path planning of a single UAV and the Multi-UAVs cooperative formation tracking motion target are simultaneously studied. In the ideal case, a guidance vector field method is proposed for the heading convergence, which has the advantage of analyzing and solving the collision problem between the unmanned aerial vehicles (UAVs). Further, a variable airspeed controller is used to maintain the UAV cooperative formation flight in a circular orbit, and an adaptive estimate is introduced to ensure the flight-stability of a circular orbit in the case of unknown wind and moving targets. In the process of the UAV formation tracking motion targets, we use a variable airspeed controller to achieve the desired angular spacing. In this paper, the designed controller laws are decentralized based on the local information. Meanwhile, the simulation shows that the designed controller has a good the flight-stability in the process of tracking motion target.

关键词： Target tracking Orbits Unmanned aerial vehicles Convergence Dynamics Atmospheric modeling

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Channel Model Optimization with Reflection Residual Component for Indoor MIMO-VLC System

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Journal of Optical Communications 2017年第1期39卷 71-75页

作者： Chen, Yong Li, Tengfei Liu, Huanlin Li, Yichao Key Laboratory of Industrial Internet of Things and Network Control Minister of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Optoelectronic Technology Systems Chongqing University of Posts and Telecommunications Chongqing400065 China

A fast channel modeling method is studied to solve the problem of reflection channel gain for multiple input multiple output-visible light communications (MIMO-VLC) in the paper. For reducing the computational complexity when associating with the reflection times, no more than 3 reflections are taken into consideration in VLC. We think that higher order reflection link consists of corresponding many times line of sight link and firstly present reflection residual component to characterize higher reflection (more than 2 reflections). We perform computer simulation results for point-to-point channel impulse response, receiving optical power and receiving signal to noise ratio. Based on theoretical analysis and simulation results, the proposed method can effectively reduce the computational complexity of higher order reflection in channel modeling. © 2018 Walter de Gruyter GmbH, Berlin/Boston 2018.

关键词： Visible light communication

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Seasonal Scheduling of Office Electricity Use via Adaptive Dynamic Programming

Seasonal Scheduling of Office Electricity Use via Adaptive D...

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第37届中国控制会议

作者： Guang Shi Bo Zhao Chao Li Xin Jin Derong Liu National Computer Network Emergency Response Technical Team/Coordination Center of China The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Automation Guangdong University of Technology

In this paper, an adaptive dynamic programming（ADP） based optimization method is proposed to schedule the electricity use of an office, where a battery is considered as the control variable, while solar and wind energies are included as additional energy supplies besides the grid. The electricity demand of an office generally contains socket, lighting and airconditioning demands. Based on the periodic models of electricity price, electricity demand, and solar and wind energies, the optimal control strategies of the battery are determined by the proposed ADP based optimization method, so that the electricity cost from the grid can be saved. Simulation analysis demonstrates that the proposed method can achieve optimal real-time scheduling of office electricity use in different seasons of a year.

关键词： Smart grid electricity scheduling optimal control adaptive dynamic programming

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The VFO path-following kinematic controller for robotic vehicles moving in a 3D space

The VFO path-following kinematic controller for robotic vehi...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Krzysztof Łakomy Maciej Marcin Michałek Chair of Control and Systems Engineering Poznan University of Technology Poznań Poland

The Vector-Field-Orientation (VFO) methodology was applied and experimentally tested so far for the planar wheeled robots. The main contribution of this paper is an extension of the VFO path following controller to the class of mobile robots moving in the three-dimensional space. Path following problem is most commonly defined for the parametrized curves, what usually leads to the necessity of calculation of the closest distance to the path and forces serious limitations of the initial robot position dependent on the maximal path curvature. The approach presented in the paper is based on the curve representation as the intersection of two non-parametrized functions and significantly weakens previously mentioned restrictions. The paper presents a VFO design methodology extended to a 3D space with simulation verification for fully actuated and underactuated vehicle model.

关键词： Kinematics Three-dimensional displays Aerospace electronics Mathematical model Mobile robots control systems

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Identification of uncertainties in a robotic astronomical 0.5-m telescope mount

Identification of uncertainties in a robotic astronomical 0....

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International Workshop on Robot Motion and control (RoMoCo)

作者： Joanna Piasek Marcin Nowicki Krzysztof Kozłowski Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland

In this work, we consider a testbed for a robotic astronomical 0.5-m. telescope mount. We focus on the problem of identification uncertainty that cannot be obtained from analytical consideration (i.e. friction phenomena). Thus, we use a recursive least-squares algorithm for identification values of friction terms. Since the required signals cannot be obtained directly from the object (or they are of poor quality) an external positioning system and a nonlinear observer has been proposed in order to estimate state of the system. Results obtained through simulation show that this approach is universal and can be extended to other kind of uncertainties.

关键词： Friction Mathematical model Observers Telescopes Uncertainty Electron tubes Robots

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