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IFAC-PapersOnLine 2018年第28期51卷 155-160页

作者： Chen, Chen Pan, Lei Shen, Jiong Lee, Kwang Y. Zhang, Fan Sun, Li Wu, Xiao Zhang, Junli Xue, Wenchao Key Laboratory of Energy Thermal Conversion and Control of Ministry of Education Southeast University Nanjing210096 China Department of Electrical and Computer Engineering Baylor University One Bear Place #97356 WacoTX76798-7356 United States State Key Lab of Power System Department of Energy and Power Engineering Tsinghua University Beijing100084 China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China

It is extremely challenging to control ultra-supercritical boiler–turbine unit on account of its nonlinearity, coupling among multi-variables, hard input constraints, and unknown disturbances. An offset-free output-feedback stable model predictive control (MPC) (OFOF-SMPC) for nonlinear constrained ultra-supercritical boiler-turbine units is investigated. It is shown that the OFOF-SMPC is composed of a disturbance and state observer, a steady-state target calculator as well as a stable MPC, which can remove unknown disturbances from output channels and ensure the stability of the closed-loop system with input constraints. Simulation results demonstrate the effectiveness of the proposed algorithm. © 2018

关键词： Feedback

A review and discussion of decomposition-based hybrid models for wind energy forecasting applications

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Applied Energy 2019年 235卷 939-953页

作者： Zheng Qian Yan Pei Hamidreza Zareipour Niya Chen School of Instrumentation Science and Opto-electronics Engineering Beihang University Beijing China Key Laboratory of Precision Opto-Mechatronics Technology Ministry of Education Beihang University Beijing China State Key Laboratory of Operation and Control of Renewable Energy & Storage Systems China Electric Power Research Institute Beijing 100192 China Department of Electrical and Computer Engineering University of Calgary Calgary Alberta Canada ABB Corporate Research Center Beijing China

With the continuous growth of wind power integration into the electrical grid, accurate wind power forecasting is an important component in management and operation of power systems. Given the challenging nature of wind power forecasting, various methods are presented in the literature to improve wind power forecasting accuracy. Among them, combining different techniques to construct hybrid models has been frequently reported in the literature. Decomposition-based models are a family of hybrid models that firstly decompose the wind speed/power time series into relatively more stationary subseries, and then build forecasting models for each subseries. In this paper, we present a comprehensive review of decomposition-based wind forecasting methods in order to explore their effectiveness. Decomposition-based hybrid forecasting models are classified into different groups based on the decomposition methods, such as, wavelet, empirical mode decomposition, seasonal adjust methods, variational mode decomposition, intrinsic time-scale decomposition, and bernaola galvan algorithm. We discuss decomposition methods in the context of alternative forecasting algorithms, and explore the challenges of each method. Comparative analysis of various decomposition-based models is also provided. We also explore current research activities and challenges, and identify potential directions for future research on this subject.

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Calibration of Heterogeneous Sensor systems

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arXiv 2018年

作者： Peršić, Juraj University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics LAMOR

Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and extrinsic sensor calibration. Former seeks for internal parameters of each individual sensor, while latter provides coordinate frame transformation between sensors. Calibration techniques require correspondence registration in the measurements which is one of the main challenges in the extrinsic calibration of heterogeneous sensors, since generally, each sensor can operate on a different physical principle. Measurement correspondences can originate from a designated calibration target or from features in the environment. Additionally, environment features can be used to estimate motion of individual sensors and the calibration is found by aligning these estimates. Motion-based calibration is the most common approach in the online calibration since it is more practical than the target-based methods, although it can lack in accuracy. Furthermore, online calibration is beneficial for system robustness as it can detect and adjust recalibration of the system in runtime, which can be seen as a prerequisite for long-term autonomy. Copyright © 2018, The Authors. All rights reserved.

关键词： Calibration

The Robust Exact Differentiator Toolbox: Improved Discrete-Time Realization 15

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The Robust Exact Differentiator Toolbox: Improved Discrete-T...

15th International Workshop on Variable Structure systems, VSS 2018

作者： Reichhartinger, M. Koch, S. Niederwieser, H. Spurgeon, S.K. Graz University of Technology Institute of Automation and Control Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria Information and Computer Engineering Graz University of Technology Graz Austria University College London Department of Electronic Electrical Engineering London United Kingdom

ISBN: (纸本)9781538664391

This paper presents a new release of A Robust Exact Differentiator Toolbox for Matlab®/Simulink® proposed in [1]. This release features a new discrete-time realization of the continuous-time robust exact differentiator. The implemented discretization scheme is less sensitive to gain overestimation and does not suffer from the discretization chattering effect. Hence, the single tuning parameter of the new version of the implemented differentiator is more intuitive to tune. Furthermore, it shows superior estimation performance in the case of large sampling times in comparison to the previous release. This is confirmed by the presented results obtained by numerical simulations and a real world application. © 2018 IEEE.

关键词： Simulink

A Robust State Estimator for Multi-Agent systems Under Impulsive Noise and Missing Measurements

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A Robust State Estimator for Multi-Agent Systems Under Impul...

IEEE Annual Conference on decision and control

作者： Junfei Xie Luis Rodolfo Garcia Carrillo Lei Jin Joao P. Hespanha Department of Electrical and Computer Engineering San Diego State University San Diego CA Unmanned Systems Laboratory (TAMUCC-USL) Texas A&M University - Corpus Christi Corpus Christi TX Department of Department of Mathematics & Statistics Texas A&M University-Corpus Christi Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We address the problem of estimating the state of a Multi-Agent System (MAS) with dynamics subjected to impulsive disturbances, based on measurements that are corrupted with impulsive noise and are sometimes missing. To facilitate the online implementation of the proposed state estimator for MAS, a graph formulation is proposed first. Then, making use of the Huber Loss, the estimator adopts a general cost function that addresses missing measurements and is robust to impulsive noise and disturbances. The solution is validated under a synthetic scenario, where a team of UAVs equipped with onboard video cameras, inertial sensors, transceivers, and GPS, cooperatively geolocate and track a ground moving target agent. Comparison results with respect to three different state-of-the-art estimators are provided to show the superior performance and benefits of the proposed robust estimator.

关键词： Noise measurement Sensors Global Positioning System Robustness Loss measurement Time measurement Current measurement

Actuator security indices based on perfect undetectability: Computation, robustness, and sensor placement

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arXiv 2018年

作者： Milošević, Jezdimir Teixeira, André Johansson, Karl H. Sandberg, Henrik Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Signals and Systems Department of Engineering Sciences Uppsala University Uppsala Sweden

This paper proposes an actuator security index based on the definition of perfect undetectability. This index can help a control system operator to localize the most vulnerable actuators in a networked control system, which can then be secured. Particularly, the security index of an actuator equals the minimum number of sensors and actuators that needs to be compromised, such that a perfectly undetectable attack against that actuator can be conducted. A method for computing the index for small scale networked control systems is derived, and it is shown that the index can potentially be increased by placing additional sensors. The difficulties that appear once the system is of a large scale are then outlined: the problem of calculating the index is NP–hard, the index is vulnerable to system variations, and it is based on the assumption that the attacker knows the entire model of the system. To overcome these difficulties, a robust security index is introduced. The robust index can be calculated in polynomial time, it is unaffected by the system variations, and it can be related to both limited and full model knowledge attackers. Additionally, we analyze two sensor placement problems with the objective to increase the robust indices. We show that both of these problems have submodular structures, so their suboptimal solutions with performance guarantees can be obtained in polynomial time. Finally, the theoretical developments are illustrated through numerical examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Actuators

Sparse system identification for stochastic feedback control systems

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arXiv 2019年

作者： Zhao, Wenxiao Yin, George Bai, Er-Wei Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 Department of Mathematics Wayne State University DetroitMI48202 United States Department of Electrical and Computer Engineering University of Iowa Iowa CityIA52242 United States

Focusing on identification, this paper develops techniques to reconstruct zero and nonzero elements of a sparse parameter vector θ of a stochastic dynamic system under feedback control, for which the current input may depend on the past inputs and outputs, system noises as well as exogenous dithers. First, a sparse parameter identification algorithm is introduced based on L2norm with L1regularization, where the adaptive weights are adopted in the optimization variables of L1term. Second, estimates generated by the algorithm are shown to have both set and parameter convergence. That is, sets of the zero and nonzero elements in the parameter θ can be correctly identified with probability one using a finite number of observations, and estimates of the nonzero elements converge to the true values almost surely. Third, it is shown that the results are applicable to a large number of applications, including variable selection, open-loop identification, and closed-loop control of stochastic systems. Finally, numerical examples are given to support the theoretical analysis. Copyright © 2019, The Authors. All rights reserved.

关键词： Stochastic systems

Observer-free output feedback adaptive control for multivehicle systems with exogenous disturbances

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Observer-free output feedback adaptive control for multivehi...

AIAA Guidance, Navigation, and control Conference, 2018

作者： Albattat, Ali Yucelen, Tansel Gruenwald, Benjamin C. Sarangapani, Jagannathan Department of Mechanical and Aerospace Engineering Missouri University of Science and Technology RollaMO65409 United States Department of Mechanical Engineering Laboratory for Autonomy Control Information and Systems University of South Florida TampaFL33620 United States Department of Electrical and Computer Engineering Missouri University of Science and Technology RollaMO65409 United States

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

A new observer-free output feedback adaptive control, (OF)2AC, method is proposed for continuous-time, minimum phase, and high-order linear multivehicle systems subject to exogenous disturbances (hereinafter referred to as "uncertain multivehicle systems"). In particular, the (OF)2AC is based on a nonminimal state-space realization for each follower vehicle of the multivehicle system, where this realization generates an expanded set of states using the filtered input, filtered output, and their derivatives of the follower vehicles. The (OF)2AC consists of i) a local cooperative controller and ii) a vehicle-level controller for each follower vehicle. Specifically, part i) of the proposed control method addresses the leader-follower containment control problem by receiving the relative output measurements of the neighboring vehicles and its part ii) consists of an augmenting adaptive controller for stabilization and command following in the presence of exogenous disturbances. Two illustrative numerical examples are provided to demonstrate efficacy of the (OF)2AC. © 2018 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Vehicles

A lyapunov-based small-gain theorem for infinite networks

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arXiv 2019年

作者： Kawan, Christoph Mironchenko, Andrii Swikir, Abdalla Noroozi, Navid Zamani, Majid Institute of Informatics Ludwig Maximilian University of Munich Germany Faculty of Computer Science and Mathematics University of Passau Passau94032 Germany Department of Electrical and Computer Engineering Technical University of Munich Germany Otto-von-Guericke University Magdeburg Laboratory for Systems Theory and Automatic Control Magdeburg Germany Computer Science Department University of Colorado BoulderCO80309 United States Computer Science Department Ludwig Maximilian University of Munich Germany

This paper presents a small-gain theorem for networks composed of a countably infinite number of finite-dimensional subsystems. Assuming that each subsystem is exponentially input-to-state stable, we show that if the gain operator, collecting all the information about the internal Lyapunov gains, has a spectral radius less than one, the overall infinite network is exponentially input-to-state stable. The effectiveness of our result is illustrated through several examples including nonlinear spatially invariant systems with sector nonlinearities and a road traffic *** Codes 37B25, 37L15, 93D05, 93A15 Copyright © 2019, The Authors. All rights reserved.

关键词： Large scale systems

Going viral: Stability of consensus-driven adoptive spread

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arXiv 2018年

作者： Ruf, Sebastian F. Paarporn, Keith Paré, Philip E. Center for Complex Networks Research Northeastern University Department of Electrical and Computer Engineering University of California Santa Barbara United States Division of Decision and Control Systems KTH

The spread of new products in a networked population is often modeled as an epidemic. However, in the case of "complex" contagion, these models do not capture nuanced, dynamic social reinforcement effects in adoption behavior. In this paper, we investigate a model of complex contagion which allows a coevolutionary interplay between adoption, modeled as an SIS epidemic spreading process, and social reinforcement effects, modeled as consensus opinion dynamics. Asymptotic stability analysis of the all-adopt as well as the none-adopt equilibria of the combined opinion-adoption model is provided through the use of Lyapunov arguments. In doing so, sufficient conditions are provided which determine the stability of the "flop" state, where no one adopts the product and everyone's opinion of the product is least favorable, and the "hit" state, where everyone adopts and their opinions are most favorable. These conditions are shown to extend to the bounded confidence opinion dynamic under a stronger assumption on the model parameters. To conclude, numerical simulations demonstrate behavior of the model which reflect findings from the sociology literature on adoption behavior. Copyright © 2018, The Authors. All rights reserved.

关键词： Asymptotic stability