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2021 International Conference on Power System technology, POWERCON 2021

作者： Wang, Bin He, Xiaocai Jiang, Yingjie Lv, Xinquan Zhou, Zhimei Feng, Chen Dong, Xinzhou Tsinghua University Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electric Engineering Beijing China Communication Transmission Center Information Telecommunications Company State Grid Shandong Electeic Power Company Jinan China Chip Design Center Beijing Smartchip Microelectronics Technology CO. Ltd Beijing China Smart Shine Microelectronics Technology CO. Ltd Chip Product Department Beijing China

ISBN: (纸本)9781665407373

In order to solve the problem that the core chips of domestic protective relaying devices generally rely on foreign imported chips and realize the localized replacement of FPGAs, this paper designs the verification peripheral circuits of domestic FPGA chip through the analysis of the structure and test schemes design of domestic FPGA, including board-level verification scheme and data flow control verification scheme. The communication test and random test are carried out to the IP core of domestic FPGA MAC controller. From the test results, it can be seen that the loopback data and the transmitted data in the descriptor are consistent, and the tested domestic FPGA can be competent for its role in the application of protective relaying. © 2021 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Direct adaptive fuzzy position controller for an electropneumatic actuator: Design and experimental evaluation

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Mechanical systems and Signal Processing 2021年 147卷

作者： Boubakir, Ahsene Labiod, Salim Boudjema, Fares LAJ Faculty of Science and Technology University of Jijel BP. 98 Ouled Aissa Jijel18000 Algeria LCP Department of Automatic Control National Polytechnic School Avenue Pasteur Hassen Badi BP 182 El-Harrach Algiers Algeria

This paper proposes a direct adaptive fuzzy position controller for an electropneumatic actuator. This control approach is based on the estimation of an ideal inverse dynamic control, which is capable of satisfying the control objectives in terms of tracking desired trajectories and stability. For this purpose, a fuzzy system is used to approximate as best as possible this ideal inverse dynamic control. The adjustable parameters of the used fuzzy system are updated online with a stable adaptation law. This latter is developed in order to minimize the error between the unknown ideal inverse dynamic control and the used fuzzy controller. The general non-affine model of the controlled actuator is used to develop the control law and its adaptation mechanism, meaning that the presented adaptive fuzzy position controller does not rely on a physical model of the pneumatic actuator. The stability of the closed-loop system is performed using a Lyapunov approach. Finally, real-time experimental results are presented to show the performances of the proposed position controller. © 2020 Elsevier Ltd

关键词： Fuzzy systems

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Topology-Independent Robust Stability for Networks of Homogeneous MIMO systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 3379-3384页

作者： Carlos Andres Devia Giulia Giordano Delft Center for Systems and Control Delft University of Technology The Netherlands Department of Industrial Engineering University of Trento Italy

We study dynamic networks described by a directed graph where the nodes are associated with MIMO systems with transfer-function matrix F(s), representing individual dynamic units, and the arcs are associated with MIMO systems with transfer-function matrix G(s), accounting for the dynamic interactions among the units. In the nominal case, we provide a topology-independent condition for the stability of all possible dynamic networks with a maximum connectivity degree, regardless of their size and interconnection structure. When node and arc transfer-function matrices are affected by norm-bounded homogeneous uncertainties, the robust condition for size- and topology-independent stability depends on the uncertainty magnitude. Both conditions, expressed as constraints for the Nyquist diagram of the poles of the transfer-function matrix H(s) = F(s)G(s), are scalable and can be checked locally to guarantee stability-preserving “plug-and-play” addition of new nodes and arcs.

关键词： MIMO systems Networked systems Robust stability Uncertain systems

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Introducing GyroSym: a single-wheel robot

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International Journal of Dynamics and control 2020年第2期8卷 404-417页

作者： Forouhar, Moein Abedin-Nasab, Mohammad H. Liu, Guangjun School of Mechanical Engineering Sharif University of Technology Tehran11365-9567 Iran Department of Biomedical Engineering Rowan University GlassboroNJ08028 United States Systems and Control Lab Ryerson University TorontoONM5B 2K3 Canada

In this paper, GyroSym, a compact highly-stable single-wheel robot is introduced. Symmetrical flywheels have been used as its stabilization mechanism to keep the wheel upright. Thanks to the type of the flywheel used, the dynamic equations of the robot is simplified, the torque needed to tilt the spin axis is reduced, and the space is drastically minimized. Besides, a centrifugal clutch is used to smooth the motion of the robot in forward motion. Two controllers, fuzzy and fuzzy-Padé, were implemented based on their ability to stabilize the robot. Although both prevented the GyroSym from falling over, neither can entirely cancel out the effects of nonlinear behaviors that is present in the response, represented as high-frequency low domain noise. However, fuzzy-Padé demonstrated more efficient functionality, response, and mathematical simplicity which made it a perfect choice for stabilizing the GyroSym. Experimental results of a prototype have validated that of the mathematical analysis and simulations. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： controllers

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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An $H_{i}/H_{\infty }$ Optimization Approach to Event-Triggered Fault Detection for Linear Discrete Time systems

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IEEE Transactions on automatic control 2020年第10期65卷 4464-4471页

作者： Maiying Zhong Steven X Ding Donghua Zhou Xiao He College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany Department of Automation Tsinghua University Beijing China

In this article, a new event-triggered H i /H ∞ optimization fault detection (FD) scheme is proposed for linear discrete time systems. A linear discrete time system with varying sampling periods is first presented to describe the dynamics of an event-triggered system. Based on this, an observer-based fault detection filter (FDF) is constructed as an event-triggered residual generator so that the generated residual signal is completely decoupled from the event-triggered transmission error. The design of event-triggered FDF is formulated as a multiobjective optimization problem denoted by H i /H ∞ and an optimal solution can be obtained by recursive calculation of Riccati equations. In addition, an event-triggered residual evaluation strategy is also presented. Comparing with the existing event-triggered FD schemes, the major contribution of this article is to decouple the residual signals from the event-triggered transmission errors completely and, consequently, the FD performance can be improved significantly. Moreover, an optimal tradeoff between the robustness of residual to unknown input and the sensitivity of residual to fault is achieved in the sense of H i /H ∞ optimization, while the design of FDF and event generator can be carried out independently. To demonstrate the effectiveness of the proposed method, a vehicle lateral dynamic system is used as a simulation example.

关键词： Optimization Fault detection Discrete-time systems Generators Robustness Sensitivity Riccati equations

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Load Frequency control of Hybrid Power System Using Marine Predator Algorithm Tuned Cascaded controller

Load Frequency Control of Hybrid Power System Using Marine P...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Muhannnad Inshal Shahzad Muhammad Majid Gulzar Aqsa Shahzad Ahlam Jameel Adnan Shakoor Salman Habib Department of Control & Instrumentation Engineering Dhahran Saudi Arabia Interdisciplinary Research Center for Sustainable Energy Systems (IRC-SES) Dhahran Saudi Arabia Comsats Institute of Information Technology Abbottabad Pakistan Department of Electrical Engineering Lahore College for Women University Lahore Pakistan Interdisciplinary Research Center for Biosystems and Machines (IRC-BSM) Dhahran Saudi Arabia Interdisciplinary Research Center for Smart Mobility and Logistics (IRC-SML) King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

The load frequency control (LFC) problem in multi-area power systems is very common whenFtable RES are added to the power grid because of their irregular behavior. Renewable energy combined with a thermal generator makes a multi-area power system. As renewable sources are not stable, that's why they are attached to conventional sources to complete the load demand. This paper implemented a sophisticated control technique known as the Marine Predator Algorithm (MPA) in conjunction with PID n for LFC of the interconnected power system. By using the MPA control technique, their behavior to locate and capture prey helps to effectively encounter frequency fluctuations in the power system. Different controllers, like GA-PI, FFA-PI, and ABC-PID n , have been analyzed in this study and compared with the proposed technique to show the superiority of the proposed technique.

关键词： Hands Renewable energy sources Accuracy Systematics Sensitivity Generators Power grids Thermal loading Frequency control Convergence

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Finite-time Convergent Impact Angle Constrained Sliding Mode Guidance ⁎

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IFAC-PapersOnLine 2020年第1期53卷 87-92页

作者： Kakoli Majumder Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India

This paper proposes an impact angle constrained guidance strategy based on sliding mode control. The proposed guidance strategy not only ensures the target interception at a desired impact angle but also ensures the alignment of interceptor in a desired impact direction within a predefined-time, whose least upper bound can be pre-fixed. Guidance command is derived using nonlinear engagement dynamics, after transforming the problem of impact angle control to that of tracking a desired line-of-sight angle and its rate. Proposed guidance strategy also guarantees the convergence of the controlled variables within a priori fixed-time, from almost all initial conditions. Due to the nonlinear design framework and choice of the controller, the possible difficulties due to linearizations are avoided and thereby proposed guidance remains applicable even for engagements with large heading errors. Numerical simulations validate the efficacy of the proposed guidance scheme for stationary and constant velocity targets, for different engagement geometries.

关键词： Guidance design sliding mode control impact angle predefined time stability

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Reorthogonalized Pythagorean variants of block classical Gram-Schmidt

arXiv

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arXiv 2024年

作者： Carson, Erin Lund, Kathryn Ma, Yuxin Oktay, Eda Department of Numerical Mathematics Faculty of Mathematics and Physics Charles University Sokolovská 49/83 Praha 8186 75 Czech Republic Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstr. 1 Magdeburg39106 Germany Computational Mathematics Theme Building R71 STFC Rutherford Appleton Laboratory Harwell Oxford Didcot OxfordshireOX11 0QX United Kingdom Department of Mathematics Chemnitz University of Technology Reichenhainer Str. 41 Chemnitz09126 Germany

Block classical Gram-Schmidt (BCGS) is commonly used for orthogonalizing a set of vectors X in distributed computing environments due to its favorable communication properties relative to other orthogonalization approaches, such as modified Gram-Schmidt or Householder. However, it is known that BCGS (as well as recently developed low-synchronization variants of BCGS) can suffer from a significant loss of orthogonality in finite-precision arithmetic, which can contribute to instability and inaccurate solutions in downstream applications such as s-step Krylov subspace methods. A common solution to improve the orthogonality among the vectors is reorthogonalization. Focusing on the "Pythagorean" variant of BCGS, introduced in [E. Carson, K. Lund, & M. Rozložník. SIAM J. Matrix Anal. Appl. 42(3), pp. 1365–1380, 2021], which guarantees an O(Ε)κ2(X) bound on the loss of orthogonality as long as O(Ε)κ2(X) MSC Codes 65-04, 65F25, 65G50, 65Y20 Copyright © 2024, The Authors. All rights reserved.

关键词： Matrix algebra

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Autonomous-Vehicle Maneuver Planning Using Segmentation and the Alternating Augmented Lagrangian Method ⁎

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IFAC-PapersOnLine 2020年第2期53卷 15558-15565页

作者： Pavel Anistratov Björn Olofsson Oleg Burdakov Lars Nielsen Division of Vehicular Systems Department of Electrical Engineering Linköping University Sweden Division of Optimization Department of Mathematics Linköping University Sweden Department of Automatic Control Lund University Sweden

Segmenting a motion-planning problem into smaller subproblems could be beneficial in terms of computational complexity. This observation is used as a basis for a new sub-maneuver decomposition approach investigated in this paper in the context of optimal evasive maneuvers for autonomous ground vehicles. The recently published alternating augmented Lagrangian method is adopted and leveraged on, which turns out to fit the problem formulation with several attractive properties of the solution procedure. The decomposition is based on moving the coupling constraints between the sub-maneuvers into a separate coordination problem, which is possible to solve analytically. The remaining constraints and the objective function are decomposed into subproblems, one for each segment, which means that parallel computation is possible and beneficial. The method is implemented and evaluated in a safety-critical double lane-change scenario. By using the solution of a low-complexity initialization problem and applying warm-start techniques in the optimization, a solution is possible to obtain after just a few alternating iterations using the developed approach. The resulting computational time is lower than solving one optimization problem for the full maneuver.

关键词： trajectory path planning motion planning optimal control problem decomposition vehicle safety maneuvers

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