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Offset-Free MPC for Resource Sharing on a Nonlinear SCARA Robot⁎

IFAC-PapersOnLine 2018年第20期51卷 265-272页

作者： Bianchi, M. van der Maas, A. Maljaars, E. Heemels, W.P.M.H. Department of Mechanical Engineering Control System Technology Group Eindhoven University of Technology Eindhoven5600MB Netherlands Department of Information Engineering Computer Science and Mathematics Center of Excellence DEWS University of L'Aquila L'Aquila67100 Italy

High-precision motion industrial systems must satisfy tight performance requirements. Both positioning accuracy and throughput demands are typically achieved through improvements in hardware, thereby raising the bill of materials. A cost saving alternative could be to strive for a reduction in the hardware components needed, in combination with advanced motion control, to still meet the desired specifications. Particularly, in this paper, the possibility is analyzed to allow for resource sharing among several actuators. This results in a switched system, for which we develop a real-time MPC algorithm for optimization of both the input and the switching signals. This implementation applies to a fairly general class of nonlinear systems and uses a novel offset-free formulation in velocity form for LTV prediction models, to realize good tracking performance under the resource sharing constraints. We provide a proof of concept for this MPC solution on a high fidelity model of an industrial SCARA robot, where it is proposed to use a single amplifier to serve two actuators. The MPC solution is compared to heuristically switched LTI controllers, and the potential of the proposed approach is shown in simulations. © 2018

关键词： computer systems programming

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Coupling between Automatic Generation control and Automatic Voltage Regulator While Considering Generation Rate Constraint of Two Areas

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Journal of Physics: Conference Series 2021年第1期2022卷

作者： Omer Elmukhtar Jianhua Zhang Department of computer science and control engineering North China Electric Power University Beijing China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China

This paper describes the implementation of automatic generation control (AGC) and automatic voltage regulator (AVR) under generation rate constraint (GRC) and coupling between automatic generation control and automatic voltage regulator while considering generation rate constrain of two areas for improve and better performance characteristic of load frequency control (LFC) problem. our control aim has to normalize the area control error (ACE), frequency error and tie-line power error in spite of the presences of system uncertainties and external load disturbance, So that the required frequency and power interchange with adjacent structures are maintained in order to reduce the transient deviations and to provide zero steady state error in proper short time, the behavior of the planned is checked by MATLAB SIMULINK software.

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Coalition game based user association for mmWave mobile relay systems in rail traffic scenarios

arXiv

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arXiv 2021年

作者： Chen, Chen Niu, Yong Mao, Shiwen Zhang, Xiaodan Han, Zhu Ai, Bo Gao, Meilin Xiao, Huahua Wang, Ning The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China The Frontiers Science Center for Smart High-Speed Railway System Beijing Jiaotong University Beijing100044 China The National Mobile Communications Research Laboratory Southeast University Nanjing211189 China The Department of Electrical and Computer Engineering Auburn University AuburnAL36849-5201 United States The School of Management Shenzhen Institute of Information Technology Shenzhen518172 China The Department of Electrical and Computer Engineering The University of Houston HoustonTX77004 United States The Department of Computer Science and Engineering Kyung Hee University Seoul446-701 Korea Republic of The Beijing Engineering Research Center of High-Speed Railway Broadband Mobile Communications Beijing Jiaotong University Beijing100044 China The Tsinghua Space Center Tsinghua University Beijing100091 China The ZTE Corporation State Key Laboratory of Mobile Network Mobile Multimedia Technology Shenzhen518057 China The School of Information Engineering Zhengzhou University Zhengzhou450001 China

Rail transportation, especially, high-speed rails (HSR), is an important infrastructure for the development of national economy and the promotion of passenger experience. Due to the large bandwidth, millimeter wave (mmWave) communication is regarded as a promising technology to meet the demand of high data rates. However, since mmWave communication has the characteristic of high attenuation, mobile relay (MR) is considered in this paper. Also, full-duplex (FD) communications have been proposed to improve the spectral efficiency. However, because of the high speed, as well as the problem of penetration loss, passengers on the train have a poor quality of service. Consequently, an effective user association scheme for HSR in mmWave band is necessary. In this paper, we investigate the user association optimization problem in mmWave mobile relay systems where the MRs operate in the FD mode. To maximize the system capacity, we propose a cooperative user association approach based on coalition formation game, and develop a coalition formation algorithm to solve the challenging NP-hard problem. We also prove the convergence and Nash-stable property of the proposed algorithm. Extensive simulations are done to show the system performance of the proposed scheme under various network settings. It is demonstrated that the proposed distributed low complexity scheme achieves a near-optimal performance and outperforms two baseline schemes in terms of average system throughput. Copyright © 2021, The Authors. All rights reserved.

关键词： Game theory

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Mem Brain: An Easy-to-Use Online Webserver for Transmembrane Protein Structure Prediction

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Nano-Micro Letters 2018年第1期10卷 12-19页

作者： Xi Yin Jing Yang Feng Xiao Yang Yang Hong-Bin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Computer Science Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering

Membrane proteins are an important kind of proteins embedded in the membranes of cells and play crucial roles in living organisms, such as ion channels,transporters, receptors. Because it is difficult to determinate the membrane protein's structure by wet-lab experiments,accurate and fast amino acid sequence-based computational methods are highly desired. In this paper, we report an online prediction tool called Mem Brain, whose input is the amino acid sequence. Mem Brain consists of specialized modules for predicting transmembrane helices, residue–residue contacts and relative accessible surface area of a-helical membrane proteins. Mem Brain achieves aprediction accuracy of 97.9% of ATMH, 87.1% of AP,3.2 ± 3.0 of N-score, 3.1 ± 2.8 of C-score. Mem BrainContact obtains 62%/64.1% prediction accuracy on training and independent dataset on top L/5 contact prediction,respectively. And Mem Brain-Rasa achieves Pearson correlation coefficient of 0.733 and its mean absolute error of13.593. These prediction results provide valuable hints for revealing the structure and function of membrane *** Brain web server is free for academic use and available at ***/bioinf/Mem Brain/.

关键词： Transmembrane a-helices Structure prediction Machine learning Contact map prediction Relative accessible surface area

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Robust Semi-Global Leaderless Consensus and Containment control of Identical Linear systems with Imperfect Actuators

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Journal of systems science & Complexity 2018年第1期31卷 69-86页

作者： SHI Liangren ZHAO Zhiyun LIN Zongli Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240 China Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology) Ministry of Education Shanghai 200237 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.

关键词： Consensus containment control dead zone leaderless consensus multi-agent systems saturation

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Nonlinear Virtual Inertia control of WTGs for Enhancing Primary Frequency Response and Suppressing Drive-Train Torsional Oscillations

arXiv

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arXiv 2020年

作者： Liu, Bi Huang, Qi Zhao, Junbo Milano, Federico Zhang, Yingchen Sichuan Provincial Key Lab of Power System Wide-area Measurement and Control University of Electronic Science and Technology of China Chengdu Sichuan611731 China Department of Electrical and Computer Engineering Mississippi State University StarkvilleMS39762 United States School of Electrical and Electronic Engineering University College Dublin Dublin Ireland National Renewable Energy Laboratory GoldenCO80401 United States

Virtual inertia controllers (VICs) for wind turbine generators (WTGs) have been recently developed to compensate the reduction of inertia in power systems. However, VICs can induce low frequency torsional oscillations of the drive train of WTGs. This paper addresses this issue and develops a new nonlinear VIC based on objective holographic feedbacks theory. This approach allows transforming the original nonlinear control into a completely controllable system of Brunovsky’s type. Simulation results under various scenarios demonstrate that the proposed method outperforms existing VICs in terms of suppression of low frequency drive-train torsional oscillations, enhancement of system frequency nadir as well as fast and smooth recovery of WTG rotor speed to the original MPP point before the disturbance. The proposed method is also able to coordinate multiple WTGs. Copyright © 2020, The Authors. All rights reserved.

关键词： Frequency response

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Velocity Coordination of Multi-vehicle systems via Distributed Neighbor Selection

Velocity Coordination of Multi-vehicle Systems via Distribut...

引用

International Conference on Intelligent Transportation

作者： Haibin Shao Lulu Pan Yugeng Xi Dewei Li Shu Lin Department of Automation and the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781538670255

In this paper, we examine a data-driven control approach to coordination of multi-vehicle systems based on the distributed neighbor selection. The core of the proposed approach is to utilize a recently developed metric called relative tempo for distributed coordination which is computable from local measurable data for each vehicle in the network. The relative tempo between each agent and its neighbors is shown to be closely related to the directed spanning tree of the underlying network in a quantitative manner. Based on this fact, a local neighbor selection protocol is subsequently provided to construct the global refined communication structure which can both maintain the connectivity and increase the efficiency of the multi-vehicle coordination. The numerical study is finally provided to demonstrate the effectiveness of our approach.

关键词： Protocols Vehicle dynamics control systems Topology Intelligent transportation systems Measurement Heuristic algorithms

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Mitigate the obstructing effect of vehicles on the propagation of VANETs safety-related information

Mitigate the obstructing effect of vehicles on the propagati...

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作者： Huang, Rui Wu, Jing Long, Chengnian Zhu, Yanmin Li, Bo Lin, Yi-Bing Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Computer Science School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Engineering The Hong Kong University of Science and Technology Hong Kong China Department of Computer Science and Information Engineering National Chiao Tung University Taiwan

As physical obstacles, vehicles have significant impacts on the efficient propagations of safety-related information in vehicular ad hoc networks (VANETs) by frequently obstructing the LOS links between transmitters and receivers. Obstructing effect will diminish the effective coverage of safety-related information and incur severe impact on road safety. However, this impact has not been addressed effectively. In this paper, we first present the definition of broadcast efficiency as the metric for quantizing the obstructing effect. We investigate the optimization issue for mitigating the impact of obstructing effect on the propagation of safety-related information and propose a graph theory-based optimization algorithm. For a distributed implementation of this optimization in VANETs, we further propose the maximum broadcast efficiency relaying (MBER) algorithm. MBER maximizes the effective coverage of information, meanwhile, meets delay and reliability constraints by incorporating broadcast efficiency and propagation distance in relay contention. Simulation results demonstrate that MBER promotes the effective coverage of safety-related information in VANETs with varying vehicular distribution. © 1967-2012 IEEE.

关键词： Vehicular ad hoc networks

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The research of the smart office availability model considering patches on the router firewall software 9

The research of the smart office availability model consider...

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9th IEEE International Conference on Dependable systems, Services and Technologies, DESSERT 2018

作者： Kharchenko, Vyacheslav Kolisnyk, Maryna Piskachova, Iryna Department of Computer Systems and Networks National Aerospace University 'KhAI' 17 Chkalova Str. Kharkiv61000 Ukraine Automation and Control in Technical Systems Department National Technical University 'Kharkiv Politechnical Institute' 2 Kirpichova Str. Kharkiv61002 Ukraine Department of Computer Science and Control System Ukrainian State University of Railway Transport 7 Feierbakh Square Kharkiv61050 Ukraine

ISBN: (纸本)9781538659038

The emergence of the Internet of things (IoT), web of things, when heterogeneous devices need to have access to the Internet, leads to the need to solve serious problems to ensure the reliable and security operation of such devices. Developing a model of the IoT system states in conditions of growing attacks on the IoT infrastructure, taking into account the energy spent on round-the-clock maintenance of the IoT system, and the timely installation of patches for the router's firewall software, will allow investigating the IoT systems availability from the point of view of providing their security and energy efficiency. The purpose of this paper is to improve the availability model of Smart Office (SO) and to investigate it in terms of server and router power modes, router and server faults and failures, successful cyber-attacks and timely installation of patches on possible router firewall vulnerabilities. © 2018 IEEE.

关键词： Energy efficiency

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Short term electric load forecast with artificial neural networks

arXiv

引用

arXiv 2018年

作者： Cristian, Vasar Iosif, Szeidert Ioan, Filip Gabriela, Prostean Department of Control System Engineering Politehnica' University from Timisoara Faculty of Automation and Computer Science Timisoara300223 Romania

This paper presents issues regarding short term electric load forecasting using feedforward and Elman recurrent neural networks. The study cases were developed using measured data representing electrical energy consume from Banat area. There were considered 35 different types of structure for both feedforward and recurrent network cases. For each type of neural network structure were performed many trainings and best solution was selected. The issue of forecasting the load on short term is essential in the effective energetic consume management in an open market environment. Copyright © 2007 IFAC Copyright © 2018, The Authors. All rights reserved.

关键词： Electric load forecasting

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