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A Coalitional MPC Approach to control of Collaborative Vehicle Platoons

IFAC-PapersOnLine 2023年第2期56卷 8518-8523页

作者： P. Chanfreut T. Keijzer J.M. Maestre R.M.G. Ferrari Department of Systems and Automation Engineering University of Seville Spain Department of Mechanical Engineering Eindhoven University of Technology The Netherlands Delft Center for Systems and Control Delft University of Technology The Netherlands

This work presents a coalitional model predictive controller for collaborative vehicle platoons. The overall system is modeled as a string of locally controlled vehicles that can share data through a wireless communication network. The vehicles can dynamically form disjoint groups that coordinate their actions, i.e., the so-called coalitions . The control goals are keeping a desired reference distance between all vehicles while allowing for occasional switching of the communication topology. Likewise, the presented controller promotes a string-stable evolution of the platoon system. Numerical results are provided to illustrate the proposed approach.

关键词： Model predictive control vehicle platoons multi-agent systems string stability

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Multi-Objective Optimization of AGV Real-Time Scheduling Based on Deep Reinforcement Learning 42

Multi-Objective Optimization of AGV Real-Time Scheduling Bas...

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42nd Chinese control Conference, CCC 2023

作者： Durst, Philip Jia, Xu Li, Li Tongji University Department of Control Science & Engineering Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China

ISBN: (纸本)9789887581543

Driven by the trend away from mass production towards more customization and individualism, manufacturing is under massive price pressure. Therefore, continuously improving production efficiency and reducing costs have always been the focus of manufacturing companies. With recent advances in Industry 4.0 and industrial Artificial Intelligence (AI), Automated Guided Vehicles (AGVs) have become a very promising technology to support this trend. Nowadays, they are widely used in job shop environments for material handling. However, this promising technology goes along with various new challenges, such as the high dynamics, complexity, and uncertainty of the job shop environment for AGV scheduling. To address these challenges, an adaptive Deep Reinforcement Learning (DRL) based AGV real-time scheduling approach is approached to optimize several efficiency parameters of the overall job shop system. Firstly, the DRL optimization problem is formulated as Markov Decision Process (MDP). The state and action representation, reward, and optimal policy function are described in detail. Then a novel DRL method is further developed to achieve the optimal mixed rule policy. For that, a novel RL algorithm, Proximal Policy Optimization (PPO), is applied to the Deep Neural Network (DNN) and implemented in TensorForce, a reinforcement learning package in Python based on TensorFlow. This algorithm is compared to conventional heuristic rules. Furthermore, SimPy, a relatively new discrete-event simulation package in Python, is used to implement the job shop environment. The job shop environment is based on a real-world scenario of a semiconductor factory, which is implemented in a simplified manner and applied to the DRL agent. The results are presented afterward, followed by a feasibility and effectiveness analysis of this approach. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Multiobjective optimization

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State-of-Charge (SOC) Estimation of Lithium-Ion Battery Based on Unscented Kalman Filtering 6

State-of-Charge (SOC) Estimation of Lithium-Ion Battery Base...

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6th IEEE Advanced Information Management, Communicates, Electronic and automation control Conference, IMCEC 2024

作者： Miao, Mengfan Li, Ligang Wang, Zhongfeng Jiang, Jing Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9798350316520

Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. In this study, a second-order RC equivalent circuit model is established, and parameter identification methods are employed to determine the model parameters. The identified parameters are then incorporated back into the second-order RC model. The accuracy of these parameters and the model is validated through Hybrid Pulse Power Characteristic (HPPC) tests. Finally, the Unscented Kalman Filtering algorithm (UKF) is utilized to estimate battery SOC. Experimental results demonstrate that SOC estimation based on UKF exhibits high precision and stability. © 2024 IEEE.

关键词： Lithium-ion batteries

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Periodic Tracking control for Linear Motor via Improved Terminal Sliding Mode control with Iterative Learning Disturbance Compensation

Periodic Tracking Control for Linear Motor via Improved Term...

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2022 Chinese automation Congress, CAC 2022

作者： Kang, Zhuang Liu, Zhitai Zhang, Zhongjin Li, Weinan Lin, Weiyang Wang, Zhifeng Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin150001 China Engineering and Automation Foshan University School of Mechatronic Foshan China

ISBN: (纸本)9781665465335

This paper designs an improved fast nonsingular terminal sliding mode control (FNTSMC) method for permanent magnet linear motors to track the periodic control tasks, which uses an iterative learning controller to learn periodic information and improve the performance. By designing a non-singular terminal sliding surface and using Lyapunov stability theory, the FNTSMC is designed. Afterwards, with the help of the operator stability theory, the asymptotic convergence of the paper algorithm and the improvement of the tracking ability were strictly proved. Lastly, experiments on an actual linear motor setup illustrated the effectiveness and superior performance of the paper method. © 2022 IEEE.

关键词： Linear motors

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Electric Vehicles Modeling: A Review 15

Electric Vehicles Modeling: A Review

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： de Oliveira, Victor Manuel Riva dos Remédios, Vinícius Ferreira Donadel, Clainer Bravin dos Santos, Walbermark Marques Có, Márcio Almeida de Melo, Vinícius Secchin Nunes, Reginaldo Barbosa Electrical Engineering Department Federal Institute of Espírito Santo Vitória Brazil Control and Automation Eng Dept. Federal Institute of Espírito Serra Santo Brazil

ISBN: (纸本)9798350314182

The increasing concern about climate change has been leading researches in many areas to investigate solutions for this issue. An emerging subject related to it is electric vehicles (EV). Although it is an important topic, there is still a lack of review papers about EVs modeling. In this context, this paper aims to bring a review about EV modeling to fulfill this gap. A wide bibliography review is made to cover different kinds of EVs modeling, in many aspects. As a conclusion, in some areas, authors do not diverge from each other, while in others may exist a large range of different ways to model the EVs. In this case, researchers should choose the modeling that fits the best for their research, which may vary in simplicity and computational effort. © 2023 IEEE.

关键词： Battery Electric Vehicles Modeling Simulation

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EFEAR-4D: Ego-Velocity Filtering for Efficient and Accurate 4D radar Odometry

arXiv

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arXiv 2024年

作者： Wu, Xiaoyi Chen, Yushuai Li, Zhan Hong, Ziyang Hu, Liang The Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China

Odometry is a crucial component for successfully implementing autonomous navigation, relying on sensors such as cameras, LiDARs and IMUs. However, these sensors may encounter challenges in extreme weather conditions, such as snowfall and fog. The emergence of FMCW radar technology offers the potential for robust perception in adverse conditions. As the latest generation of FWCW radars, the 4D mmWave radar provides point cloud with range, azimuth, elevation, and Doppler velocity information, despite inherent sparsity and noises in the point cloud. In this paper, we propose EFEAR-4D, an accurate, highly efficient, and learning-free method for large-scale 4D radar odometry estimation. EFEAR-4D exploits Doppler velocity information delicately for robust ego-velocity estimation, resulting in a highly accurate prior guess. EFEAR-4D maintains robustness against point-cloud sparsity and noises across diverse environments through dynamic object removal and effective region-wise feature extraction. Extensive experiments on two publicly available 4D radar datasets demonstrate state-of-the-art reliability and localization accuracy of EFEAR-4D under various conditions. Furthermore, we have collected a dataset following the same route but varying installation heights of the 4D radar, emphasizing the significant impact of radar height on point cloud quality - a crucial consideration for real-world deployments. Our algorithm and dataset will be available soon at https://***/CLASS-Lab/EFEAR-4D. © 2024, CC BY-NC-SA.

关键词： Millimeter waves

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EID-based Robust controller Design of PV Grid-Connected System with Parameter Uncertainty 41

EID-based Robust Controller Design of PV Grid-Connected Syst...

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第41届中国控制会议

作者： Jun Cai Fang Liu Zhen Fan Denis Sidorov Mukesh Kumar Pathak School of Automation Central South University Energy Systems Institute of Russian Academy of Sciences Department of Electrical Engineering Indian Institute of Technology Roorkee

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In practice,the three-phase two-stage PV grid-connected system is interfered with by internal and external *** to improve the anti-interference ability of the grid-connected inverter has become more and more *** this paper,a current robust controller design method based on equivalent input disturbance(EID) is proposed for the grid-connected PV inverter system with parameter ***,the uncertainty of the PV grid-connected system is analyzed,and the mathematical model of the parameter uncertainty system is ***,the block diagram of the robust control system with parameter uncertainty based on EID is *** sufficient condition of robust stability of uncertain inverter system is given by using the Lyapunov functional method in the form of LMI,and the controller parameters are also ***,the experimental results show that the current controller has good robustness with parameter uncertainty,and significantly improves the quality of grid-connected current.

关键词： PV grid-connected system Parameter uncertainty EID Robust control Lyapunov functional

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Stage-cost design for optimal and model predictive control of linear port-Hamiltonian systems: Energy efficiency and robustness

Stage-cost design for optimal and model predictive control o...

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93rd Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2023

作者： Şen, Gökçen Devlet Schaller, Manuel Worthmann, Karl Optimization-based Control Group Institute of Mathematics Technische Universität Ilmenau Ilmenau Germany Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

We consider singular optimal control of port-Hamiltonian systems with minimal energy supply. We investigate the robustness of different stage-cost designs w.r.t. time discretization and show that alternative formulations that are equivalent in continuous time, differ strongly in view of discretization. Furthermore, we consider the impact of additional quadratic control regularization and demonstrate that this leads to a considerable increase in energy consumption. Then, we extend our results to the tracking problem within model predictive control and show that the intrinsic but singular choice of the cost functional as the supplied energy leads to a substantial improvement of the closed-loop performance. © 2023 The Authors. Proceedings in Applied Mathematics & Mechanics published by Wiley-VCH GmbH.

关键词： Model predictive control

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Linear Fresnel reflector technology in Brazil: a techno-economic evaluation

Renewable Energy and Power Quality Journal

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Renewable Energy and Power Quality Journal 2023年 21卷 329-336页

作者： Azevedo, G.F. Lopes, M.E. Menezes, B.A. Rabelo, O.H.F. Brito, L.B. Dias, A.B. Filho, A.L.F. Domingues, E.G. Department of Electrical Engineering University of Brasília Darcy Ribeiro University Campus – Gleba A Avenida L3 Norte DF Brasília70.910-900 Brazil Electrical Engineering/Control and Automation Engineering Program Federal Institute of Goiás Câmpus Goiânia Rua 75 nº46-Centro GO Goiânia74055-110 Brazil

This study aims to present the results of applying a computational tool developed to perform a technical-economic feasibility analysis of a large-scale Linear Fresnel Reflector (LFR) solar power plant. The viability analysis indicators were obtained considering that the electricity produced trades at the Regulated Contracting Environment of the Brazilian Electricity Market. The parametric structural optimization method is used to optimize the technical parameters of the plant. A case study was conducted to analyze the viability of Implementing a 100 MW LFR power plant in the five regions of Brazil. The results indicated that Northeastern is the best region to install this power plant. However, the project is not viable in all cities analyzed. A sensitivity analysis (SA) of some strategically selected variables was conducted to evaluate its impacts on the project's net present value of an optimized LFR plant located in the city with the best technical performance. Finally, an optimistic scenario was evaluated considering the net present value's response to the parameters investigated in the SA. For this scenario, the results indicated the project's economic viability. © 2023, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved.

关键词： Sensitivity analysis

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Adaptive Nonsingular Terminal Sliding Mode control with Time-Delay Estimation for Linear Motor systems

Adaptive Nonsingular Terminal Sliding Mode Control with Time...

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2022 Chinese automation Congress, CAC 2022

作者： Zhao, Yanqiu Liu, Zhitai Liu, Huanli Zhang, Zhongjin Lin, Weiyang Wang, Zhifeng Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin150001 China Foshan University School of Mechatronic Engineering and Automation Foshan China

ISBN: (纸本)9781665465335

This paper presents a new adaptive nonsingualr terminal sliding mode control scheme for a class of motion platform driven by permanent-magnet linear motor. A barrier function (BF) is utilized to design the adaptive control gain law, then the overestimation of control gain that usually exists in sliding mode control (SMC) is avoided without requiring the upper boundary of system uncertainties. Moreover, this control scheme can guarantee the finite-Time convergence of the system and maintain the system state within a specified zero neighborhood. In addition, the practical time-delay estimation (TDE) technology is used to estimate the system dynamics and uncertainties, such as model errors, parameters variation and external disturbances. Therefore, the proposed controller has strong robustness and disturbance rejection ability. Finally, the effectiveness of this study is proved through some comparative experiments via a linear motor driven platform. © 2022 IEEE.

关键词： Sliding mode control

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