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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Anca Maxim Ovidiu Pauca Razvan-Gabriel Lazar Cristian-Mihai Amarandei Constantin-Florin Caruntu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania Department of Computer Science and Engineering "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Cloud computing can be an useful tool when dealing with spatially distributed resources, which need to be simultaneously managed. In this work, a simulation environment is developed using OpenStack to apply a Distributed Model Predictive control strategy for a platooning application consisting of multiple autonomous mobile robots. The idea is to develop the entire algorithm by taking advantage of the possibility of creating virtual machines. Thus, each autonomous mobile robot is treated as an individual agent and is modeled and controlled on a virtual machine, whereas the communication between the agents is performed in the cloud, using the TCP/IP protocol standard. The simulation results illustrate that the platooning application deployed in OpenStack outperforms the simulation performed on a single computer.

关键词： Cloud computing Protocols Computational modeling Stability criteria TCPIP Mathematical models Mobile robots MATLAB Autonomous robots Testing

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Measurement Oxygen Saturation Based on Amplitude of Single Wavelength of Photoacoustic Signal from Finger Tips: This establishes the formula to map features of photoacoustic (PA) signals/images with oxygen saturation directly. 21

Measurement Oxygen Saturation Based on Amplitude of Single W...

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5th International Conference on Medical and Health informatics, ICMHI 2021

作者： Tsai, Ming-Chun Shen, Tsu-Wang Ou, Ting-Ku Lee, Tian-Fu Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Medical Informatics Tzu Chi University Hualien Taiwan

ISBN: (纸本)9781450389846

Oxygen saturation (SO2, %) describes oxygen status of human blood, which is widely used for diagnosis in medical area. A photoacoustic system is designed to measure oxygen saturation by using a 638 nm single light source as the trigger to convert response ultrasound to SO2 (%). A convert formula is successfully provided and the best performance is located on SO2 range from 94%-98%. © 2021 ACM.

关键词： Diagnosis

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An $\mathcal{L}_{\mathrm{p}}$ -norm framework for event-triggered control

An $\mathcal{L}_{\mathrm{p}}$ -norm framework for event-trig...

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European control Conference (ECC)

作者： Michael Hertneck Alejandro I. Maass Dragan Nešić Frank Allgöwer University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart Germany Department of Electrical Engineering Pontificia Universidad Catolica de Chile Santiago Chile Department of Electrical and Electronic Engineering The University of Melbourne Parkville Victoria Australia

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper presents a novel event-triggered control (ETC) design framework based on measured $\mathcal{L}_{p}$ norms. We consider a class of systems with finite $\mathcal{L}_{p}$ gain from the network-induced error to a chosen output. The $\mathcal{L}_{p}$ norms of the network-induced error and the chosen output since the last sampling time are used to formulate a class of triggering rules. Based on a small-gain condition, we derive an explicit expression for the $\mathcal{L}_{p}$ gain of the resulting closed-loop systems and present a time-regularization, which can be used to guarantee a lower bound on the inter-sampling times. The proposed framework is based on a different stability- and triggering concept compared to ETC approaches from the literature, and thus may yield new types of dynamical properties for the closed-loop system. However, for specific output choices it can lead to similar triggering rules as “standard” static and dynamic ETC approaches based on input-to-state stability and yields therefore a novel interpretation for some of the existing triggering rules. We illustrate the proposed framework with a numerical example from the literature.

关键词： Europe Closed loop systems Numerical stability Standards

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Triple Parallel LSTM Networks for Classifying the Gait Disorders Using Kinect Camera and Robot Platform During the Clinical Examination

Triple Parallel LSTM Networks for Classifying the Gait Disor...

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electrical, Computer, Communications and Mechatronics engineering (ICECCME), International Conference on

作者： Mohsen Shayestegan Tomas Zalabsky Jan Mareš Faculty of Electrical Engineering and Informatics University of Pardubice Pardubice Czech Republic Faculty of Electrical Engineering and Informatics Research Center University of Pardubice Pardubice Czech Republic Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Pardubice Czech Republic

This paper presents a new methodology for the data processing and classification method for gait disorders, which is observed with a Kinect camera. The study of gait and motion stability in gait disorders is one of the most interesting research areas in the field. The patient and the physician must monitor the progress of the rehabilitation process before and after surgery to obtain an objective view of the rehabilitation process. In this study, the patient is scanned with the Kinect camera placed on a mobile robotic platform. For feature extraction and feature analysis, the exercises (three walking exercises) frames are collected and saved in data folders. This study uses 84 measurements of 37 patients with complex observations based on the physician's opinion in a clinical setting to address classification problems. In the analysis of gait disorders, motion data play an essential role. Furthermore, it reduces the selection of helpful body features for assessing gait disorders. The proposed system uses a key-point detector that computes body landmarks and classifies gait disorders using triple-parallel long short-term memory (LSTM) networks. The present study demonstrates the success of the method in classification evaluation when combined with the state-of-the-art pose estimation method. Around 81 percent accuracy was achieved for given sets of individuals using velocity-based, angle-based, and position-based features.

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Grid-Forming control of Modular Dynamic Virtual Power Plants

arXiv

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arXiv 2024年

作者： He, Xiuqiang Duarte, Josué Häberle, Verena Dörfler, Florian Automatic Control Laboratory ETH Zurich Zurich8092 Switzerland Department of Electrical Engineering Escola Universitaria Salesiana de Sarria Barcelona08017 Spain

This article explores a flexible and coordinated control design for an aggregation of heterogeneous distributed energy resources (DERs) in a dynamic virtual power plant (DVPP). The control design aims to provide a desired aggregate grid-forming (GFM) response based on the coordination of power contributions between different DERs. Compared to existing DVPP designs with an AC-coupled AC-output configuration, a more generic modular DVPP design is proposed in this article, which comprises four types of basic DVPP modules, involving AC- or DC-coupling and AC- or DC-output, adequately accommodating diverse DER integration setups, such as AC, DC, AC/DC hybrid microgrids and renewable power plants. The control design is first developed for the four basic modules by the aggregation of DERs and the disaggregation of the control objectives, and then extended to modular DVPPs through a systematic top-down approach. The control performance is comprehensively validated through simulation. The modular DVPP design offers scalable and standardizable advanced grid interfaces (AGIs) for building and operating AC/DC hybrid power grids. © 2024, CC BY.

关键词： Virtual Power Plants

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BIG Hype: Best Intervention in Games via Distributed Hypergradient Descent

arXiv

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arXiv 2023年

作者： Grontas, Panagiotis D. Belgioioso, Giuseppe Cenedese, Carlo Fochesato, Marta Lygeros, John Dorfler, Florian Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zurich8092 Switzerland

Hierarchical decision making problems, such as bilevel programs and Stackelberg games, are attracting increasing interest in both the engineering and machine learning communities. Yet, existing solution methods lack either convergence guarantees or computational efficiency, due to the absence of smoothness and convexity. In this work, we bridge this gap by designing a first-order hypergradient-based algorithm for Stackelberg games and mathematically establishing its convergence using tools from nonsmooth analysis. To evaluate the hypergradient, namely, the gradient of the upper-level objective, we develop an online scheme that simultaneously computes the lower-level equilibrium and its Jacobian. Crucially, this scheme exploits and preserves the original hierarchical and distributed structure of the problem, which renders it scalable and privacypreserving. We numerically verify the computational efficiency and scalability of our algorithm on a large-scale hierarchical demand-response model. Copyright © 2023, The Authors. All rights reserved.

关键词： Computational efficiency

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A Review of Parameterised MPC Algorithms

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IFAC-PapersOnLine 2023年第2期56卷 7692-7697页

作者： John A. Rossiter Oscar J. Gonzalez-Villareal Mohammad A.M. Sarbini Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK Electrical and Electronic Engineering Programme Area Universiti Teknologi Brunei

This paper provides an evaluation and comparison of popular parameterised model predictive control approaches that have been proposed in the literature in recent years. Using the Generalised Predictive control (GPC) algorithm as the baseline algorithm, the paper sets out a number of performance criteria to compare and contrast with several other MPC approaches. Numerical examples use 100 random samples of 2, 3, and 4-state models and the approaches are compared using the selected performance criteria.

关键词： Predictive control Model predictive and optimization-based control Monte Carlo methods

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Tutorial on Congestion control in Multi-Area Transmission Grids via Online Feedback Equilibrium Seeking

arXiv

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arXiv 2023年

作者： Belgioioso, Giuseppe Bolognani, Saverio Pejrani, Giulia Dörfler, Florian Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zurich8092 Switzerland

Online feedback optimization (OFO) is an emerging control methodology for real-time optimal steady-state control of complex dynamical systems. This tutorial focuses on the application of OFO for the autonomous operation of large-scale transmission grids, with a specific goal of minimizing renewable generation curtailment and losses while satisfying voltage and current limits. When this control methodology is applied to multi-area transmission grids, where each area independently manages its congestion while being dynamically interconnected with the rest of the grid, a non-cooperative game arises. In this context, OFO must be interpreted as an online feedback equilibrium seeking (FES) scheme. Our analysis incorporates technical tools from game theory and monotone operator theory to evaluate the stability and performance of multi-area grid operation. Through numerical simulations, we illustrate the key challenge of this non-cooperative setting: on the one hand, independent multi-area decisions are suboptimal compared to a centralized control scheme;on the other hand, some areas are heavily penalized by the centralized decision, which may discourage participation in the coordination mechanism. Copyright © 2023, The Authors. All rights reserved.

关键词： Game theory

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Secondary Frequency control of Dual-Port Grid Forming control

Secondary Frequency Control of Dual-Port Grid Forming Contro...

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Power Tech Conference

作者： Irina Subotic Dominic Groß Automatic Control Laboratory ETH Zürich Switzerland Department of Electrical and Computer Engineering University of Wisconsin-Madison USA

Grid-forming converters are widely envisioned to be the cornerstone of future converter-dominated power systems. However, standard grid forming (GFM) control strategies assume a fully controllable source with enough headroom behind the converter and only implicitly address renewable generation limits through the converter limits. This can lead to instabilities on time scales of both primary and secondary frequency control and jeopardize the safe and reliable operation of electric power systems. In this work, we leverage the recently proposed dual-port GFM control that maps power imbalances in the grid to the power generation interfaced by the power converter. We show that this mechanism allows for considering and transparently addressing limits of renewable generation (e.g., solar photovoltaics and wind) in primary and secondary frequency control. We illustrate that renewable generation using dual-port GFM control can directly integrate into prevailing secondary control methods such as automatic generation control (AGC). Moreover, we discuss the limitations of standard AGC when one or more areas of a power system are dominated by renewable generation and propose an anti-windup strategy to address the power generation limits of renewables. Finally, we verify our findings in a time-domain, electromagnetic transient (EMT) simulation.

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IPMSM control System Based on Maximum Torque Per Ampere Strategy

IPMSM Control System Based on Maximum Torque Per Ampere Stra...

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Global Power, Energy and Communication Conference (GPECOM)

作者： Marcel Nicola Claudiu-Ionel Nicola Răzvan Prejbeanu Marian Popescu Research Department National Institute for Research Development and Testing in Electrical Engineering – ICMET Craiova Craiova Romania Department of Automatic Control and Electronics University of Craiova Craiova Romania

ISBN: (数字)9798350351088

ISBN: (纸本)9798350351095

Based on the positive results of using PI type controllers in IPMSM (Internal Permanent Magnet Synchronous Motor) control systems, this paper presents the Maximum Torque Per Ampere (MTPA) control strategy, which achieves the maximisation of torque per ampere while maintaining and even improving control system performance when using the Field Oriented control (FOC) control strategy. The paper presents the component control structures and the equations underlying the derivation of the i d and i q current references from the d-q axis reference frame representation to obtain a maximum torque per ampere. Numerical simulations for the control of an IPMSM using the two control strategies are presented and the superiority of the MTPA control strategy is concluded, expressed by the following performance indicators: response time, rotor speed ripple, maximum values and total harmonic distortion (THD) of the currents. The numerical simulations carried out in Matlab/Simulink also show a good robustness of the IPMSM control system when using the MTPA control strategy, maintaining the performance of the control system even when the nominal value of one of the IPMSM set-point parameters is doubled.

关键词： Total harmonic distortion Torque Rotors control systems Numerical simulation Permanent magnet motors Mathematical models

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