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21st International Conference on Advanced Robotics, ICAR 2023

作者： Amer, Abdelhakim Mehndiratta, Mohit Le Fevre Sejersen, Jonas Pham, Huy Xuan Kayacan, Erdal Department of Electrical and Computer Engineering Aarhus C8000 Denmark Gim Robotics Espoo Finland Automatic Control Group Paderborn University Department of Electrical Engineering and Information Technology Paderborn Germany

ISBN: (纸本)9798350342291

Automated visual inspection of on- and off-shorewind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes11https://***/open-airlab/VTNMPC-Autonomous-Wind-Turbine-Inspection are open-sourced. © 2023 IEEE.

关键词： Inspection

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Consensus Tracking of Multi-Agent Systems in The Presence of Byzantine Agents Using Model Predictive control 8

Consensus Tracking of Multi-Agent Systems in The Presence of...

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8th International Conference on control, Instrumentation and Automation, ICCIA 2022

作者： Rezaei, Mohammad Amin Bagheri, Peyman Hashemzadeh, Farzad University of Tabriz Faculty of Electrical and Computer Engineering Department of Control Engineering Tabriz Iran

ISBN: (纸本)9781665495691

This paper deals with the consensus tracking of multi-agent systems in the presence of some Byzantine agents. Steering the agents toward a predefined reference via model predictive control and, besides, encountering the misbehaving agents, are the main aims of the paper. Using graph properties alongside the Weighted-Mean-Subsequence-Reduced (W-MSR) algorithm led to a control method for special kinds of multi-agent systems. Combining model predictive control with W-MSR results in a new algorithm called Reference-Based-W-MSR (RBW-MSR), which has made the consensus point fixed according to a predetermined reference. The effectiveness of the proposed algorithm would be illustrated via simulation results in which different scenarios have been examined to exhibit the success of the method. © 2022 IEEE.

关键词： Multi agent systems

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Receding-Horizon control of Constrained Switched Systems with Neural Networks as Parametric Function Approximators

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SN computer Science 2023年第1期4卷 1-16页

作者： Markolf, Lukas Stursberg, Olaf Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Wilhelmshöher Allee 71-73 Kassel 34121 Germany

This work studies receding-horizon control of discrete-time switched linear systems subject to polytopic constraints for the continuous states and inputs. The objective is to approximate the optimal receding-horizon control strategy for cases in which the online computation is intractable due to the necessity of solving mixed-integer quadratic programs in each discrete time instant. The proposed approach builds upon an approximated optimal finite-horizon control law in closed-loop form with guaranteed constraint satisfaction. The paper derives the properties of recursive feasibility and asymptotic stability for the proposed approach. A numerical example is provided for illustration and evaluation of the approach. © 2022, The Author(s).

关键词： Model approximation Neural networks Online control Optimization Reinforcement learning Stability

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Cloud-edge-based We-Market:Autonomous Bidding and Peer-to-peer Energy Sharing Among Prosumers

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Journal of Modern Power Systems and Clean Energy 2023年第4期11卷 1282-1293页

作者： Fangyuan Si Yinghua Han Qinqin Xu Jinkuan Wang Qiang Zhao College of Information Science and Engineering Northeastern UniversityShenyangChinaand F.Si is also with the State Key Laboratory of Power System and Generation EquipmentDepartment of Electrical EngineeringTsinghua UniversityBeijingChina School of Computer and Communication Engineering Northeastern University at QinhuangdaoQinhuangdaoChina School of Control Engineering Northeastern University at QinhuangdaoQinhuangdaoChina

With the extensive penetration of distributed renewable energy and self-interested prosumers,the emerging power market tends to enable user autonomy by bottom-up control and distributed *** paper is devoted to solving the specific problems of distributed energy management and autonomous bidding and peer-to-peer(P2P)energy sharing among prosumers.A novel cloud-edge-based We-Market is presented,where the prosumers,as edge nodes with independent control,balance the electricity cost and thermal comfort by formulating a dynamic household energy management system(HEMS).Meanwhile,the autonomous bidding is initiated by prosumers via the modified Stone-Geary utility *** the cloud center,a distributed convergence bidding(CB)algorithm based on consistency criterion is developed,which promotes faster and fairer bidding through the interactive iteration with the edge ***,the proposed scheme is built on top of the commercial cloud platform with sufficiently secure and scalable computing *** results show the effectiveness and practicability of the proposed We-Market,which achieves 15%cost reduction with shorter running *** analysis indicates better scalability,which is more suitable for largerscale We-Market implementation.

关键词： We-Market bidding energy sharing prosumer peer-to-peer cloud-edge

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Configurable Dynamics of Electromagnetic Suspension by Fuzzy Takagi-Sugeno controller 21st

Configurable Dynamics of Electromagnetic Suspension by Fuzzy...

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21st Polish control Conference, PCC 2023

作者： Pilat, Adam Krzysztof Milanowski, Hubert Bieszczad, Rafal Sikora, Bartiomiej Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH-University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351693

This elaboration presents the synthesis of the Takagi-Sugeno type Fuzzy Logic controller realizing the programmable parameters of the state feedback controller together with the steady state current for the active magnetic levitation system. Closed-loop dynamics was calculated precisely with respect to the requested dynamics. Two cases were considered: fixed-and variable-closed-loop dynamics. The Fuzzy Logic controller was considered under four scenarios with linear, nonlinear, and constant in-range output. The study was supported by simulations and experimental investigations. The position of the levitating sphere stands as an illustration of the system in operation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Dynamics

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Optimization of Cube Storage Warehouse Scheduling Using Genetic Algorithms 19

Optimization of Cube Storage Warehouse Scheduling Using Gene...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Ha, Won Yong Jiang, Zhong-Ping Tandon School of Engineering New York University The Control and Networks Lab Department of Electrical and Computer Engineering BrooklynNY11201 United States

ISBN: (纸本)9798350320695

In this paper, a new scheduling model is presented to speed up the logistics processing in an automatic cube storage warehouse. Automated guided vehicles (AGV) are used to move all items in the warehouse according to the computer's instructions. The tasks to be performed by the AGV are optimally distributed using Genetic Algorithms (GA). The goal of our research is to optimize order scheduling in automatic warehouses to reduce human resources and lower the cost of logistics. The proposed GA's fitness function reflects removing the stacked bin, a cube storage warehouse characteristic, and getting the designated bin. Through extensive computer simulations, it is shown that the higher the generation of the GA we design, the lower the logistics processing time. As compared with other meta-heuristic optimization algorithms, our proposed GA algorithm demonstrates a maximum of 21% reduction in delivery time. © 2023 IEEE.

关键词： Genetic algorithms

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A blockchain based privacy-preserving federated learning scheme for Internet of Vehicles

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Digital Communications and Networks 2024年第1期10卷 126-134页

作者： Naiyu Wang Wenti Yang Xiaodong Wang Longfei Wu Zhitao Guan Xiaojiang Du Mohsen Guizani School of Control and Computer Engineering North China Electric Power UniversityChina Department of Mathematics&Computer Science Fayetteville State UniversityFayettevilleNCUSA Department of Electrical and Computer Engineering Stevens Institute of TechnologyHobokenNJ07030USA Department of Computer Science and Engineering Qatar UniversityDohaQatar

The application of artificial intelligence technology in Internet of Vehicles(lov)has attracted great research interests with the goal of enabling smart transportation and traffic ***,concerns have been raised over the security and privacy of the tons of traffic and vehicle *** this regard,Federated Learning(FL)with privacy protection features is considered a highly promising ***,in the FL process,the server side may take advantage of its dominant role in model aggregation to steal sensitive information of users,while the client side may also upload malicious data to compromise the training of the global *** existing privacy-preserving FL schemes in IoV fail to deal with threats from both of these two sides at the same *** this paper,we propose a Blockchain based Privacy-preserving Federated Learning scheme named BPFL,which uses blockchain as the underlying distributed framework of *** improve the Multi-Krum technology and combine it with the homomorphic encryption to achieve ciphertext-level model aggregation and model filtering,which can enable the verifiability of the local models while achieving ***,we develop a reputation-based incentive mechanism to encourage users in IoV to actively participate in the federated learning and to practice *** security analysis and performance evaluations are conducted to show that the proposed scheme can meet the security requirements and improve the performance of the FL model.

关键词： Federated learning Blockchain Privacy-preservation Homomorphic encryption Internetof vehicles

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Global practical stabilization of the double integrator system with an imperfect sensor and subject to a bounded disturbance

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control Theory and Technology 2024年第3期22卷 468-478页

作者： Zhiyuan Zhu Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai 200240China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaP.0.Box 400743CharlottesvilleVA 22904-4743USA

This paper is concerned with global practical stabilization of the double integrator system with an imperfect sensor and subject to an additive bounded output *** imperfect sensor nonlinearity possesses the nonlinear characteristics of saturation and dead *** of the presence of output dead zone and the additive disturbance,the states cannot be expected to driven into an arbitrarily small neighborhood of the *** solve the global practical stabilization problem,we proposes a low gain-based linear dynamic output feedback law,under which the first state enters and remains in a bounded set whose size is depended on the bound of disturbance and the range of dead zone and the second state enters and remains in a pre-specified arbitrarily small set,both in finite *** results illustrate the effectiveness of our proposed control method.

关键词： Output saturation Disturbance rejection Output dead zone Low gain feedback-Linear output feedback Practical stabilization

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Attack Stealthiness and Detection of Multiagent Systems: A Zero-Sum Formulation 63

Attack Stealthiness and Detection of Multiagent Systems: A Z...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zhu, Shiyong Wang, Miaomiao Chen, Jie Rantzer, Anders City University of Hong Kong Department of Electrical Engineering Hong Kong Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Lund University Department of Automatic Control Lund Sweden

ISBN: (纸本)9798350316339

Cybersecurity has in recent years emerged as a paramount concern in the design and operation of industrial systems and civil infrastructures, due mainly to their susceptibility to malicious cyber attacks which take advantage of the vulnerability of communication networks and IT devices. In this paper, we investigate such an attack and counter attack scenario by considering multiagent systems, a somewhat basic prototype of cyberphysical systems. We study false data injection attacks launched on the agent sensors, and possible defense of such attacks at the agent actuators. The primary issue under consideration is the stealthiness of the attacks, while steering a multiagent system away from its consensual state. We propose a metric to quantify the stealthiness, and formulate the stealthiness problem as one of zero-sum games. We solve the problem explicitly, which gives rise to a fundamental bound on the stealthiness achievable, and as well optimal attack and defense strategies that achieve the optimal stealthiness, both of which can be obtained in terms of certain augmented controllability Gramians associated with the agents. The stealthiness bound is seen to depend on agent dynamics and network characteristics including a measure of connectivity. © 2024 IEEE.

关键词： Cyber attacks

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Microgrid Energy Management with Energy Storage Systems:A Review

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CSEE Journal of Power and Energy Systems 2023年第2期9卷 483-504页

作者： Xiong Liu Tianyang Zhao Hui Deng Peng Wang Jizhen Liu Frede Blaabjerg Energy Electricity Research Center Jinan UniversityZhuhai 519070China School of Electrical and Electronic Engineering Nanyang Technological University639798 Singapore School of Control and Computer Engineering North China Electric Power UniversityBeijing 102206China Department of Energy Technology at Aalborg University Denmark

Microgrids(MGs)are playing a fundamental role in the transition of energy systems towards a low carbon future due to the advantages of a highly efficient network architecture for flexible integration of various DC/AC loads,distributed renewable energy sources,and energy storage systems,as well as a more resilient and economical on/off-grid control,operation,and energy ***,MGs,as newcomers to the utility grid,are also facing challenges due to economic deregulation of energy systems,restructuring of generation,and marketbased *** paper comprehensively summarizes the published research works in the areas of MGs and related energy management modelling and solution ***,MGs and energy storage systems are classified into multiple branches and typical combinations as the backbone of MG energy ***,energy management models under exogenous and endogenous uncertainties are summarized and extended to transactive energy *** programming,adaptive dynamic programming,and deep reinforcement learning-based solution methods are investigated accordingly,together with their implementation ***,problems for future energy management systems with dynamics-captured critical component models,stability constraints,resilience awareness,market operation,and emerging computational techniques are discussed.

关键词： Architecture energy management energy storage systems microgrids optimization uncertainty models

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