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Cost-optimal model predictive scheduling of home appliances

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IFAC-PapersOnLine 2017年第1期50卷 3344-3349页

作者： Bálint R. Magyar A. Hangos K.M. Department of Electrical Engineering and Information Systems Faculty of Information Technology University of Pannonia Veszprém Hungary Process Control Research Group HAS Research Institute for Computer Science and Control Budapest Hungary

A novel heuristic model-based optimal scheduling algorithm is proposed in this paper to operate heating and cooling type home appliances connected to smart grids where the price of the electrical energy is known in advance and temperature constraints are present. The properties and the use of the proposed algorithm are shown using a simple refrigerator model. The accuracy and the computational properties of the proposed method are compared to the schedule generated by the MPT toolbox. The algorithm works well with a relatively short prediction horizon using a fraction of the computing time needed for the MPT-based method. The robustness of the algorithm is also investigated with respect to the load of the refrigerator. It is shown that the designed schedule with an empty refrigerator is always suitable, yet not optimal, for any loaded case. © 2017

关键词： Demand side management Heuristics Model predictive control Scheduling algorithms Smart grids

A comparison of nonsmooth, nonconvex, constrained optimization solvers for the design of time-delay compensators

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arXiv 2018年

作者： Kungurtsev, Vyacheslav Mitchell, Tim Vyhlídal, Tomáš Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague

We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robust control mechanics as constrained optimization problems often involves objective and constraint functions that are both nonconvex and nonsmooth, both of which present significant challenges to many solvers and their end-users hoping to obtain good solutions to these problems. In our particular engineering task, the main difficulty in the optimization arises in a nonsmooth and nonconvex stability constraint, which states that the infinite spectrum of zeros of the so-called shaper should remain in the open left half-plane. To perform our evaluation, we make use β-relative minimization profiles, recently introduced visualization tools that are particularly suited for benchmarking solvers on nonsmooth, nonconvex, constrained optimization problems. Furthermore, we also introduce new visualization tools, called Global-Local Profiles, which for a given problem and a fixed computational budget, assess the tradeoffs of distributing the budget over few or many starting points, with the former getting more budget per point and latter less. Copyright © 2018, The Authors. All rights reserved.

关键词： Robust control

Distributed Least Squares Solver for Network Linear Equations

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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

A Projected inverse dynamics approach for dual-arm cartesian impedance control

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arXiv 2017年

作者： Lin, Hsiu-Chin Smith, Joshua Babarahmati, Keyhan Kouhkiloui Dehio, Niels Mistry, Michael School of Informatics University of Edinburgh United Kingdom School of Computer Science University of Birmingham United Kingdom Research Institute for Robotics and Process Control Technical University Braunschweig Germany

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6-DOF impedance behaviour. Furthermore, the proposed method optimises the torque required to maintain contact, subject to unknown disturbances, and can do so without direct measurement of external force. The techniques are evaluated on a single-arm wiping a table and a dual-arm platform manipulating a rigid object of unknown mass and with human interaction. [1]. Copyright © 2017, The Authors. All rights reserved.

关键词： controllers

Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic control, controlO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

On active decoupling control for horizontal-lateral direction of hypersonic flight based on HIFOO 21

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On active decoupling control for horizontal-lateral directio...

21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

Topological-darkness-assisted phase regulation for atomically thin meta-optics

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arXiv 2019年

作者： Wang, Yingwei Deng, Zi-Lan Hu, Dejiao Yuan, Jian Ou, Qingdong Qin, Fei Zhang, Yinan Ouyang, Xu Peng, Bo Cao, Yaoyu Guan, Bai-Ou Zhang, Yupeng He, Jun Qiu, Chengwei Bao, Qiaoliang Li, Xiangping Guangdong Provincial Key Laboratory of Optical Fiber Sensing and Communications Institute of Photonics Technology Jinan University Guangzhou510632 China Hunan Key Laboratory for Super-microstructure and Ultrafast Process School of Physics and Electronics Central South University 932 South Lushan Road Changsha Hunan410083 China College of Physics and Electronic Information Huaibei Normal University Huaibei235000 China Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province College of Electronic Science and Technology Shenzhen University Shenzhen518060 China Monash University ClaytonVIC3800 Australia National Engineering Research Center of Electromagnetic Radiation Control Materials State Key Laboratory of Electronic Thin Films and Integrated Devices School of Microelectronics and Solid State Electronics University of Electronic Science and Technology of China Chengdu610054 China Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 117583 Singapore

Two-dimensional (2D) noble-metal dichalcogenides 1, 2 have emerged as a new platform for the realization of versatile flat optics with a considerable degree of miniaturization. However, light field manipulation at the atomic scale is widely considered unattainable since the vanishing thickness and intrinsic losses of 2D materials completely suppress both resonances and phase accumulation effects. Empowered by conventionally perceived adverse effects of intrinsic losses, we show that the structured PtSe2 films integrated with a uniform substrate can regulate nontrivial singular phase and realize atomic-thick meta-optics in the presence of topological darkness 3, 4. We experimentally demonstrate a series of atomic-thick binary meta-optics that allows angle-robust and high unit-thickness diffraction efficiency of 0.96%/nm in visible frequencies, given its thickness of merely 4.3 nm. Our results unlock the potential of a new class of 2D flat optics for light field manipulation at an atomic thickness. Copyright © 2019, The Authors. All rights reserved.

关键词： Platinum compounds

Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay