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arXiv 2024年

作者： Zeng, Guangyang Zeng, Qingcheng Li, Xinghan Mu, Biqiang Chen, Jiming Shi, Ling Wu, Junfeng The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen518172 China The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix, which is not optimal in the maximum likelihood (ML) sense. In this paper, we dive into the original measurement model with respect to the rotation matrix and normalized translation vector and formulate the ML problem. We then propose a two-step algorithm to solve it: In the first step, we estimate the variance of measurement noises and devise a consistent estimator based on bias elimination;In the second step, we execute a one-step Gauss-Newton iteration on manifold to refine the consistent estimate. We prove that the proposed estimate owns the same asymptotic statistical properties as the ML estimate: The first is consistency, i.e., the estimate converges to the ground truth as the point number increases;The second is asymptotic efficiency, i.e., the mean squared error of the estimate converges to the theoretical lower bound - Cramer-Rao bound. In addition, we show that our algorithm has linear time complexity. These appealing characteristics endow our estimator with a great advantage in the case of dense point correspondences. Experiments on both synthetic data and real images demonstrate that when the point number reaches the order of hundreds, our estimator outperforms the state-of-the-art ones in terms of estimation accuracy and CPU time. Copyright © 2024, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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Fuzzy PID controller Optimized by Improved Gravitational Search Algorithm for Load Frequency control in Multi-area Power System

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2022年第1期49卷 125-139页

作者： Chen, Gonggui Qin, Feng Long, Hongyu Zeng, Xianjun Kang, Peng Zhang, Jinming Professor of Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Graduate student of Chongqing University of Posts and Telecommunications Chongqing400065 China Professor level senior engineer of Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Senior engineer of State Grid Chongqing Electric Power Company Chongqing400015 China Senior engineer of Economic and Technology Research Institute State Grid Chongqing Electric Power Company Chongqing401120 China

In this paper, an objective function considering performance index and an improved gravitational search algorithm (IGSA) are proposed to optimize the parameters of fuzzy PID (FPID) controller. IGSA is obtained by combining elite strategies and the mining capability of PSO algorithm. The IGSA FPID method which integrates IGSA and FPID controller is tested in a typical two-area non-reheat system, and system responses reflect the advantages of proposed objective function and IGSA. Additionally, the proposed IGSA FPID method still has excellent effects even on the two-area multi-source system with thermal power, hydropower and gas turbines. Meanwhile, the effect of high voltage direct current (HVDC) links in suppressing fluctuations is verified. Due to the popularity of wind power, a novel three-area interconnected power system with nonlinearity connected wind turbine (WT) is designed. Under the control of IGSA FPID, the good stability and dynamic performance of mentioned three-area system are verified. Therefore, FPID controller optimized by IGSA has excellent control effects, stability and universal applicability on the different power systems with multiple area and sources. © 2022. All Rights Reserved.

关键词： Wind turbines

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Utilization of Energy Storage and Hydrogen in Power and Energy systems:Viewpoints from Five Aspects

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CSEE Journal of Power and Energy systems 2023年第1期9卷 1-7页

作者： Yonghua Song Mohammad Shahidehpour Saifur Rahman Nigel Brandon Kai Strunz Jin Lin Yuxuan Zhao State Key Laboratory of Internet of Things for Smart City University of MacaoTaipaMacao 999078China Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Galvin Center for Electricity Innovation Illinois Institute of TechnologyChicagoIL 60616USA Department of Advanced Research Institute Virginia Polytechnic Institute and State UniversityArlingtonVA 22203USA Department of Earth Science and Engineering Imperial College LondonLondon SW72AZU.K Department of Sustainable Electric Networks and Sources of Energy Technische Universitt Berlin10587 BerlinGermany State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijing 100084China

Decarbonizing power systems is crucial to mitigating climate change impacts and achieving carbon *** renewable energy supply can reduce greenhouse gas emissions and accelerate the decarbonization ***,renewable energy sources(RESs)such as wind and solar power are characterized by intermittency and often non-dispatchability,significantly challenging their high-level integration into power *** storage is acknowledged as a vital indispensable solution for mitigating the intermittency of renewables such as wind and solar power and boosting the penetrations of *** the CSEE JPES Forum,five well-known experts were invited to give keynote speeches,and the participating experts and scholars had comprehensive exchanges and discussions on energy storage ***,the views on the design,control,performance,and applications of new energy storage technologies,such as the fuel cell vehicle,water electrolysis,and flow battery,in the coordination and operation of power and energy systems were *** experts also provided experience that could be used to develop energy storage for constructing and decarbonizing new power systems.

关键词： Electrolysis electric vehicle energy storage flow battery fuel cell electric vehicle hydrogen energy

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Direction and Trajectory Tracking control for Nonholonomic Spherical Robot by Combining Sliding Mode controller and Model Prediction controller

arXiv

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arXiv 2022年

作者： Liu, Yifan Wang, Yixu Guan, Xiaoqing Hu, Tao Zhang, Ziang Jin, Song Wang, You Hao, Jie Li, Guang State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou310027 China Luoteng Hangzhou Techonlogy Co. Ltd. Hangzhou310027 China

Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller MPC, and a trajectory tracking framework MHH. The HTSMC is designed by integrating a fast terminal algorithm, a hierarchical method, the motion features of a spherical robot, and its dynamics. In addition, the new direction controller has an excellent control effect with a quick response speed and strong stability. MPC can obtain optimal commands that are then transmitted to the velocity and direction controller. Since the two torque controllers in MHH are all Lyapunov-based sliding mode controllers, the MHH framework may achieve optimal control performance while assuring stability. Finally, the two controllers eliminate the requirement for MPC's stability and dynamic constraints. Finally, hardware experiments demonstrate the efficacy of the HTSMC, MPC, and MHH. Copyright © 2022, The Authors. All rights reserved.

关键词： controllers

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Optimal scheduling of islanded microgrid based on improved MOSSA

Optimal scheduling of islanded microgrid based on improved M...

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第43届中国控制会议

作者： Lai Huanhuan Pei Qingqi Liu Meiqin Dong Shanling Xie Zhiyun Zheng Jian Qu Hezuo Zhang Senlin Wenzhou Branch of State Grid College of Electrical Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Zhejiang University Jinhua Research Institute of Zhejiang University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Microgrid systems are widely used in various scenarios. However, there is great uncertainty in the output of wind and solar units. How to maximize both the economic and environmental benefits of microgrid is an important issue. To achieve this,considering consumption of renewable energy and total cost, a multi-objective optimization model for islanded microgrid is established. The classical optimization algorithm has insufficient ability to approach the optimal solution in each dimension when facing multi-objective optimization. Thus, this paper introduces the fuzzy clustering mechanism and the non-dominated sorting method to obtain the improved multi-objective sparrow search algorithm(MOSSA). Taking data of renewable energy units and loads from a certain microgrid as test case, the Pareto frontier is searched by improved MOSSA. The experimental results show that the proposed method can effectively reduce the economic cost and improve the absorption capacity of wind power and photovoltaic energy.

关键词： microgrid multi-objective optimization Pareto frontier improved MOSSA

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Model-Based Planning and control for Terrestrial-Aerial Bimodal Vehicles with Passive Wheels

Model-Based Planning and Control for Terrestrial-Aerial Bimo...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ruibin Zhang Junxiao Lin Yuze Wu Yuman Gao Chi Wang Chao Xu Yanjun Cao Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering robust and efficient autonomous navigation in unknown environments. To resolve this issue, we develop a model-based planning and control framework for terrestrial aerial bi-modal vehicles. This work begins by deriving a unified dynamic model and the corresponding differential flatness. Leveraging differential flatness, an optimization-based trajectory planner is proposed, which takes into account both solution quality and computational efficiency. Moreover, we design a tracking controller using nonlinear model predictive control based on the proposed unified dynamic model to achieve accurate trajectory tracking and smooth mode transition. We validate our framework through extensive benchmark comparisons and experiments, demonstrating its effectiveness in terms of planning quality and control performance.

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Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments

Decentralized Planning for Car-Like Robotic Swarm in Clutter...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Changjia Ma Zhichao Han Tingrui Zhang Jingping Wang Long Xu Chengyang Li Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided by environmental topology information to avoid frequent topological change, and search-based speed planning is leveraged to escape from infeasible initial value's local minima. Then spatial-temporal optimization is employed to generate a safe, smooth and dynamically feasible trajectory. During optimization, the trajectory is discretized by fixed time steps. Penalty is imposed on the signed distance between agents to realize collision avoidance, and differential flatness cooperated with limitation on front steer angle satisfies the non-holonomic constraints. With trajectories broadcast to the wireless network, agents are able to check and prevent potential collisions. We validate the robustness of our system in simulation and real-world experiments. Code will be released as open-source packages.

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STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning

STD-Trees: Spatio-temporal Deformable Trees for Multirotors ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hongkai Ye Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

In constrained solution spaces with a huge number of homotopy classes, standalone sampling-based kinodynamic planners suffer low efficiency in convergence. Local optimization is integrated to alleviate this problem. In this paper, we propose to thrive the trajectory tree growing by optimizing the tree in the forms of deformation units, and each unit contains one tree node and all the edges connecting it. The deforming proceeds both spatially and temporally by optimizing the node state and edge time durations efficiently. Deforming the unit only changes the tree locally yet improves the overall quality of a corresponding subtree. Further, to consider the computation burden and optimizing level, patterns to deform different tree parts in combination of different deformation units are studied and compared, all showing much faster convergence. The proposed deformation can be easily integrated into different RRT-based kinodynamic planning methods, and numerical experiments show that integrating the spatio-temporal deformation greatly accelerates the convergence and outperforms the spatial-only deformation.

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A Multi-stage Quantitative Resilience Optimization Model of Power systems Subjected to Hurricane Hazards

A Multi-stage Quantitative Resilience Optimization Model of ...

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International Symposium on System and Software Reliability (ISSSR)

作者： Feng Wang Chenli Shi Jiamu Ling Zhengguo Xu The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China The Huzhou Institute of Zhejiang University Huzhou China

Power systems are essential to national security, economic prosperity, public health, and safety. However, as the frequency of extreme events and man-made attacks has increased dramatically in recent years, making resilience theory has become a new direction for responding to low-probability high-impact events. In power systems, resilience is essential in maintaining functionality, reducing losses, and speeding up recovery when encountering a disruptive event. This study develops a resource optimization allocation framework based on multiple resilience objectives by understanding the relationship between resilience performance and dynamic decisions. A multi-resilience-objective mixed-integer linear programming (MROMILP) model is formulated to optimize the resource allocation scheme for each resilience stage under limited internal resources of power systems under hurricane hazards. The IEEE 30-bus test system is used to validate the usability of the model.

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Canfly: A Can-Sized Autonomous Mini Coaxial Helicopter

Canfly: A Can-Sized Autonomous Mini Coaxial Helicopter

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Neng Pan Rui Jin Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China

The development of autonomous rotary-wing UAVs has shown an evident tendency in miniaturization. However, the side effects brought by miniaturization, such as decreased load capability, shorter flight duration and reduced autonomous ability, seriously hinder its process. In this paper, we first investigate the configurations of different rotary-wing aircraft and optimize the configuration selection. Afterward, with several elaborate mechanisms contributing to the miniaturization, we present the hardware design and control strategy of a mini coaxial helicopter, which is 62% smaller than the state-of-the-art autonomous mini quadrotor so far in collision area [1]. Meanwhile, abundant experiments reveal that it achieves impressive traversability and is capable of conducting autonomous tasks in unknown dense scenarios, while maintaining satisfactory performance regarding loadability and flight duration.

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