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Observer-Based Control of Second-Order Multi-vehicle systems in Bearing-Persistently Exciting Formations

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arXiv 2024年

作者： Tang, Zhiqi Fidan, Baris Johansson, Karl H. Mårtensson, Jonas Hamel, Tarek Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Mechanical and Mechatronics Engineering Department University of Waterloo ON Canada France

This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is assumed that all vehicles are equipped with sensors capable of sensing the bearings relative to neighboring vehicles and only one leader vehicle has access to its global position. Each vehicle estimates its absolute position and velocity using relative bearing measurements and the estimates of neighboring vehicles received over a communication network. A distributed observer-based controller is designed, relying only on bearing and acceleration measurements. This work further explores the concept of the Bearing Persistently Exciting (BPE) formation by proposing new algorithms for bearing-based localization and state estimation of second-order systems in centralized and decentralized manners. It also examines conditions on the desired formation to guarantee the exponential stability of distributed observer-based formation tracking controllers. In support of our theoretical results, some simulation results are presented to illustrate the performance of the proposed observers as well as the observer-based tracking controllers. © 2024, CC BY-NC-ND.

关键词： Acceleration measurement

Development of a navigation performance evaluation system

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Science China(Information Sciences) 2020年第12期63卷 263-265页

作者： Fangfang ZHAO Wei ZHANG Shuzhi Sam GE School of Computer Science and Engineering Center for RoboticsUniversity of Electronic Science and Technology of China Department of Electrical and Computer Engineering National University of Singapore Institute for Future (IFF) Qingdao University

Dear editor,Owing to little exploration experience and great technical difficulty of deep space exploration autonomous navigation, the corresponding navigation performance evaluation system is seldom perfected [1].

关键词： Autonomous navigation Performance evaluation Evaluation system Evaluation indicator Evaluation method

Variational Mode Decomposition as Trusted Data Augmentation in ML-based Power System Stability Assessment

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arXiv 2024年

作者： Bogodorova, Tetiana Osipov, Denis Vanfretti, Luigi Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180 United States New York Power Authority AlbanyNY12207 United States

Balanced data is required for deep neural networks (DNNs) when learning to perform power system stability assessment. However, power system measurement data contains relatively few events from where power system dynamics can be learnt. To mitigate this imbalance, we propose a novel data augmentation strategy preserving the dynamic characteristics to be learnt. The augmentation is performed using Variational Mode Decomposition. The detrended and the augmented data are tested for distributions similarity using Kernel Maximum Mean Discrepancy test. In addition, the effectiveness of the augmentation methodology is validated via training an Encoder DNN utilizing original data, testing using the augmented data, and evaluating the Encoder’s performance employing several metrics. © 2024, CC BY-NC-SA.

关键词： Variational mode decomposition

Equilibria, Efficiency, and Inequality in Network Formation for Hiring and Opportunity

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arXiv 2024年

作者： Dwork, Cynthia Hays, Chris Kleinberg, Jon Raghavan, Manish Department of Computer Science Harvard University United States Institute for Data Systems and Society Massachusetts Institute of Technology United States Departments of Computer Science and Information Science Cornell University United States Sloan School of Management Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology United States

Professional networks — the social networks among people in a given line of work — can serve as a conduit for job prospects and other opportunities. Here we propose a model for the formation of such networks and the transfer of opportunities within them. In our theoretical model, individuals strategically connect with others to maximize the probability that they receive opportunities from them. We explore how professional networks balance connectivity, where connections facilitate opportunity transfers to those who did not get them from outside sources, and congestion, where some individuals receive too many opportunities from their connections and waste some of them. We show that strategic individuals are over-connected at equilibrium relative to a social optimum, leading to a price of anarchy for which we derive nearly tight asymptotic bounds. We also show that, at equilibrium, individuals form connections to those who provide similar benefit to them as they provide to others. Thus, our model provides a microfoundation in professional networking contexts for the fundamental sociological principle of homophily, that "similarity breeds connection" [29], which in our setting is realized as a form of status homophily based on alignment in individual benefit. We further explore how, even if individuals are a priori equally likely to receive opportunities from outside sources, equilibria can be unequal, and we provide nearly tight bounds on how unequal they can be. Finally, we explore the ability for online platforms to intervene to improve social welfare and show that natural heuristics may result in adverse effects at equilibrium. Our simple model allows for a surprisingly rich analysis of coordination problems in professional networks and suggests many directions for further exploration. © 2024, CC BY.

关键词： Professional aspects

Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and Bézier Curves

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Spatio-temporal Motion Planning for Autonomous Vehicles with...

American Control Conference (ACC)

作者： Srujan Deolasee Qin Lin Jialun Li John M. Dolan Department of Computer Science & Information Systems Birla Institute of Technology and Science Pilani Rajasthan India Department of Electrical Engineering and Computer Science Cleveland State University Cleveland OH USA Dajiang Innovation Technology Co. Ltd Shenzhen China Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone to be suboptimal in the presence of dynamic obstacles. Spatial-temporal approaches deal with path planning and speed planning simultaneously; however, the existing methods only support simple-shaped corridors like cuboids, which restrict the search space for optimization in complex scenarios. We propose to use trapezoidal prism-shaped corridors for optimization, which significantly enlarges the solution space compared to the existing cuboidal corridors-based method. Finally, a piecewise Bézier curve optimization is conducted in our proposed corridors. This formulation theoretically guarantees the safety of the continuous-time trajectory. We validate the efficiency and effectiveness of the proposed approach in numerical and CommonRoad simulations.

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Modular Multilevel DC-DC Converter with Inherent Bipolar Operation Capability for Resilient Bipolar MVDC Grids

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Modular Multilevel DC-DC Converter with Inherent Bipolar Ope...

作者： Zhao, Shanshan Chen, Yu Cui, Shenghui Hu, Jingxin State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology China Seoul National University Department of Electrical and Computer Engineering Korea Republic of Institute for Power Generation and Storage Systems E. on Energy Research Center RWTH Aachen University Germany

Bipolar medium-voltage dc (MVDC) distribution systems are of great interests nowadays due to its high availability and reliability. A bipolar MVDC grid can be established by the installation of power-balancers or directly by converters with inherent bipolar operation capability to avoid the extra cost and volume. Therefore, this paper proposes a modular multilevel dc-dc converter (MMDC) with inherent bipolar operation capability for the interconnection of bipolar MVDC grids and LVDC girds. Considering that the MMDC is normally only capable of operating with monopole MVDC distribution systems due to the symmetric structure and operation scheme, a center-Tapped high-frequency interface transformer is employed on the MV side of the MMDC. Based on the concept of the flux dc-bias cancellation, a dedicated operation method is proposed, whereby the power flows of the two MVDC poles can be regulated independently with a simple control scheme, and no penalty of increased current rating is imposed on the semiconductor devices or the interface transformer compared to the conventional MMDC with monopole operation. Additionally, the MMDC can realize single-pole operation in case one pole is faulty and deliver at least 50% of the rated power capacity, which significantly enhance the reliability and availability of the power delivery. The validity of the proposed bipolar operation scheme of the MMDC has been verified by both simulations and experiments with a down-scale prototype. © 2017 CPSS.

关键词： Poles

Autonomous Building of Structures in Unstructured Environments via AI Planning 31

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Autonomous Building of Structures in Unstructured Environmen...

31st International Conference on Automated Planning and Scheduling, ICAPS 2021

作者： Roberts, Jamie O. Franco, Santiago Stokes, Adam A. Bernardini, Sara School of Engineering Institute for Integrated Micro and Nano Systems University of Edinburgh United Kingdom EPSRC CDT in Robotics and Autonomous Systems Edinburgh Centre for Robotics United Kingdom Department of Computer Science Royal Holloway University of London United Kingdom

ISBN: (纸本)9781713832317

In this paper, we offer a novel AI planning representation, based on a Cartesian coordinate system, for enabling the autonomous operations of Multi-Robot systems in 3D environments. Each robot in the system has to conform to unique actuation and connection constraints that create a complex set of valid configurations. Our approach allows Multi-Robot systems to self-assemble themselves into larger structures via AI planning, with the overarching goal of providing structural capabilities in harsh and uncertain environments. In comparing four different PDDL (Planning Domain Definition Language) domain representations, we show that our novel formulation satisfies the practical requirements emerging from robot deployment in the real world, resulting in an AI planning system that is accurate and efficient. We scale up performance by implementing direct FDR (Finite Domain Representation) generation based on the best performing PDDL model, bypassing the PDDL-to-FDR translation used by the majority of modern planners. The proposed approach is general and can be applied to a broad range of AI problems involving reasoning in 3D spaces. Copyright © 2021, Proceedings of the 31st International Conference on Automated Planning and Scheduling. All rights reserved.

关键词： Multipurpose robots

Energy Management Simulation Model for Microgrid Power systems Based on PV Power Generation and Industrial Consumption Forecasts

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Energy Management Simulation Model for Microgrid Power Syste...

Workshop on Power Electronics and Power Quality Applications (PEPQA)

作者： Juan Marroquín Manuel Madrigal Alma Núñez Department of Electrical Engineering Morelia Institute of Technology Morelia Michoacán México Department of Computer Systems Morelia Institute of Technology Morelia Michoacán México

Energy management allows planning operators to determine how renewable energy, such as solar, is used to meet generation and consumption goals. Several management strategies can be designed to improve energy quality, reducing the power grid dependence and producing ambient benefits and economical profits. These strategies must be previous assessed by means of simulation models in order to determine their reliability and viability. The proposed simulation model allows users to implement, monitoring, analyze and evaluate various energy management strategies for microgrid power systems, based in photovoltaic (PV) generation and industrial consumption forecasts. Improved and customized methods of PV generation forecast, load prediction and battery management are developed and integrated to the simulating system. A case study is presented to assess the performance, capabilities and outcomes.

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Low-Complexity Control for a Class of Uncertain MIMO Nonlinear systems under Generalized Time-Varying Output Constraints (extended version)

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arXiv 2024年

作者： Mehdifar, Farhad Lindemann, Lars Bechlioulis, Charalampos P. Dimarogonas, Dimos V. Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States Division of Systems and Control Department of Electrical and Computer Engineering University of Patras Patra Greece

This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints are always decoupled and feasible, our approach can handle coupled time-varying constraints even in the presence of potential infeasibilities. First, it is shown that satisfying multiple constraints essentially boils down to ensuring the positivity of a scalar variable, representing the signed distance from the boundary of the time-varying output-constrained set. To achieve this, a single consolidating constraint is designed that, when satisfied, guarantees convergence to and invariance of the time-varying output-constrained set within a user-defined finite time. Next, a novel robust and low-complexity feedback controller is proposed to ensure the satisfaction of the consolidating constraint. Additionally, we provide a mechanism for online modification of the consolidating constraint to find a least violating solution when the constraints become mutually infeasible for some time. Finally, simulation examples of trajectory and region tracking for a mobile robot validate the proposed approach. Copyright © 2024, The Authors. All rights reserved.

关键词： Feedback control