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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Du, Sheng Zhou, Chao Yu, Junzhi Wu, Zhengxing State Key Lab Management and Control for Complex Systems Institute of Automation Cas Beijing100190 China Naval Research Academy Beijing100072 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

This paper proposes an improved line-of-sight method to navigate a two-joint-actuated tuna-like robotic fish. Based on the characteristics of thunniform swimmer, a simplified kinematic and dynamic model is constructed, and the intrinsic body swing is illustrated. To deal with the nonlinear and under-actuated dynamics of the robotic fish, the reference head angle is designed with cross-track error, which substantially simplifies the control of linear path tracking. Furthermore, with the physical constraint, co-simulation using Automatic Dynamic Analysis of Mechanical systems (ADAMS) software and MATlab simulink reveals the effectiveness. The obtained results show that the proposed method is able to make both the cross-track error and the heading error fluctuate in an acceptable range quickly. © 2020 IEEE.

关键词： MATlab

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Design of Cascade control Framework for ROV control and Simulation 17

Design of Cascade Control Framework for ROV Control and Simu...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Qiu, Changlin Kong, Shihan Zhou, Chao Yu, Junzhi Institute of Automation Cas State Key Lab Management and Control for Complex Systems Beijing100190 China Naval Research Academy Beijing100072 China

ISBN: (纸本)9781728164151

In this paper, a cascade control framework is proposed a class of remote operated vehicles (ROVs) to enhance the control performance and capacity of interference resistance. Specifically, the control framework is composed of a fuzzy-based controller in primary loop and a PID neural network based controller in secondary loop. In the primary loop, fuzzy controller is implemented to avoid precise establishment of ROV model for calculating the expected velocity of the vehicle. Furthermore, in the secondary loop, a PID neural network with adaptation is adopted to accomplish the capacity of resisting disturbance. Eventually, the control framework is verified by theoretical and simulation analyses. The obtained results indicate that the proposed cascade control framework endows the ROV with the ability to guarantee the control performance and attenuate external disturbance effectively. © 2020 IEEE.

关键词： controllers

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H∞ analysis method for the small signal stability of power system

H∞ analysis method for the small signal stability of power ...

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26th Chinese control Conference, CCC 2007

作者： Mei, Shengwei Che, Wenyan State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)7900719229

This work is concerned with the small signal stability problem in multi-machine systems. By means of H∞ theory, firstly the math model with disturbances is constructed;and secondly, the excitation control law for each generator is designed based on solving Riccati Equation. Finally, simulations performed on 4-machine system shows that the proposed H ∞ method has more advantages over LQR method in both damping ratio and H∞ norm of the corresponding closed-loop system and so can enhance the small signal stability of power system greatly.

关键词： Electric power systems

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A beam flexure-based nanopositioning stage supporting laser direct-write nanofabrication

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Science China(Physics,Mechanics & Astronomy) 2016年第8期59卷 50-55页

作者： Zhen Zhang Peng Wang Peng Yan YingChun Guan State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical EngineeringTsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Key Laboratory of High-efficiency and Clean Mechanical Manufacture Ministry of Education School of Mechanical EngineeringShandong University School of Automation Science and Electrical Engineering Beihang University School of Mechanical Engineering and Automation Beihang University

A nanopositioning system of both millimetric stroke and nanometric tracking accuracy is a key component for nanofabrication in many applications. In this paper, a novel bi-axial beam-flexure nano servo stage is proposed to support a direct writing system for femtosecond laser nanofabrication. The important features of the stage lie in: a mirror symmetric instead of rotational symmetric configuration is adopted to restrict cross axis coupling, and a novel Z-shaped guidance module is proposed to achieve relative large linear stiffness range, in addition a redundant constraints module is introduced to increase off-axis stiffness of the stage. Mechanical analysis and system identification are provided, with which a feedback control algorithm demonstrates the tracking capability for laser fabrication purposes. Based on the fabricated XY nano-stage, real time control and measurements are deployed, demonstrating the millimetric operating workspace and 77.8 nm(RMS) error of tracking a circular trajectory.

关键词： laser nanofabrication direct writing servo and control system

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Consensus-based Nodal Pricing Mechanism for Automated Demand Response Considering Congestion Management on Distribution Networks

Consensus-based Nodal Pricing Mechanism for Automated Demand...

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2020 IEEE/IAS Industrial and Commercial Power System Asia, I and CPS Asia 2020

作者： Luo, Gang Chen, Yijing Zhao, Yue He, Yujun Gong, Chao Zhao, Chen Power Dispatching and Control Center Guangdong Power Grid Co. Ltd Guangzhou China State Key Lab of Control and Simulation of Power Systems and Generation Equipments Tsinghua University Beijing China

ISBN: (纸本)9781728143033

This paper investigates a consensus-based nodal pricing mechanism for incenting automated demand response in the deregulated market environment. These small-scale customers are autonomously managed by automated demand response (DR) controllers, which are capable of scheduling user's load devices to follow a day-ahead 24h price signal from electricity distribution companies (EDC). First, an alternating current optimal power flow (ACOPF) on the distribution network is formulated considering the participation of automated DR. Then, a consensusbased approach is exploited to adjust the nodal price and DR profile for each customer using primal-dual decomposition. The proposed mechanism is compared with a day-ahead pricing (DAP) program on a test distribution network and numerical results have shown promising performance in supporting the congestion management on the distribution grid. © 2020 IEEE.

关键词： Software testing

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A Study of Forecast Uncertainty Handling Technologies for MGEMS Considering Power Trading between MGs

A Study of Forecast Uncertainty Handling Technologies for MG...

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2020 IEEE/IAS Industrial and Commercial Power System Asia, I and CPS Asia 2020

作者： Zhao, Yue Gao, Hong-Chao Luo, Gang Gong, Chao Zhao, Chen Zhang, Xuan Guangdong Power Grid Co. Ltd Power Dispatch and Control Center Guangzhou China Generation Equipments Tsinghua Univeristy State Key Lab of Control and Simulation of Power Systems and Beijing China

ISBN: (纸本)9781728143033

Attention to efficient and cost-effective utilize of energy has become a common view in the energy sector. A variety of microgrid energy management systems are developed and installed to achieve the goal. However, the performance of the microgrid energy management system depends on some factors, such as forecast uncertainty, measurement error, and so forth. Among them, a series of handling technologies for the forecast uncertainty are the focus in this paper. It includes accuracy improvement of prediction program based on time series method, operation strategy adoption, real-time control scheme for the energy storage equipment, and proposes a robust rule to against the extreme situation as well. This not only achieves effective energy management, but also helps to avoid operation cost increasing induced by the transaction bias assessment through the improvement of energy scheduling accuracy. The effectiveness and validity of these means is verified in the constructed campus microgrids at Chonnam National University. © 2020 IEEE.

关键词： Energy management

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Online Path Planning of Messenger UAV in Air-Ground Coordination Over Urban Areas

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IEEE Transactions on Vehicular Technology 2024年第5期74卷 7135-7151页

作者： Wang, Yuyang Xin, Bin Ding, Yulong He, Bin Chen, Jie Beijing Institute of Technology School of Automation Beijing100081 China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems Shanghai China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Tongji University Department of Control Science and Engineering Shanghai200092 China

Fast-moving unmanned aerial vehicle (UAV), serving as a messenger to visit ground vehicles (GVs) for information relays, can be applied to complex tasks in urban environments, such as air-ground cooperative urban rescue and UAV-assisted data collection. Existing work ensures that the UAV visits all GVs by assuming that it knows the motion parameters of GVs (e.g., velocities or paths) at any given time. However, in practice, GVs may not move with anticipated velocities due to motion uncertainties. This UAV path planning problem can be formulated as a Dynamic Dubins Traveling Salesman Problem with Uncertain Neighborhoods (DDTSPUN). The problem involves variables with complex interdependencies (e.g., the visiting sequence of the UAV to GVs and the access location of the UAV to GVs) and requires solving a sequence of uncertain encounter problems. To address the uncertainty in GV motion, we define robust neighborhoods and corridors and prove that the UAV can revisit GVs reliably by visiting these areas. By flying the UAV through robust areas, the DDTSPUN can be transformed into a deterministic optimization problem, namely Revisit-time-constrained Dubins Traveling Salesman Problem with Neighborhood (RDTSPN), which provides a simplified model and compresses the solution space. To address the RDTSPN, we propose an online heuristic path planning algorithm. It incorporates a gradient-based method for visiting robust neighborhoods and a sampling-based search strategy along robust corridors to obtain the Dubins paths of the UAV that achieve robust visit for each GV. Finally, the computational experiments, including representative instances, random instances with different scales, and an instance generated using real-world data, demonstrate its advantages over other state-of-the-art algorithms in obtaining the shortest path that satisfies UAV curvature constraints while ensuring robust access to all GVs. © 1967-2012 IEEE.

关键词： Traveling salesman problem

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Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles

Trajectory Planning for Autonomous Overtaking on Curved Road...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Shao, Chen Duan, Xuting Zhou, Jianshan Zhao, Dezong School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Zhongguancun Laboratory Beijing China James Watt School of Engineering University of Glasgow Glasgow United Kingdom

ISBN: (纸本)9798350316308

A proposed obstacle avoidance trajectory planning method for autonomous vehicles considers social behavior characteristics to address the interaction problem with human drivers in mixed traffic environments. The method integrates graph theory and centrality functions to classify and predict driver behavior, employing model predictive control (MPC) to plan the autonomous vehicle's trajectory. By combining these social behaviors, the method ensures safe completion of the driving task based on probability. Experimental results from an interactive obstacle avoidance scenario in a curved environment confirm the successful completion of the task, validating the proposed method's feasibility and effectiveness, supporting its potential for real-world application. © 2023 IEEE.

关键词： Model predictive control

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Nash Equilibrium Solving for General Non-Zero-Sum Games from Non-Convergent Dynamics of Fictitious Play 43

Nash Equilibrium Solving for General Non-Zero-Sum Games from...

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43rd Chinese control Conference, CCC 2024

作者： Wu, Zhouming Mu, Yifen Yang, Xiaoguang Chen, Ge Academy of Mathematics and Systems Science Cas Key Lab of Systems and Control Iss China University of Chinese Academy of Sciences School of Mathematical Sciences China Academy of Mathematics and Systems Science Cas Key Lab of Management Decision and Information System Iss China University of Chinese Academy of Sciences School of Economies and Management China

ISBN: (纸本)9789887581581

Solving Nash equilibrium (NE) is a fundamental problem in game theory. However, for general non-zero-sum games, computing NE remains challenging (in fact, it is PPAD-hard), and there are no known efficient algorithms so far. Apart from classical combinatorial methods, learning-based approaches offer an alternative for approximating NE. However, for general non-zero-sum games, the dynamics of learning algorithms turns out to be intricate, and often fail to converge. In this paper, we give a novel method to solve NE from the trajectory of fictitious play (FP), a classical learning algorithm in repeated games. By leveraging the equalization principle of NE, we demonstrate that hidden NE can be unveiled via the trajectory data. Specifically, we focus on two scenarios. For the 3 × 3 game with interior equilibrium when FP exhibits non-convergent behavior, such as cyclic or erratic trajectories, we can obtain an approximate NE by estimating the indifferent lines and solving their intersection points. For the games without an interior equilibrium, by identifying the intersection points between the indifferent lines and the edges of the players' strategy simplexes, and proposing a label-matching principle, we can still find the approximate NE Hence via this method, we can solve all 3 × 3 games from finite trajectory date of FP no matter how complicated the dynamics is. Further experiments show that the method can be extended to more general normal form games and special kind of stochastic games. This paper reveals that there is more information hidden in the behavior of learning dynamics, and thus indicating a promising way to utilize trajectory data. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Nash equilibrium

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Supervisory and energy management system of large public buildings

Supervisory and energy management system of large public bui...

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International Conference on Mechatronics and Automation

作者： Ma, Xudong Cui, Ran Sun, Yu Peng, Changhai Wu, Zhishen Key Lab. of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing 210096 China International Institute for Urban Systems Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9781424451418

Buildings are important contributors to energy consumption accounting for around one-third of energy consumed in cities, where large public buildings are the dominant energy consumers and energy consumption might be significantly decreased through Building Energy Management systems (BEMS). A supervisory and management system for energy conservation in large public buildings is presented in this paper, with a PC or a embedded computer system running a BEMS software designed to connected to distributed energy metering system, wireless sensor networks, even conventional building automation (BA) systems. The supervisory and management software consists of information inquiry, energy consumption metering, energy efficiency analysis and decision support subsystems. The system framework is introduced with development and application of the software described in detail. © 2010 IEEE.

关键词： Energy utilization

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