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IEEE General Meeting Power& Energy Society

作者： Feiya Wan Zhen Li Bin Liu Guanghui Li Xiaoliang Dong Xi Chen Samson S. Yu Amanullah M. T. Oo Zhenyu Shan Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China China Electric Power Research Institute Beijing China State Grid Corporation of China and North China Branch of State Grid Corporation of China Beijing China GEIRI North America USA School of Engineering Deakin University 75 Pigdon Rd Waurn Ponds Victoria Australia School of Electrical and Control Engineering North China University of Technology Beijing China

ISBN: (数字)9781728155081

ISBN: (纸本)9781728155098

With the booming installed capacity of permanent magnet synchronous generator (PMSG) for wind energy generation, the grid becomes weaker and the oscillation events are frequently observed in weak-grid-tied large-scale grid-connected PMSG wind farms. Although the impedance-based method is effective to analyze the stability of grid-connected systems, the mathematical relationship between external impedance characteristics and the internal controllers has not been quantitatively analyzed in depth, which is beneficial to the controller design. This paper studies the influence of phase-locked loop (PLL) on the impedance characteristics based on the analytical sequence impedance model of PMSG with typical topology and control structure. The shaping effect of PLL on the impedance characteristics is described so as to clearly describe the relationship between the external impedance characteristics of the wind turbines and the internal controller. Finally, the stability analysis of the grid-connected PMSG wind turbine system is provided in Matlab and simulation results are given to verify the oscillating mechanism caused by PLL.

关键词： Synchronous generators Stability analysis Wind turbines Topology Impedance Phase locked loops Oscillators

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Distributed sub-optimal resource allocation via a projected form of singular perturbation

arXiv

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arXiv 2019年

作者： Liang, Shu Zeng, Xianlin Chen, Guanpu Hong, Yiguang Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Distributed optimization for resource allocation problems is investigated and a sub-optimal continuous-time algorithm is proposed. Our algorithm has lower order dynamics than others to reduce burdens of computation and communication, and is applicable to weight-balanced graphs. Moreover, it can deal with both local constraints and coupled inequality constraints, and remove the requirement of twice differentiability of the cost function in comparison with the existing sub-optimal algorithm. However, this algorithm is not easy to be analyzed since it involves singular perturbation type dynamics with projected non-differentiable righthand side. We overcome the encountered difficulties and obtain results including the existence of an equilibrium of the algorithm, the sub-optimality in the sense that the solution approaches to the optimal solution as an adjustable parameter tends to zero, and the convergence of the algorithm. Copyright © 2019, The Authors. All rights reserved.

关键词： Resource allocation

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On Event-triggered Adaptive Robust control 36

On Event-triggered Adaptive Robust Control

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第36届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781538629185

In this work,an event-triggered adaptive robust controller（ET-ARC） design is considered for a continuous-time nonlinear system combined with structural uncertainties and parameter *** the event-trigger scheme,the controller only can obtain the sampled date of the output measurement at some certain instants determined by the designed triggering condition and therefore the performance of the ET-ARC depends on the triggering condition ***,in this work,for the adaptive robust control scheme,an event-triggered transmission strategy is proposed,which relies on the output measurement of the nonlinear ***,based on this strategy,the design idea of the adaptive robust controller is presented such that the tracking performance is ***,based on a more general assumption,we provide a possible formation of control signal which satisfies the requirement proposed.

关键词： Adaptive robust control event-triggered transmission parameter estimation

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Market-based task assignment for multi-point dynamic aggregation tasks 48

Market-based task assignment for multi-point dynamic aggrega...

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48th International Conference on Computers and Industrial Engineering, CIE 2018

作者： Du, Xin Zhang, Jia Xin, Bin Ding, Yulong Peng, Zhihong Dou, Lihua School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

Multi-agent task assignment problem exists in collaborative target tracking, collaborative rescue, regional search, etc. Most researchers regarding multi-agent task assignment only consider static tasks. However, in complex scenarios, the states of tasks (e.g., Monitoring of hazardous environments) are time-varying. This type of the task can be modeled as a multi-point dynamic aggregation (MPDA) process. This paper proposes a distributed task assignment method for the MPDA task. This method firstly adopts an auction algorithm to obtain a pre-allocation planning that can ensure every task can be completed. Then, the agents who complete the pre-allocation planning will evaluate the uncompleted tasks and assist other agents to complete these tasks, so that tasks can be completed as soon as possible. Compared with the optimal solution, simulations show that the task allocation method can obtain satisfied allocation solutions with a lower computational cost. The gap from the optimal solution is only 8% on average. Especially, for problems including more than 100 tasks, the proposed method can obtain planning solutions within one second, and the makespan of the MPDA task is more than 50% better than the best one of the 1000 random sample solutions. © 2018, Curran Associates Inc. All rights reserved.

关键词： Optimal systems

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Adaptive robust control for four-motor driving servo system with uncertain nonlinearities

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control Theory and Technology 2017年第1期15卷 45-57页

作者： Wei ZHAO Xuemei REN Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

A novel adaptive robust control （ARC） is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in L2 norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.

关键词： Four-motor driving servo systems adaptive robust control velocity synchronization control friction backlash,actuation failures

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Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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Distributed auction-based coverage motion planning for multiple cooperative robots 8

Distributed auction-based coverage motion planning for multi...

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8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Applications, ISCIIA and ITCA 2018

作者： Gao, Guanqiang Xin, Bin School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

The multi-robot coverage motion planning (MCMP) problem refers to a typical task where every point of the target area must be covered by robots at least once. This paper designs a novel efficient offline algorithm to solve the MCMP problem, which is extended from the spiral-spanning tree coverage algorithm. A distributed auction mechanism is designed for the cooperative task allocation in the proposed algorithm. In this mechanism, each robot will be an auctioneer which chooses a suitable cell as an auction item form its neighbor vertexes and determines a winner robot. According to the connectedness and the balance of each robot’s graph, bidders will submit proper biddings to the auctioneer. After the auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm. Meanwhile, the proposed algorithm is compared with the state-of-the-art algorithm named DARP. The comparative results show that the auction-based MCMP algorithm has apparent advantages in the running time and the makespans for large crowded configuration spaces. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Application.

关键词： Multipurpose robots

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Multi-robot distributed cooperative monitoring of mobile targets 3rd

Multi-robot distributed cooperative monitoring of mobile tar...

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3rd International Conference on Intelligence Science, ICIS 2018

作者： Jiang, J.Q. Xin, B. Dou, L.H. Ding, Y.L. School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9783030013127

Cooperative monitoring targets of mobile robots is of great importance in military, civil, and medical applications. In order to achieve multi-robot coordinated monitoring, this paper proposes a new distributed path planning algorithm. In this algorithm, a method of dynamic sequential decision making is used firstly to determine which robots should be moved to the neighbourhoods of the target path. A distributed cooperative path planning algorithm is then proposed in which the robots can only utilize their local information to make the joint monitoring areas of robots cover the target path. To reduce the chance of detection and ensure enough time to implement monitoring handover, our distributed algorithm can guarantee enough overlapped monitoring areas between adjacent robots. The effectiveness of the algorithm was verified by simulation experiments and a comparison experiment in typical scenarios. © IFIP International Federation for Information Processing 2018.

关键词： Monitoring

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The Distributed System of Smart Wearable Energy Harvesting Based on Human Body

The Distributed System of Smart Wearable Energy Harvesting B...

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第37届中国控制会议

作者： Yeyun Cai Fang Deng Jiachen Zhao Huangbin Qiu Xinyu Fan Zelang Liang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Wearable devices have appeared in every aspect of our lives, from small items such as wristbands and eyeglasses to finished garments as shoes and clothing. With the promoting of scientific development, intelligent technology is also combined with wearable devices to form a unique network that depends on the human body. The increasing demand for equipment has made smart wearable devices a research hotspot. Such equipment is usually small, light-weight, good flexibility, and can be adapted to the complex use of the environment. But these advantages just become the limitations of power supply for ***, the fixed charger can not be used to charge the device during use, and the volume of such a special battery can not be increased in order to increase the storage capacity. Therefore, how to solve the problem of power suppling for the wearable device effectively is a big challenge. Based on this, the paper proposes a distributed system of smart wearable energy harvesting, which considers the human body as the core and uses a variety of ubiquitous energy sources such as solar energy, thermal energy and mechanical energy. The system makes a combination of wearable and distributed design to form a wireless body area network,and provides a stable power output for smart wearable devices.

关键词： wearable energy harvesting distributed system human body

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Off-Policy Q-Learning for Infinite Horizon LQR Problem with Unknown Dynamics

Off-Policy Q-Learning for Infinite Horizon LQR Problem with ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xinxing Li Zhihong Peng Li Liang Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, a novel online Q-Iearning approach is proposed to solve the Infinite Horizon Linear Quadratic Regulator (IHLQR) problem for continuous-time (CT) linear time-invariant (LMI) systems. The proposed Q-Iearning algorithm employing off-policy reinforcement learning (RL) technology improves the exploration ability of Q-Iearning to the state space. During the learning process, the Q-Iearning algorithm can be implemented just using the data sets which just contains the information of the behavior policy and the corresponding system state, thus is data- driven. Moreover, the data sets can be used repeatedly, which is computationally efficient. A mild condition on probing noise is established to ensure the converge of the proposed Q-Iearning algorithm. Simulation results demonstrate the effectiveness of the developed algorithm.

关键词： Silicon Optimal control Convergence Approximation algorithms Manganese Regulators Adaptation models

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