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Position Measurement Based Slave Torque Feedback Control for Teleoperation systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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An Improved Method for Approximating the Infinite-Horizon Value Function of the Discrete-Time Switched LQR Problem

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Journal of systems Science & Complexity 2024年第1期37卷 22-39页

作者： HOU Tan LI Yuanlong LIN Zongli Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743USA

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value *** method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration,and thus,the proposed approach is capable of achieving a better approximation for a given computation time compared with the existing *** numerical examples are presented in this paper to illustrate the effectiveness of the proposed method.

关键词： Optimal control switched linear systems switched LQR problem.

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Resilient Event-Triggered Control of Vehicle Platoon Under DoS Attacks and Parameter Uncertainty

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-9页

作者： Han, Qiaoni Ma, Jianguo Zuo, Zhiqiang Wang, Xiaocheng Yang, Bo Guan, Xinping Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission College of Electronic and Communication Engineering Tianjin Normal University Tianjin China Department of Automation Shanghai Jiao Tong University Shanghai China

This paper investigates the problem of dynamic event-triggered platoon control for intelligent vehicles (IVs) under denial of service (DoS) attacks and parameter uncertainty. DoS attacks disrupt vehicle-to-vehicle (V2V) communications, leading to the destabilization of vehicle formations. To alleviate the burden of the V2V communication network and enhance the tracking performance in the presence of DoS attacks and parameter uncertainty, a resilient and dynamic event-triggered mechanism is proposed. In contrast to the static event-triggering mechanism (STEM), this approach leverages the internal dynamic variable to further save communication resources. Subsequently, a method is developed for designing the desired triggering mechanism. Following this, a co-design framework is constructed to guarantee robust and resilient control against DoS attacks, with the analysis of eliminating Zeno behavior. Lastly, extensive simulations are presented to show the superiority of the proposed method in terms of enhancing platoon resilience and robustness and improving communication efficiency. IEEE

关键词： Vehicular ad hoc networks

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Adaptive Uniform Performance Control of Strict-Feedback Nonlinear systems With Time-Varying Control Gain

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 451-461页

作者： Kai Zhao Changyun Wen Yongduan Song Frank L.Lewis IEEE the Department of Electrical and Computer Engineering National University of SingaporeSingapore 119077Singapore the School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore the State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing Key Laboratory of Intelligent Unmanned SystemsSchool of AutomationChongqing UniversityChongqing 400044China the UTA Research Institute University of Texas at ArlingtonFort WorthTX 76118 USA

In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following ***,by introducing several key transformation functions and selecting the initial value of the time-varying scaling function,the symmetric prescribed performance with global and semi-global properties can be handled uniformly,without the need for control ***,to handle the problem of unknown time-varying control coefficient with an unknown sign,we propose an enhanced Nussbaum function(ENF)bearing some unique properties and characteristics,with which the complex stability analysis based on specific Nussbaum functions as commonly used is no longer ***,by utilizing the core-function information technique,the nonparametric uncertainties in the system are gracefully handled so that no approximator is ***,simulation results verify the effectiveness and benefits of the approach.

关键词： Adaptive control enhanced Nussbaum function(ENF) strict-feedback systems unified prescribed performance

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Data-driven power Flow Method Based on Exact Linear Regression Equations

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Journal of Modern power systems and Clean Energy 2022年第3期10卷 800-804页

作者： Yanbo Chen Chao Wu Junjian Qi State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Electrical&Electronic EngineeringNorth China Electric Power UniversityBeijing 102206China Department of Electrical and Computer Engineering Stevens Institute of TechnologyHobokenNJ 07030USA

power flow(PF)is one of the most important calculations in power *** widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)*** smart grids,power generations and loads become intermittent and much more uncertain,and the topology also changes more frequently,which may result in significant state shifts and further make NRPF or FDPF difficult to *** address this problem,we propose a data-driven PF(DDPF)method based on historical/simulated data that includes an offline learning stage and an online computing *** the offline learning stage,a learning model is constructed based on the proposed exact linear regression equations,and then the proposed learning model is solved by the ridge regression(RR)method to suppress the effect of data *** online computing stage,the nonlinear iterative calculation is not *** results demonstrate that the proposed DDPF method has no convergence problem and has much higher calculation efficiency than NRPF or FDPF while ensuring similar calculation accuracy.

关键词： Data driven exact linear regression equation Fast-decoupled power flow Newton-Raphson method

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Resilient Cooperative Control of Multiple DC Microgrids With Interconnection Networks Against Cyber Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2025年 3卷 116-126页

作者： Xiao, Feng Liu, Shiyu Wei, Bo Fang, Fang Qin, Jiahu North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing102206 China North China Electric Power University School of Control and Computer Engineering Beijing102206 China North China Electric Power University New Energy Generation National Engineering Research Center Beijing102206 China University of Science and Technology of China Department of Automation Hefei230027 China

The two control objectives of voltage regulation and precise current sharing are conflicting in multi-bus DC microgrids. In this paper, a distributed control strategy is proposed, and it can achieve accurate current sharing and regulate the voltage of a critical node to the rated value. However, such a distributed control system is susceptible to potential cyber attacks that could deteriorate microgrids performances by corrupting communication links or actuators. To overcome these difficulties, we design the interconnected communication networks to establish a resilient cooperative system of multiple microgrids against unknown bounded injection attacks. The proposed resilient control strategy can achieve the control objectives of maintaining voltage regulation and current sharing within each microgrids under different operating conditions, and the interconnected system consisting of multiple microgrids cooperates to mitigate the adverse effect of cyber attacks. The dynamics and stability of the overall close-loop system of the DC microgrids are analyzed, in the present or absent of cyber attacks. Simulation results validate the effectiveness of the proposed approach in two 4-bus DC microgrids. © 2023 IEEE.

关键词： Cyber attacks

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A Holistic State Estimation Framework for Active Distribution Network with Battery Energy Storage system

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Journal of Modern power systems and Clean Energy 2022年第3期10卷 627-636页

作者： Shaojian Song Huangjiao Wei Yuzhang Lin Cheng Wang Antonio Gómez-Expósito IEEE School of Electrical Engineering Guangxi UniversityNanning 530004China Department of Electrical and Computer Engineering University of MassachusettsLowellMA 01852USA State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Laboratory of Engineering for Energy and Environmental Sustainability University of SevilleSpain

Battery energy storage systems(BESSs)are expected to play a crucial role in the operation and control of active distribution networks(ADNs).In this paper,a holistic state estimation framework is developed for ADNs with BESSs integrated.A dynamic equivalent model of BESS is developed,and the state transition and measurement equations are *** on the equivalence between the correction stage of the iterated extended Kalman filter(IEKF)and the weighted least squares(WLS)regression,a holistic state estimation framework is proposed to capture the static state variables of ADNs and the dynamic state variables of BESSs,especially the state of charge(SOC).A bad data processing method is also *** simulation results show that the proposed holistic state estimation framework improves the accuracy of state estimation as well as the capability of bad data detection for both ADNs and BESSs,providing comprehensive situational awareness for the whole system.

关键词： Active distribution network(ADN) anomaly detection battery energy storage system(BESS) Kalman filtering situational awareness state estimation state of charge(SOC)

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Cloud-edge-based We-Market:Autonomous Bidding and Peer-to-peer Energy Sharing Among Prosumers

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Journal of Modern power systems and Clean Energy 2023年第4期11卷 1282-1293页

作者： Fangyuan Si Yinghua Han Qinqin Xu Jinkuan Wang Qiang Zhao College of Information Science and Engineering Northeastern UniversityShenyangChinaand F.Si is also with the State Key Laboratory of Power System and Generation EquipmentDepartment of Electrical EngineeringTsinghua UniversityBeijingChina School of Computer and Communication Engineering Northeastern University at QinhuangdaoQinhuangdaoChina School of Control Engineering Northeastern University at QinhuangdaoQinhuangdaoChina

With the extensive penetration of distributed renewable energy and self-interested prosumers,the emerging power market tends to enable user autonomy by bottom-up control and distributed *** paper is devoted to solving the specific problems of distributed energy management and autonomous bidding and peer-to-peer(P2P)energy sharing among prosumers.A novel cloud-edge-based We-Market is presented,where the prosumers,as edge nodes with independent control,balance the electricity cost and thermal comfort by formulating a dynamic household energy management system(HEMS).Meanwhile,the autonomous bidding is initiated by prosumers via the modified Stone-Geary utility *** the cloud center,a distributed convergence bidding(CB)algorithm based on consistency criterion is developed,which promotes faster and fairer bidding through the interactive iteration with the edge ***,the proposed scheme is built on top of the commercial cloud platform with sufficiently secure and scalable computing *** results show the effectiveness and practicability of the proposed We-Market,which achieves 15%cost reduction with shorter running *** analysis indicates better scalability,which is more suitable for largerscale We-Market implementation.

关键词： We-Market bidding energy sharing prosumer peer-to-peer cloud-edge

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Pilot Protection Based on Amplitude Comparison for Renewable power Teed Lines

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CSEE Journal of power and Energy systems 2022年第6期8卷 1519-1529页

作者： Ke Jia Zhe Yang Yu Fang Zhengxuan Zhu Liming Zheng Tianshu Bi Ali Hooshyar State Key Laboratory of Alternative Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Department of Electrical and Computer Engineering University of TorontoTorontoON M5S 3G4Canada

Fault behaviors of inverter-interfaced renewable energy generators(IIREGs)are quite diverse from those of synchronous generators(SGs).They show the variable system impedance,the limited current and low inertia,so the proportional brake differential protection installed on the transmission line has a high risk of failure for phase-phase *** cope with this adaptive problem,a new pilot protection is proposed considering the huge differences in both current ***,an improved criterion is presented for a scenario with a teed *** existing protection principles focus excessively on the fault current characteristics of IIREGs,so they cannot operate correctly once IIREGs do not output their fault *** happens when IIREGs produce no power or the circuit breakers exactly reclose on permanent ***,the proposed method has good performance for the above *** proposed method only requires current amplitude information,and in this case the strict synchronizing measurement is not *** studies are performed under different fault conditions,and they confirm the proposed method has good performance under different fault ***,it is also verified using field-testing data.

关键词： Current amplitude inverter-interfaced renewable energy generators pilot protection teed line

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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