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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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NS3-Based Communication Network Modeling for Multi-Microgrid systems: Design and Evaluation

NS3-Based Communication Network Modeling for Multi-Microgrid...

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2025 IEEE Green Technologies Conference, GreenTech 2025

作者： Ali, Ola Mohammed, Osama A. Florida International University Energy Systems Research Laboratory Department of Electrical and Computer Engineering MiamiFL33174 United States

ISBN: (纸本)9798331520182

This paper presents a communication emulation model for enhancing the efficiency of multi-microgrid (MMG) networks, employing Network Simulator 3 (ns3). MMG systems require robust communication frameworks for coordination, particularly under varying traffic conditions. The introduced model accommodates multiple local area networks (LANs) that support efficient communication across multiple autonomous AC microgrids. The developed model facilitates seamless bidirectional information exchange between the microgrids' local controllers and the MMG control center (MMGCC), employing TCP/IP protocol to ensure high data transmission integrity and low latency. A detailed design in C + is demonstrated, including the configuration of the communication nodes, topology, communication links, and quality of service (QoS) analysis. The network performance is rigorously assessed across low and high traffic conditions, with performance metrics such as throughput, delay, and percentage packet loss at each node. Results confirm the effectiveness of the introduced model in sustaining minimal packet loss, high throughput, and low delays under dynamic operating scenarios. These findings establish the developed model as a viable solution for meeting the real-time communication requirements of MMG energy management systems. © 2025 IEEE.

关键词： Transmission control protocol

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Prior-Boosted GRL: Microarchitecture Design Space Exploration via Graph Representation Learning

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IEEE Transactions on computer-Aided Design of Integrated Circuits and systems 2025年第3期44卷 1141-1154页

作者： Wu, Zheng Shen, Jinyi Yi, Xiaoling Shang, Li Yang, Fan Zeng, Xuan Fudan University State Key Laboratory of Integrated Circuits and Systems The School of Microelectronics Shanghai200433 China Fudan University State Key Laboratory of Integrated Circuits and Systems Shanghai200433 China KU Leuven Department of Electrical Engineering Microelectronics Circuits and Systems Leuven3000 Belgium Fudan University State Key Laboratory of Integrated Circuits and Systems The School of Computer Science Shanghai200433 China

The design space exploration (DSE) of contemporary microprocessors faces a significant challenge of high-computational cost. In this context, we introduce Prior-boosted graph representation learning (GRL), a novel framework for the DSE of the microarchitectures the microprocessors underpinned by graph embeddings. Using GRL, Prior-boosted GRL constructs a compact and continuous vector space for design representation. This framework is further boosted by an efficient sampling algorithm informed by prior knowledge, which is instrumental in generating a superior set of initial designs to accelerate the exploration process. A well-designed ensemble surrogate model is combined with the multiobjective Bayesian optimization to explore the design space holistically within this graph-embedding domain. Rigorous experimental evaluations conducted on the RISC-V Berkeley-Out-of-Order Machine (BOOM) platform demonstrate that Prior-boosted GRL substantially surpasses preceding methods, achieving a 107.79% enhancement in Pareto front quality compared to the state-of-the-art DSE algorithm. It also outstrips manual designs on performance, power, and area metrics. As of this writing, Prior-boosted GRL holds the first place in the ICCAD 2022 CAD Contest evaluation platform. © 2024 IEEE.

关键词： Graph embeddings

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Achieving an Accurate Random Process Model for PV power Using Cheap Data:Leveraging the SDE and Public Weather Reports

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CSEE Journal of power and Energy systems 2025年第1期11卷 124-135页

作者： Yiwei Qiu Jin Lin Zhipeng Zhou Ningyi Dai Feng Liu Yonghua Song College of Electrical Engineering Sichuan UniversityChengdu610065China State Key Laboratory of the Control and Simulation of Power Systems and Generation Equipment Tsinghua UniversityBeijing 100087China State Key Laboratory of Internet of Things for Smart City University of MacaoMacao999078China Department of Electrical Engineering Tsinghua UniversityBeijing100087China

Stochastic differential equation (SDE)-based random process models of renewable energy sources (RESs) jointly capture evolving probability distribution and temporal correlation in continuous time. It enabled recent studies to remarkably improve performance of power system dynamic uncertainty quantification and optimization. However, considering the non-homogeneous random process nature of PV, there still remains a challenging question: how can a realistic and accurate daily SDE model for PV power be obtained that reflects its weather-dependent and non-Gaussian uncertainty in operation, especially when high-resolution numerical weather prediction (NWP) or sky imager is unavailable for many distributed plants? To fill this gap, this article finds that an accurate SDE model for PV power can be constructed only using the data from low-resolution public weather reports. Specifically, for each day, an hourly parameterized Jacobi diffusion process recreates temporal patterns of PV volatility. Its parameters are mapped from the day's public weather reports to reflect varying weather conditions using a simple learning model. The SDE model jointly captures intraday and intrahour volatility. Statistical examination shows that the proposed approach outperforms a selection of the latest deep learning-based time series models on real-world data collected in Macao.

关键词： Photovoltaic(PV)power random process stochastic differential equation(SDE) stochastic optimization time series modeling uncertainty quantification weather report

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Improving power Response of Single-Controllable VSG-Based Active Distribution Network

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CSEE Journal of power and Energy systems 2025年第1期11卷 102-114页

作者： Shah Fahad Arman Goudarzi Pierluigi Siano Ji Xiang Department of Electrical and Computer Engineering Missouri University of Science and TechnologyUSA University of Victoria Canada Department of Management&Innovation Systems University of SalernoItaly Department of Electrical and Electronic Engineering Science University of JohannesburgJohannesburg2006South Africa National Laboratory of Industrial Control Technology College of Electrical EngineeringZhejiang UniversityHangzhou310058China

Controlling an active distribution network(ADN)from a single PCC has been advantageous for improving the performance of coordinated Intermittent RESs(IRESs).Recent studies have proposed a constant PQ regulation approach at the PCC of ADNs using coordination of non-MPPT based ***,due to the intermittent nature of DGs coupled with PCC through uni-directional broadcast communication,the PCC becomes vulnerable to transient *** address this challenge,this study first presents a detailed mathematical model of an ADN from the perspective of PCC regulation to realize rigidness of PCC against ***,an H_(∞)controller is formulated and employed to achieve optimal performance against disturbances,consequently,ensuring the least oscillations during transients at ***,an eigenvalue analysis is presented to analyze convergence speed limitations of the newly derived system ***,simulation results show the proposed method offers superior performance as compared to the state-of-the-art methods.

关键词： Cooperative control of DGs hierarchical control system high penetration of intermittent RESs H_(∞)control optimal control in power systems single-controllable active distribution networks

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Multi-Time Interval Forecasting-Aided State Estimation Incorporating Phasor Measurements for power systems with Renewable Energy Sources

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CSEE Journal of power and Energy systems 2025年第1期11卷 115-123页

作者： Ye Guo Yifei Xu Hongbin Sun Boming Zhang Tsinghua-Berkeley Shenzhen Institute(TBSI) Tsinghua Shenzhen International Graduate School Tsinghua UniversityShenzhen 518055China Department of Electrical Engineering State Key Laboratory of Power SystemsTsinghua UniversityBeijing100084China

To achieve more precise monitoring of state fluctuations in the power network close to renewable energy sources, it is necessary to utilize phasor measurements and shorten the time interval between state estimations. For large-scale power systems, however, estimating all of their states with shorter time intervals means a drastic increase in computational burden. As a tradeoff between accuracy and computational efficiency, a multi-time interval forecasting-aided state estimation approach is proposed in this paper, where states with various degrees of fluctuations are estimated asynchronously with different time intervals. Based on the newest state estimate, forecasting-aided state estimators are employed to predict states at time moments prior to the next round of measurement update and state estimation. Extensive numerical tests have demonstrated the effectiveness of the proposed approach.

关键词： Forecasting-aided state estimation phasor measurement renewable energy sources state estimation time interval

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A Comprehensive power Consumption Model for GPU Data Centers with Time-VAE

A Comprehensive Power Consumption Model for GPU Data Centers...

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International Conference of electrical, Electronic and Networked Energy systems, EENES 2024

作者： Wang, Senyao Wu, Jianhong Zhang, Ruozhu The School of Electrical and Computer Engineering The University of Sydney SydneyNSW2008 Australia The School of Electrical Engineering Shanghai University of Electric Power Shanghai200090 China State Key Laboratory of Alternate Electrical Power System With Renewable Energy Sources North China Electric Power University Beijing102206 China

ISBN: (纸本)9789819618675

In this study, we propose and evaluate a comprehensive power consumption model for GPU-based data centers that integrates the energy consumption of various task types, including language processing, speech recognition, and image generation, along with the power consumption of other components such as the CPU, memory, network, and storage. Using real GPU power consumption data, we measured the server energy consumption. To compensate for the limited experimental data and ensure accurate evaluation of average power consumption per unit time after model convergence, we utilize the TimeVAE model to generate supplementary data. The PCA and t-SNE visualizations validate the effectiveness of the TimeVAE model in preserving data distribution and structure. Our comprehensive model provides valuable insights into the energy consumption patterns in GPU-based data centers and offers practical guidance for optimizing energy usage to improve overall efficiency and sustainability. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Data centers

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On Shaping Gain of Multidimensional Constellations in Linear and Nonlinear Optical Fiber Channel

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IEEE Journal on Selected Areas in Communications 2025年第5期43卷 1455-1468页

作者： Chen, Bin Liang, Zhiwei Lei, Yi Deng, JingXin Li, Shen Liga, Gabriele Hefei University of Technology School of Computer Science and Information Engineering Hefei230002 China Intelligent Interconnected Systems Laboratory of Anhui Province Hefei230002 China Chalmers University of Technology Department of Electrical Engineering Gothenburg412 96 Sweden Department of Electrical and Computer Engineering QC Québec CityG1V 0A6 Canada Eindhoven University of Technology Department of Electrical Engineering Eindhoven5612 AZ Netherlands

Utilizing the multi-dimensional (MD) space for constellation shaping has been proven to be an effective approach for achieving shaping gains. Despite there exists a variety of MD modulation formats tailored for specific optical transmission scenarios, there remains a notable absence of a dependable comparison method for efficiently and promptly re-evaluating their performance in arbitrary transmission systems. In this paper, we introduce an analytical nonlinear interference (NLI) power model-based shaping gain estimation method to enable a fast performance evaluation of various MD modulation formats in coherent dual-polarization (DP) optical transmission system. In order to extend the applicability of this method to a broader set of modulation formats, we extend the established NLI model to take the 4D joint distribution into account and thus able to analyze the complex interactions of non-iid signaling in DP systems. With the help of the NLI model, we conduct a comprehensive analysis of the state-of-the-art modulation formats and investigate their actual shaping gains in two types of optical fiber communication scenarios (multi-span and single-span). The numerical simulation shows that for arbitrary modulation formats, the NLI power and relative shaping gains in terms of signal-to-noise ratio can be more accurately estimated by capturing the statistics of MD symbols. Furthermore, the proposed method further validates the effectiveness of the reported NLI-tolerant modulation format in the literature, which reveals that the linear shaping gains and modulation-dependent NLI should be jointly considered for nonlinearity mitigation. © 1983-2012 IEEE.

关键词： Optical fibers

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A Relative-Error-Dependent TOD Protocol for Cyber-Physical systems under an Event-Triggered Communication

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2025年 3卷 318-328页

作者： Yang, Hongchenyu Peng, Chen Tian, Engang Shanghai University School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Power Station Automation Technology Shanghai200444 China University of Shanghai for Science and Technology School of Optical-Electrical and Computer Engineering Shanghai200093 China

To deal with different data magnitudes or measurement units of different system nodes, a novel relative-error-dependent try-once-discard (RED-TOD) communication protocol with event-triggered detectors is proposed to improve the accuracy and reliability of node selection for band-limited cyber-physical systems. With the combined effect of the absolute error and the relative error, a novel node activation condition is proposed to comprehensively reflect and fairly compare node transmission requirements. Under such a stricter scheduling rule, the node selection is more accurate as required and the available communication bandwidth is utilized with higher efficiency. Moreover, periodic sampling module and event-triggered detectors are placed before RED-TOD scheduling scheme to deal with redundancy and inaccurate transmissions of the existing variable sampling scheme. Taking the proposed scheduling scheme and non-small network-induced delay into account, an impulsive closed-loop system model is well established. Sufficient criteria for input-to-state stabilization are derived by employing the Lyapunov-Krasovskii functional approach. A searching algorithm is also presented to co-design optimized scheduler parameters and controller gains. Furthermore, to avoid continuous calculations, the next transmission instant and the dormant period of the event-triggered detector are predicted according to the present information carried by each node. Finally, an illustrative example is employed to demonstrate the effectiveness and superiority of the proposed scheduling method. © 2023 IEEE.

关键词： Feedback control

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Influence of Asymmetric Air-Gap on Forces and Eddy Current in Linear Induction Motors for Metro 11th

Influence of Asymmetric Air-Gap on Forces and Eddy Current i...

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11th Frontier Academic Forum of electrical engineering, FAFEE 2024

作者： Zeng, Dihui Wang, Ke Ge, Qiongxuan Key Laboratory of High Density Electromagnetic Power and Systems Institute of Electrical Engineering Chinese Academy of Sciences Beijing China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9789819788231

Since the single-sided linear induction motors (SLIMs) for rail transit usually works with an asymmetric air-gap, the degrees of primary-secondary coupling attitude are the key variables for the electromagnetism and force characteristics in the motors. Therefore, this paper investigates the influences of the primary-secondary coupling attitude on the characteristics, e.g., secondary impedance, induced eddy current, and electromagnetic forces, by using the numerical method. First, a 3-D analysis model used for finite element method is established, and the configurations for the three basic attitudes are given. Second, the map of the induced eddy current on the secondary under the three basic attitudes are given. Third, three-dimensional electromagnetic forces and secondary parameters are obtained based on the results of electromagnetic field quantities. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Electromagnetic fields

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