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Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

Science China(Information Sciences) 2021年第1期64卷 215-226页

作者： Jincun LIU Zhenna LIU Junzhi YU State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking University Department of Electrical and Automation Shandong Labor Vocational and Technical College State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper investigates the three-dimensional(3-D) path following control problem for an underactuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established,followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-ofsight(LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity,intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.

关键词： robotic dolphin path following 3-D LOS guidance law decoupling motion

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Unsignalized Intersection Management Strategy for Mixed Autonomy Traffic Streams

arXiv

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arXiv 2022年

作者： Zhou, Junjie Shen, Zhaokun Wang, Xiaofan Wang, Lin The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Department of Automation Shanghai Jiao Tong University The School of Mechatronic Engineering and Automation Shanghai University The School of Electrical and Electronic Engineering Shanghai Institute of Technology Shanghai201418 China

With the rapid development of connected and automated vehicles (CAVs) and intelligent transportation infrastructure, CAVs, connected human-driven vehicles (CHVs), and un-connected human-driven vehicles (HVs) will coexist on the roads in the future for a long time. This paper comprehensively considers the different traffic characteristics of CHVs, CAVs, and HVs, and systemically investigates the unsignalized intersection management strategy from the upper decision-making level to the lower execution level. The unsignalized intersection management strategy consists of two parts: the heuristic priority queues based right of way allocation (HPQ) algorithm and the vehicle planning and control algorithm. In the HPQ algorithm, a vehicle priority management model considering the difference between CAVs, CHVs, and HVs, is built to design the right of way management for different types of vehicles. In the lower level for vehicle planning and control algorithm, different control modes of CAVs are designed according to the upper-level decision made by the HPQ algorithm. Moreover, the vehicle control execution is realized by the model predictive controller combined with the geographical environment constraints and the unsignalized intersection management strategy. The proposed strategy is evaluated by simulations, which show that the proposed intersection management strategy can effectively reduce travel time and improve traffic efficiency. Results show that the proposed method can decrease the average travel time by 5% to 65% for different traffic flows compared with the comparative methods. The intersection management strategy captures the real-world balance between efficiency and safety for future intelligent traffic systems. Copyright © 2022, The Authors. All rights reserved.

关键词： Travel time

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Global Finite Time Stabilization of SISO Hurwitz Linear systems Subject to Actuator Saturation: The Case of Real Eigenvalues

Global Finite Time Stabilization of SISO Hurwitz Linear Syst...

引用

American control Conference (ACC)

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA U.S.A.

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper considers the global finite time stabilization of linear systems subject to actuator saturation. We show that a controllable SISO system whose eigenvalues are real and negative can be globally stabilized in finite time by a homogeneous feedback law. To obviate numerical issues, this homogeneous feedback law is implemented by discretizing a compact set. Numerical simulation validates the effectiveness of the proposed approach.

关键词： Linear systems Actuators Numerical simulation control systems Eigenvalues and eigenfunctions

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I Can Read Your Mind: control Mechanism Secrecy of Networked Dynamical systems under Inference Attacks

arXiv

引用

arXiv 2022年

作者： He, Jianping Li, Yushan Cai, Lin Guan, Xinping The Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The Dept. of Electrical and Computer Engineering University of Victoria BC Canada

Recent years have witnessed the fast advance of security research for networked dynamical system (NDS). Considering the latest inference attacks that enable stealthy and precise attacks into NDSs with observation-based learning, this article focuses on a new security aspect, i.e., how to protect control mechanism secrets from inference attacks, including state information, interaction structure and control laws. We call this security property as control mechanism secrecy, which provides protection of the vulnerabilities in the control process and fills the defense gap that traditional cyber security cannot handle. Since the knowledge of control mechanism defines the capabilities to implement attacks, ensuring control mechanism secrecy needs to go beyond the conventional data privacy to cover both transmissible data and intrinsic models in NDSs. The prime goal of this article is to summarize recent results of both inference attacks on control mechanism secrets and countermeasures. We first introduce the basic inference attack methods on the state and structure of NDSs, respectively, along with their inference performance bounds. Then, the corresponding countermeasures and performance metrics are given to illustrate how to preserve the control mechanism secrecy. Necessary conditions are derived to guide the secrecy design. Finally, thorough discussions on the control laws and open issues are presented, beckoning future investigation on reliable countermeasure design and tradeoffs between the secrecy and control performance. Copyright © 2022, The Authors. All rights reserved.

关键词： Cybersecurity

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Computing Optimal Resilience-Oriented Operation of Distribution systems Considering Heterogenous Consumer-Side Microgrids

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IEEE Transactions on Consumer Electronics 2024年

作者： Bai, Ziyi Xu, Da Zhou, Bin Yang, Xiaodong Yang, Hanyu Liu, Ju Hubei University of Technology Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Wuhan430068 China Hubei University of Technology School of Electrical and Electronic Engineering Wuhan430068 China University of Macau State Key Laboratory of Internet of Things for Smart City Macao999078 China China University of Geosciences School of Automation Wuhan430074 China Hunan University College of Electrical and Information Engineering Changsha410082 China Hefei University of Technology State Key Laboratory of High Efficiency and High Quality Electric Energy Conversion Hefei230009 China Nanjing Tech University College of Electrical Engineering and Control Science Nanjing211816 China SGCC Jingmen Power Supply Company Jingmen448000 China

Mobile battery energy storage systems (MBESs), also called power-to-mobility, have been field-validated as backup generation resources. However, the role of multi-energy coordination towards resilient distribution systems (DSs) against large area disasters is still not yet involved. To cope with such challenges, this paper proposes a computing optimal resilient operation model for post-disaster microgrid-penetrated DS recovery based on the energy-to-mobility approach. In this model, mobile multi-energy storages (MMESs) are invested and routed based on their different transportation mobility, while DS with consumer-side biogas-solar-wind multi-energy microgrids are topologized by network reconfiguration. The coordinated resilient operation of different recovery actions of DS, MMESs, and consumer-side microgrids is a difficult optimization problem as results of its inherent nonconvexities, temporal-spatial mobility and strong multi-energy couplings. The original mixed-integer non-linear programming (MINLP) problem is thus equivalently linearized and reformulated into a mixed-integer linear programming (MILP) for computation performance improvement. The proposed methodology is benchmarked and performed on a modified radial DS with three consumer-side microgrids. Numerical studies demonstrate the effectiveness and superiority of the energy-to-mobility scheme over MBESs on system resilient level and economy. © 1975-2011 IEEE.

关键词： Mixed-integer linear programming

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Semi-Global Leaderless Consensus of Linear Multi-agent systems with Actuator and Communication Constraints

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Journal of systems Science & Complexity 2020年第4期33卷 882-902页

作者： WANG Jian SHI Liangren GUAN Xinping Department of Automation and Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Navigation and Location-based Services and Academy of Information Technology and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

This paper studies the leaderless consensus problems of multi-agent systems with input saturation and intermittent communication over directed networks. Both the state feedback and the output feedback consensus algorithms are developed based on low gain feedback approach. The convergence of the trajectories of all agents can be achieved by these proposed algorithms, if the communication topology has a directed spanning tree, and the intermittent communication period T and time rate ρ are larger than their associated threshold values. Simulation examples are provided to verify the theoretical results.

关键词： agent directed communication

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Local Topology Inference of Mobile Robotic Networks under Formation control

arXiv

引用

arXiv 2022年

作者： Li, Yushan He, Jianping Cai, Lin Guan, Xinping The Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China The Dept. of Electrical and Computer Engineering University of Victoria BC Canada

The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can manoeuvre among the formation robots. This problem faces new challenges brought by the highly coupled influence of unobservable formation robots, inaccessible formation inputs, and unknown interaction range. The novel idea here is to advocate a range-shrink strategy to perfectly avoid the influence of unobservable robots while filtering the input. To that end, we develop consecutive algorithms to determine a feasible constant robot subset from the changing robot set within the observation range, and estimate the formation input and the interaction range. Then, an ordinary least squares based local topology estimator is designed with the previously inferred information. Resorting to the concentration measure, we prove the convergence rate and accuracy of the proposed estimator, taking the estimation errors of previous steps into account. Extensions on nonidentical observation slots and more complicated scenarios are also analyzed. Comprehensive simulation tests and method comparisons corroborate the theoretical findings. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Exploring single atom catalysts of transition-metal doped phosphorus carbide monolayer for HER:A first-principles study

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Journal of Energy Chemistry 2021年第1期30卷 155-162,I0006页

作者： Dachang Chen Zhiwen Chen Xiaoxing Zhang Zhuole Lu Song Xiao Beibei Xiao Chandra Veer Singh School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072HubeiChina Department of Materials Science and Engineering University of TorontoToronto M5S 3E4OntarioCanada Department of Mechanical and Industrial Engineering University of TorontoToronto M5S 3G8OntarioCanada Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of TechnologyWuhan 430068HubeiChina School of Energy and Power Engineering Jiangsu University of Science and TechnologyZhenjiang 212003JiangsuChina

Hydrogen has been identified as one of the most promising sustainable and clean energy. Developing hydrogen evolution reaction(HER) catalyst with high activity is essential for satisfying the future requirements. Considering novel advantages of two-dimensional materials and high catalytic activity of atomic transition metal, in this study, using density functional theory calculation, the HER on single transitionmetal(23 different TM atoms) doped phosphorus carbide monolayer(α-PC) has been investigated. The Volmer–Tafel and Volmer–Heyrovsky reaction mechanisms, and the stability of the most promising HER catalyst are also included. The results show that Ir-αPC with high physical and thermal stability has the most optimal value of Gibbs free adsorption energy for H atom. The relationship of d band center and the HER activity shows a volcano-like curve. The calculation of reaction energy barrier indicates that the Volmer-Heyrovsky step is more favorable than the Volmer-Tafel step.

关键词： Hydrogen evolution reaction Phosphorus carbide monolayer Transition-metal doping Density functional theory

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Sampled-Data Observer Design With Exponential Time-Varying Gains for Semilinear Parabolic PDE systems

Sampled-Data Observer Design With Exponential Time-Varying G...

引用

2021 China automation Congress, CAC 2021

作者： Wang, Zi-Peng Wu, Huai-Ning Li, Han-Xiong Huang, Tingwen Shen, Tao The School of Electrical Engineering University of Jinan Jinan250022 China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Department of Systems Engineering and Engineering Management City University of Hong Kong Hong Kong The Science Program Texas A&M University at Qatar Doha Qatar The HIT Robot Group Co. Ltd China

ISBN: (纸本)9781665426473

For semilinear parabolic PDE systems, the sampled-data observer (SDO) design under spatially point measurements (SPMs) with exponential time-varying gains is concerned. On basis of a Lyapunov functional, a SDO with exponential time-varying gains under SPMs via linear matrix inequalities is presented to guarantee the exponential stability of estimation error PDE system. Lastly, two numerical examples are provided to support the proposed SDO design approach. © 2021 IEEE

关键词： Linear matrix inequalities

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Understanding cross-market strategic behaviors of prosumers: An equilibrium-driven evolutionary game approach

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Journal of Cleaner Production 2025年 513卷

作者： Kang, Kai Su, Yifan Yang, Peng Wang, Zhaojian Zhang, Yunfan Qi, Ning Liu, Feng State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Tsinghua University Beijing100084 China School of Electrical Engineering Chongqing University Chongqing400044 China School of Electronics and Information Xi'an Polytechnic University Xi'an710048 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China China Electric Power Planning & Engineering Institute Beijing100088 China Department of Earth and Environmental Engineering Columbia University New YorkNY10027 United States

The rise of prosumers and the success of the sharing economy have catalyzed the development of energy sharing market (ESM), which is set to coexist with the conventional distribution energy market (DEM). However, the behaviors of prosumers within this evolving landscape remain underexplored due to the complex interactions among prosumers, ESM, and DEM. This paper presents a novel equilibrium-driven evolutionary game (EDEG) model that allows prosumers with bounded rationality to trade energy and choose participation in DEM, ESM, or both. Unlike previous studies, prosumers’ profits in this model are determined by the market-clearing equilibria, which in turn influence their market selection. The prosumers’ bidding strategies make the market clearing a hard-solving generalized Nash game (GNG). To overcome this, we convert the GNG into an equivalent, more tractable optimization problem, and then incorporate the generalized Nash equilibrium (GNE) into the EDEG model. Building on this foundation, we derive a solution algorithm and establish sufficient convergence conditions for the model. Additionally, by analyzing the equilibria, the EDEG model sheds light on the prosumers’ market selection preferences, cross-market strategic behaviors, sharp price jumping in ESM, and the conditions necessary for the stable coexistence of ESM and DEM. Furthermore, an improved pricing scheme for DEM is proposed to mitigate cross-market arbitrage behaviors and alleviate market price volatility. Finally, the simulations of six prosumer groups over 10,000 days (approximately 27.4 years) validate the theoretical findings and show the effectiveness of the improved scheme in suppressing cross-market arbitrage and stabilizing the electricity price for ESM. © 2025

关键词： Cross-market strategic behavior Distribution energy market Energy sharing market Evolutionary game Generalized Nash equilibrium

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