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6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Ullah, Hameed Zarin, Owais Ahmad, Irfan Ahmad, Sarfraz Abbas, Ansar Lippiello, Vincenzo University of Naples Federico II Department of Electrical Engineering and Information Technology Naples Italy Riphah International University Department of Electrical Engineering Islamabad Pakistan School of Bilbao - EIB/BIE University of the Basque Country - UPV/EHU Automatic Control Group ACG Department of Automatic Control and Systems Engineering Rafael Moreno 3 Bilbao48013 Spain CEME Department of Electrical Engineering Islamabad Pakistan

ISBN: (纸本)9798350355703

This research presents a comprehensive analysis of quadrotor stabilization and trajectory tracking control using Proportional-Integral-Derivative (PID) and Sliding Mode control (SMC) with integrated disturbance rejection. The nonlinear dynamics of the quadrotor are formulated using the Newton-Euler approach, accounting for six degrees of freedom. The PID controller is implemented as a baseline, while the SMC is designed for enhanced robustness to model uncertainties and external perturbations, with a disturbance observer for managing time-varying disturbances. A rigorous Lyapunov stability proof ensures global asymptotic stability of the SMC-controlled system. Extensive simulations evaluate both controllers in terms of tracking accuracy, control effort, and robustness to external disturbances. Results show that SMC outperforms PID in dis-turbance rejection, tracking accuracy, and robustness, making it ideal for UAV applications in complex environments. © 2024 IEEE.

关键词： Sliding mode control

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Optimal Energy Exchange of Two Electric Vehicle Charging Stations with Solar-Hydrogen-Battery Storage systems 58

Optimal Energy Exchange of Two Electric Vehicle Charging Sta...

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58th International Universities Power engineering Conference, UPEC 2023

作者： Duan, Lijia Lai, Chun Sing Taylor, Gareth Zhang, Xin Brunel University Department of Electronic and Electrical Enginnering London United Kingdom University of Sheffield Department of Automatic Control and Systems Engineering United Kingdom

ISBN: (纸本)9798350316834

This paper presents an optimisation method for the direct energy exchange between two electric vehicle (EV) charging stations located in the UK. Each EV charging station consists of solar panels, hydrogen and battery energy storage systems (SHBS). The stations are interconnected through a energy exchange system that enables the transfer of excess energy from one station to the other. The objective function of SHBS charging stations is to minimize the capital and operation and maintenance costs of the stations. The system constraints are the power output of individual components, as well as the power balance between SHBS charging stations and EV charging demand. Genetic Algorithm is used to optimize the system, considering various factors such as the size of the solar panels and hydrogen storage tanks, the capacity of the electric vehicle chargers, and the amount of energy exchanged between the two stations. The optimized system yields substantial cost savings. © 2023 IEEE.

关键词： Genetic algorithms

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Behavioural Swarm Optimisation for Stable Slung-Load Aerial Transportation

Behavioural Swarm Optimisation for Stable Slung-Load Aerial ...

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2023 IEEE Congress on Evolutionary Computation, CEC 2023

作者： Chen, Jingyu Oyekan, John The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom University of York Department of Computer Science York United Kingdom

ISBN: (纸本)9798350314588

Collaboration of agents in a natural swarm enables the accomplishment of tasks that would be difficult or impossible for a single agent to complete alone. For example, a swarm of autonomous Unmanned Aerial Vehicles (UAVs) enables the collaborative sensing of bulky loads for transportation over impassable terrains when the load weighs several times more than each UAV. In this work, we propose a hierarchical algorithmic architecture that supports the search and coverage of various unknown payload profiles for subsequent transportation. The grasping formation of UAVs over the payload emerges from the synthetic behaviours in the architecture without any path planning. Experiments show that our proposed design can be successfully applied in searching and coverage of various loads and has been validated in the real world through the use of Crazyflie micro-UAVs. Furthermore, the proposed grasping formation satisfies static equilibrium thereby reducing orientation changes in the load-swarm system during transportation. © 2023 IEEE.

关键词： Motion planning

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Flexibility Enhancement Planning of Active Distribution Networks Considering Optimal Dispatch of Demand Response 7

Flexibility Enhancement Planning of Active Distribution Netw...

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7th IEEE International Conference on Energy Internet, ICEI 2023

作者： Fan, Ruizhe Hu, Changbin Luo, Shanna Li, Xuecheng Lu, Heng Feng, Jun School of Electrical and Control Engineering North China University of Technology Beijing China University of Duisburg-Essen Department of Automatic Control and Complex Systems Duisburg Germany

ISBN: (纸本)9798350386684

To enhance the operational flexibility of active distribution network (ADN) with high proportion renewable energy, this paper proposes a flexibility resource planning model considering the optimal dispatch of demand response. Firstly, the flexibility in supply side and demand side are analyzed. Then, a two-layer planning model of flexibility resources is established, which includes the planning layer and operating layer. The planning layer introduces the system comprehensive security index to evaluate the system security, aiming at the optimal annual comprehensive cost of the system. The operation layer introduces the flexibility insufficiency rate as the system flexibility evaluation index, and the network loss and renewable energy curtailment are counted as economic penalties, which is aiming at the optimal annual operation cost of the system. The proposed planning model is solved with particle swarm optimization algorithm. Case studies on the IEEE 33-node distribution system show that the proposed model can effectively reduce the network loss and the renewable generation curtailment. © 2023 IEEE.

关键词： Electric power distribution

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Enhanced cyber-physical system with semantic technologies and machine learning to support smart farming 24

Enhanced cyber-physical system with semantic technologies an...

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24th International Conference on control systems and Computer Science, CSCS 2023

作者： Ciolofan, Sorin N. Dragoicea, Monica Popeanga, Daniel-Catalin Politehnica University of Bucharest Department of Computer Science Bucharest Romania Politehnica University of Bucharest Department of Automatic Control and Systems Engineering Bucharest Romania

ISBN: (纸本)9798350313390

An important aspect related to the effects of agricultural activities on the environment is represented by the nutrient loss in water and air (specifically nitrogen). The interactions between catchments hydrological processes, management of farm activities, climate changes and nitrogen losses constitute a complex phenomenon yet not well understood, being an important concern from the sustainable agriculture perspective. Nitrogen can be lost with water as leaching or runoff, or as gas as ammonia volatilization. Nitrous oxide (N2O) is particularly problematic because it is also a powerful greenhouse gas. The goal of the current article is to present innovative digital techniques to advance in understanding of this phenomena through an Information System that integrates Artificial Intelligence techniques such as Semantic Technologies and Machine Learning (ML) into Cyber-Physical systems (CPS) to support smart farming and sustainable agriculture. © 2023 IEEE.

关键词： Semantics

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Reinforcement Learning-Based Output Stabilization control for Nonlinear systems With Generalized Disturbances 25

Reinforcement Learning-Based Output Stabilization Control fo...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Tang, Zezhi Rossiter, J Anthony Dong, Yi Panoutsos, George University Of Sheffield Department Of Automatic Control And Systems Engineering SheffieldS13JD United Kingdom University Of Southampton Department Of Electronics And Computer Science Southampton United Kingdom

ISBN: (纸本)9798350340266

This paper proposes a new disturbance observer (DO)-based reinforcement learning (RL) control approach for nonlinear systems with unmatched (generalized) disturbances. While a nonlinear disturbance observer (NDO) is utilized to measure the plant uncertainties, disturbances can exist in the plant via distinct channels from those of the control signals;so-called mismatched disturbances are theoretically difficult to attenuate within the channel of the system's states. A generalized disturbance observer-based compensator is implemented to address the uncertainty cancellation problem by removing the influence of uncertainties from the output channels. Con-currently, a composite actor-critic RL scheme is utilized for approximating the optimal control policy as well as the ideal value function pertaining to the compensated system by solving a Hamilton-Jacobi-Bellman (HJB) equation for both online and offline iterations simultaneously. Stability analysis verifies the convergence of the proposed framework. Simulation results are included to illustrate the effectiveness of the proposed scheme. © 2024 IEEE.

关键词： Nonlinear systems

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Performance Improvement control Strategy of Microgrid Multi-Inverter Parallel System 7

Performance Improvement Control Strategy of Microgrid Multi-...

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7th IEEE Conference on Energy Internet and Energy System Integration, EI2 2023

作者： Lu, Heng Hu, Changbin Luo, Shanna Li, Xuecheng Huang, Haiyang Deng, Jufu University of Duisburg-Essen Department of Automatic Control and Complex Systems Duisburg Germany North China University of Technology College of Electrical and Control Engineering Beijing China

ISBN: (纸本)9798350345094

This paper develops a performance improvement control strategy based on residual generator to improve the control performance of the multi-inverter parallel system in the presence of load disturbances and line parameter perturbation. This study establishes the state space models of the electrical network and inverters to analyze the performance degradation issues. The model-match technique and multi-agent consistency algorithm are used to design the dynamic and steady-state performance improvement controllers, respectively. Experimental results validate the effectiveness of the proposed control method. © 2023 IEEE.

关键词： Electric loads

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SELECTION PROBLEMS OF CURRENT TRANSFORMERS CHARACTERISTICS AT THE DESIGN STAGE WITH REQUIREMENTS FOR CORRECT OPERATION UNDER TRANSIENT MODES 6

SELECTION PROBLEMS OF CURRENT TRANSFORMERS CHARACTERISTICS A...

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6th International Scientific and Technical Conference Relay Protection and Automation, RPA 2023

作者： Yablokov, A.A. Panashchatenko, A.V. Titov, V.A. Maltsev, R.A. Electric power systems automatic control department Electric systems department Ivanovo State Power Engineering University named after V.I. Lenin Ivanovo Russia

ISBN: (纸本)9798350382334

Modern normative technical documentation in the field of design and operation of power facilities [1] imposes new requirements on current transformers (CTs) operation. The technical characteristics of CTs and the connected relay protection devices as a whole must ensure the correct operation of the devices during short-circuits (SCs), including when an aperiodic current component occurs. This circumstance primarily applies to newly constructed and reconstructed power facilities. The process of creating design documentation for them must be carried out taking into account the new requirements, for which GOST R 58669-2019 [2] was developed and approved. According to it, in addition to the existing tests of selected CTs, it is necessary to perform calculations of the time to saturation of the magnetic core of each CT winding, high-speed relay protection devices are connected to which. The obtained time is compared with the minimum time required for the correct operation of the connected relay protection devices. Difficulties often occur in coordinating the characteristics of CTs selected at the design stage and the results of calculating the time to saturation of CT magnetic cores at the detailed design stage. Negative test results lead to the need to adjust the design characteristics of CTs and to additional labor costs for their approval. One of the solutions to the problem encountered in design practice is intentionally inflating the characteristics of CTs at the design stage in order to successfully pass the time to saturation test at the detailed design stage. It leads to unjustified financial costs and non-optimal selection of CTs. Therefore, it is relevant to develop methods for calculating CT characteristics taking into account the new requirements. © 2023 IEEE.

关键词： Electric instrument transformers

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Path-Complete Barrier Functions for Safety of Switched Linear systems 63

Path-Complete Barrier Functions for Safety of Switched Linea...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Anand, Mahathi Jungers, Raphael Zamani, Majid Allgower, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Germany Université Catholique de Louvain Department of Mathematical Engineering Belgium University of Colorado Boulder United States

ISBN: (纸本)9798350316339

In this paper, we address the safety verification problem of switched linear dynamical systems under arbitrary switching via barrier functions. Our approach is based on a notion of path-complete barrier functions, which utilizes a collection of barrier functions associated with a directed labeled graph that can encode all the possible switching sequences. We show that path-complete barrier functions effectively generalize notions of common and multiple barrier functions studied in existing literature, and can potentially provide less conservative conditions for safety verification. We demonstrate that, for switched linear systems, the inequalities imposed via path-complete barrier functions can be easily encoded into simple linear matrix inequalities under some assumptions on the regions of interest and appropriately chosen templates for the barrier functions. We also study the relationship between path-complete barrier functions and common barrier functions, and show that for any path-complete graph with an admissible path-complete barrier function, one can derive a suitable (possibly non-smooth) common barrier function by utilizing the path-complete barrier function. Finally, we utilize several examples to illustrate the effectiveness of our approach, and briefly discuss the challenges that lay foundations for future research. © 2024 IEEE.

关键词： Directed graphs

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Hyperelastic Membrane Actuators:Analysis of Toroidal and Helical Multifunctional Configurations

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Cyborg and Bionic systems 2022年第1期2022卷 129-140页

作者： Eduardo Perez-Guagnelli Joanna Jones Dana D.Damian Department of Automatic Control and Systems Engineering Universty of Shefield UK

Technologies that providemechanical assistance arerequired inthemdicalfeld,such asimplants that regenerate tssuethroughelongation and *** ofthe challenges is to develop actuators that combinethe benefits ofhigh axialextension at lowpressures,modularity,multifunction,and load bearing capabilities into one design while maintaining their shape and *** such a challenge wll provide implants with enhanced capacity for mechanical assistance to induce *** introduce two novel actuators(M2H)built of stacked Hyperelastic Balloning Membrane Actuators(HBMAs)that can be realized using helical and toroidal *** restraining the HBMA expansion deterministicallyusing a semisoft exoskeleton,the actuatorsors areendoweded withh axial extension and radial expansion *** actuatorsare thus built of modules that canconfiguured different therapeutical needs and multifunctionality,to provideanatomically congruent *** desigl,fabricationtestin;and numerical and experimental validation ofthe *** can aaxiallyind6 in their helicaland toroidal configurations at input pressuresas low as 26 and 24 kPa,*** the axial module is used separately,its extension capacity reaches>170%.The M2H-HBMAs can perform independent and simultaneousxpansion and extension motions with negligible intraluminaldeformation as well as stand at least 1kg of axial force without *** M2H-HBMAs overcome the limitations ofhyperexpanding machines that show low resistance to *** envisage M2H-HBMAs as promising tools to perform tisueregeneration procedures.

关键词： restrain overcome skeleton

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