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Receding-horizon planning using recursive Monte Carlo Tree Search with Sparse Action Sampling for continuous state and action spaces

Receding-horizon planning using recursive Monte Carlo Tree S...

引用

American control Conference

作者： Moritz Schneider Laboratory of Control Methods and Robotics Institute of Automatic Control and Mechatronics Dept. of Electrical Engineering and Information Technology Technische Universit?t Darmstadt Germany

ISBN: (纸本)9781467386838

This paper introduces a recursive, sampling-based Monte Carlo Tree Search (MCTS) approach to planning, i.e. receding horizon control, in continuous state and action nonlinear set-point control problems. Usually, predictive control methods for nonlinear systems aim at (sub-)optimal control behavior through solving a dynamic optimization problem over a fixed prediction horizon in every time step. Tree-based methods, which have recently gained interest in planning, model-based reinforcement learning and path planning, replace the optimization problem by an incremental probabilistic search for (sub-)optimal open-loop control sequences in the space of variable-length closed-loop trajectories. The benefit of using a weaker optimization procedure is that the algorithm is very simple to understand/apply and works for general nonlinear systems. This article is concerned with increasing the control performance and sampling-efficiency of MCTS in continuous state and action spaces based on ideas from the field of standard nonlinear model predictive control.

关键词： Search problems Planning Aerospace electronics Optimization Trajectory Monte Carlo methods Prediction algorithms

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Capture Chamber Modelling and Validation in OWC on-shore Devices

Capture Chamber Modelling and Validation in OWC on-shore Dev...

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IEEE Region 10 Conference

作者： Aitor J. Garrido Izaskun Garrido Erlantz Otaola Jon Lekube Fares M. Zoughi Khaoula Ghefiri Diclobin G. Mundackamattam Inigo Oleagordia Automatic Control Group - ACG. Inst. of Research and Development of Processes Faculty of Engineering of Bilbao Laboratory of Research in Automatic Control - LA.R.A National Engineering School of Tunis (ENIT) University of Tunis El Manar Automatic Control Group - ACG. Dept. of Electronic Technology Faculty of Engineering of Bilbao

ISBN: (纸本)9781509025985

Climate change is challenging the current worldwide model of power generation. In this sense, European Union is promoting a deep transition collected in the 20-20-20 targets and the 2050 Energy Roadmap. These adjectives must be achieved by developing the use of clean, carbon-free energies, as it is the case of the renewableenergies and in particular of the ocean energy. The main problem with these kinds of energies is to reach a commercially mature stage so they can compete with conventional power sources. Therefore, it is crucial to reduce generation costs and increase the efficiency of the existing devices. With this regard, thework presents the modelling and experimental validation of the capture chamber of an Oscillating Water Column (OWC)-based powerplant. Although the study of the turbine and the generator may be considered a quite well-known matter, the control-oriented modelling of the capture chamber still deserves a further study to improve the power generation. In this work, a model obtained analytically of the OWC chamber is developed and numerically implemented. The model proposed is also validated and affords excellent results.

关键词： Modelling and Simulation Wave Energy OWC Capture Chamber

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Oscillating Water Column control and Monitoring

Oscillating Water Column Control and Monitoring

引用

OCEANS MTS/IEEE Monterey (Conference)

作者： Izaskun Garrido Aitor J. Garrido Jon Lekube Erlantz Otaola Edorta Carrascal Automatic Control Group Department of Automatic Control and Systems Engineering EUITI de Bilbao University of the Basque Country Automatic Control Group - ACG. Inst. of Research and Development of Processes Dept. Aut. Control and Systems Eng. University of the Basque Country (UPV/EHU)

ISBN: (纸本)9781509015276

This article covers research into cost reduction pathways for wave energy. The primary focus is the development and test of reliable and controllable power take-off (PTO) technology for oscillating water column converters (OWC). This is highly relevant to the ocean energy challenge. Extensive testing via data of the NEREIDA MOWC demonstration project, a breakwater wave plant located in the Basque location of Mutriku, using Wells turbines and Doubly Fed Induction (DFIG) generators is proposed to advance wave energy converter (WEC) devices. The control tests involve the integration of the PTO technology within a new variable controller for OWC wave power generation plants. Due to the nature of the control law, it allows monitoring faults caused by parametrical errors or system disturbances. The reliability tests by means of analysing the electrical signals have been conceived as conditioning monitoring, detection of mechanical faults and hardware damaging also fulfil a secondary aim for the reduction of maintenance cost and unscheduled downtime during operation of OWC plants.

关键词： Modelling and Simulation control Wave Energy OWC Condition Monitoring

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control strategy for small-scale photovoltaic systems connected to single-phase grids

Control strategy for small-scale photovoltaic systems connec...

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International Renewable Energy Congress

作者： Imene Yahyaoui Fernando Tadeo Marcelo Vieira Segatto Dept. Electric Engineering Federal University of Espiritu Santo Brazil Dept. Systems Eng. and Automatic Control University of Valladolid Spain Dept. Electric Engineering Federal University of Espiritu Santo Brazil

ISBN: (纸本)9781467397698

This paper focuses on the powers control of a photovoltaic generator connected to a single- phase grid. In addition to the solar panels, the system is equipped with a dc-dc converter, which allows the panels' maximum power point to be tracked, a single phase inverter, a filter, and loads, all connected to a single phase utility grid. In this study, the voltage oriented control method is used to control the power injected into the grid during the daytime, taking into account the grid characteristics. Simulation results are shown for the analysis of performance of a grid-coupled PV system under solar radiation change.

关键词： photovoltaic energy grid-connected voltage oriented control single phase inverter

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Considerations on the disturbance attenuation problem for PI/PID controllers for a generic load disturbance dynamics

Considerations on the disturbance attenuation problem for PI...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： R. Vilanova V. M. Alfaro A. Visioli M. Barbu Deptartment of Telecomunications and Systems Engineering Universitat Autonoma Barcelona Bellaterra Barcelona Spain Departamento de Automática Universidad de Costa Rica San José Costa Rica Dipartimento di Ingegneria Meccanica e Industri-ale University of Brescia Via Brescia Italy Dept. Automatic Control and Electrical Eng. Dunarea de Jos University of Galati Galati Romania

Disturbance attenuation is often recognized as the primary concern of a control system. Regulation of the operating conditions is the usual task work to be pursued by a feedback controller. However, much of the academic works almost concentrate on set-point experiments for controller evaluation. Even those that explicitly concentrate on the disturbance attenuation problem, usually concentrate on input load disturbances. They exclude the specific, but usually not considered in the literature, case when the path from the disturbance to the controlled variable is different to the path from the controller output to the controlled variable. There are some process units such as heat exchangers or distillation columns where this situation may be encountered. However actual feedback controllers, usually of PI/PID type, do not take into account this situation. The point raised in this paper is that an increment of performance can be obtained if the information regarding the disturbance dynamics is included in the PI/PID design stage.

关键词： Process control Transfer functions Tuning Attenuation control systems Load modeling Adaptive control

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Development of universal FMC carrier card based on PXI Express

Development of universal FMC carrier card based on PXI Expre...

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IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON)

作者： Wang Liu Yanlin Ren David He Liyan Qiao Dept. of Automatic Test and Control Harbin Institute of Technology Harbin P.R.China Dept. of Mechanical and Industrial Engineering University of Illinois at Chicago Chicago USA

ISBN: (纸本)9781509014972

With the increasing testing requirements and costs, the flexibility of equipment in use is becoming more and more important because it can satisfy the test request of different tasks. The emergence of the FPGA Mezzanine Card (FMC) standard allows us to re-design I/O interfaces with only FPGA's hardware kept unchangeable. PXI-Express (PXIe) based universal FMC carrier card is developed to apply on data acquisition and storage system in this paper. The universal carrier card integrates 1GB DDR2 SDRAM and 32MB SRAM memory to provide data caches for both of high-speed data and low speed application. Also, the carrier card provides high-speed and reconfigurable digital I/O interface with the FMC connector. As the extension of PCI Express in the instrument field, PXIe technologies are capable of high speed data transmission between the card and host's memory with DMA. This paper implements the method on more efficient data transmission, namely the Peer-to-Peer. Due to the fact that data can be transferred from one card to another without utilizing system memory using the Peer-to-Peer method, the data transmission delay can be reduced and the system bandwidth can be improved. In order to test the performances of the FMC universal carrier card in high-speed data acquisition, the universal carrier card is connected with a high-speed ADC (I/O) FMC mezzanines module. The ADC module integrates two channel ADCs providing 1.5GSa/s dual-channel sampling rate, 3GSa/s single-channel sampling rate and 8-bit of resolution. Moreover, the writing and reading speeds by Peer-to-Peer transmission between two FMC universal cards have been verified up to 846.6MB/s and 789.1MB/s respectively. The results show that the developed FMC universal carrier card can establish excellent connection between FPGA and I/O mezzanine. Meanwhile, the FMC card meets the data transmission requirement well between data acquisition and storage with Peer-to-Peer and high-speed data cache.

关键词： Field programmable gate arrays Standards Pins SDRAM Data acquisition

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Optimal distributed control for platooning via sparse coprime factorizations

Optimal distributed control for platooning via sparse coprim...

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American control Conference (ACC)

作者： Şerban Sabău Cristian Oară Sean Warnick Ali Jadbabaie Electrical and Computer Engineering Dept. Stevens Institute of Technology Hoboken NJ Automatic Control Dept. University “Politehnica” Bucharest Faculty of the Computer Science Department Brigham Young University Electrical and Systems Engineering Dept. University of Pennsylvania

We introduce a novel distributed control architecture for disturbances attenuation in heterogeneous platoons of linear and time-invariant autonomous agents that inherits the performance achievable by the leader-follower control policies. We provide a Youla-like parameterization for the class of all distributed controllers such that the sparsity constraints are imposed on the controllers' left coprime factors, outlining a new concept of structural constraints in distributed control. The proposed scheme lends itself to optimal controller design via norm based costs, it guarantees string stability and completely eliminates the accordion effect from the behavior of the platoon. The distributed controller is proven to attain global optimality for heterogeneous platoons and ℋ 2 costs and can easily reconfigure such as to remain optimal during formation merging/exiting maneuvers. The scheme is amenable to a GPS time base synchronization mechanism, allowing for the exact compensation of the time delays induced by the wireless communications.

关键词： Vehicles Standards Decentralized control Stability analysis Linear systems Transfer functions Electronic mail

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Current-stress reduction of the neutral inductor in a rectifier with two outputs

Current-stress reduction of the neutral inductor in a rectif...

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IEEE Energy Conversion Congress and Exposition

作者： Wenlong Ming Qing-Chang Zhong Dept. of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK Dept. of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL 60616 USA

ISBN: (纸本)9781509007387

In this paper, a recently-reported single-phase rectifier with two outputs (RECTO) is further improved to reduce the current stress of the neutral inductor in the rectifier. The reduction is achieved by moving the neutral inductor away from the path of the grid current. As a result, the inductor only carries the differential current of the dual loads. Since the maximum value of the differential current is much smaller than that of the grid current, the current stress of the neutral inductor can be significantly reduced, and the size of the inductor becomes much smaller, which helps improve the power density of the RECTO. In theory, the current stress can be reduced by at least three times and the inductor size by at least nine times. It is worth noting that the current stress of the switches and the other features of the RECTO, e.g., operation principles, independent DC outputs and unity power factor, are not affected. Comparative experimental results are presented to demonstrate the reduction.

关键词： Inductors Legged locomotion Stress Capacitors Voltage control Reactive power Integrated circuit modeling inductors Biped locomotion integrated circuit modelling Voltage regulation Reactive power Capacitors Rectifiers differential current Stress (mechanics) Stressing

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Anomaly detection in analog circuits using Support Vector Data Description

Anomaly detection in analog circuits using Support Vector Da...

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International automatic Testing Conference, AUTOTESTCON

作者： Yang Yu Yueming Jiang Yanmei Lv Yongxue Ma Xiyuan Peng Dept. of Automatic Test and Control Harbin Institute of Technology Harbin China Machine Engineering College Machine Technology Research Institute Shijiazhuang China

With the rapid development of electronic technology, electronic systems are widely used in various fields, and the reliability requirement for electronic systems is also increasing. Many test and diagnosis methods have been proposed. However, few methods can be used to recognize the intermediate anomaly state between normal and fault state. To solve the above problem, this paper presents an anomaly detection method based on Support Vector Data Description (SVDD) for analog circuits. Simulation and experiments have verified the effectiveness.

关键词： Circuit faults Multiresolution analysis Wavelet transforms Analog circuits Mathematical model Feature extraction

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OWC on-shore wave power plants modeling and simulation

OWC on-shore wave power plants modeling and simulation

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IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech)

作者： A.J. Garrido I. Garrido J. Lekube M. de la Sen E. Carrascal Automatic Control Group Department of Automatic Control and Systems Engineering University of the Basque Country (UPV/EHU) Bilbao Spain Dept. Aut. Control and Systems Eng. University of the Basque Country (UPV/EHU) Bilbao Spain Department of Electricity and Electronics University of the Basque Country (UPV/EHU) Spain Automatic Control Group - ACG University of the Basque Country (UPV/EHU) Spain

ISBN: (纸本)9781509007073

The Spanish Renewable Energies Plan (SREP) for 2011-2020 and the European Energy Road Map are promoting the use of renewable sources as the best way to avoid the undesired global warming, and in particular, the use of Ocean Energy. Within the different types of on-shore wave-based ocean energy devices, Oscillating Water Column (OWC) converters are one of the widely used ones. An OWC device is basically composed by a capture chamber with a turbo-generator module attached to it. This paper presents the modeling and simulation of OWC on-shore wave power plants. The results are particularised for the case of the Mutriku's power plant and then validated by means of experimental data.

关键词： Turbines Mathematical model Conferences Business Torque Data models

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