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Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang edmond q.wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu edmond q.wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

Snake robots play an important role in social services and military needs

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The Innovation 2022年第6期3卷 25-26页

作者： Dongfang Li Binxin Zhang Yang Xiu Hongbin Deng Miaomiao Zhang Wei Tong Rob Law Guangyu Zhu edmond q.wu Limin Zhu School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Department of Automation Shanghai JiaoTong UniversityShanghai 200240China School of Automation Nanjing University of Science and TechnologyNanjing 210094China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China School of Traffic and Transportation Beijing JiaoTong UniversityBeijing 100044China

Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic development.Snake robots,as multi-redundant bionic robots,play an indispensable and important role in public life and military needs.1 These robots have been widely favored and highly regarded by the academia and industry because of 1)their small size and flexibility,thereby easily entering small spaces for work,2)their ability to carry a variety of equipment for disaster rescue and military reconnaissance,and 3)their variety of movement modes,which can adapt to various complex terrain environments.

关键词： Snake services military

A Hybrid Signal Processing Method Combining Mathematical Morphology and Walsh Theory for Power quality Disturbance Detection and Classification

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 584-592页

作者： Zhi Ding Tianyao Ji Mengshi Li q.H.wu School of Electric Power Engineering South China University of Technology(SCUT)Guangzhou 510641China

In this paper, a novel signal processing method combining mathematical morphology (MM) and Walsh theory is proposed, which uses Walsh functions to control the structuring element (SE) and MM operators. Based on the Walsh-MM method, a scheme for power quality disturbances detection and classification is developed, which involves three steps: denoising, feature extraction and morphological clustering. First, various evolution rules of Walsh function are used to generate groups of SEs for the multiscale Walsh-ordered morphological operation, so the original signal can be denoised. Next, the fundamental wave of the denoised signal is suppressed by Hadamard matrix;thus, disturbances can be extracted. Finally, the Walsh power spectrum of the waveform extracted in the previous step is calculated, and the parameters of which are taken by morphological clustering to classify the disturbances. Simulation results reveal the proposed scheme can effectively detect and classify disturbances, and the Walsh-MM method is less affected by noise and only involves simple calculation, which has a potential to be implemented in hardware and more suitable for real-time application.

关键词： Hadamard matrix mathematical morphology morphological clustering power quality disturbance Walsh theory

Location of Asymmetric Ground Fault Using Virtual Injected Current Ratio and Two-stage Recovery Strategy in Distribution Networks

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 151-161页

作者： Haiting Shan Luliang Zhang q.H.wu Mengshi Li School of Electric Power Engineering South China University of Technology(SCUT)Guangzhou 510641China

Sparse measurements challenge fault location in distribution networks.This paper proposes a method for asymmetric ground fault location in distribution networks with limited measurements.A virtual injected current vector is formulated to estimate the fault line,which can be reconstructed from voltage sags measured at a few buses using compressive sensing(CS).The relationship between the virtual injected current ratio(VICR)and fault position is deduced from circuit analysis to pinpoint the fault.Furthermore,a two-stage recovery strategy is proposed for improving reconstruction accuracy of the current vector,where two different sensing matrixes are utilized to improve the incoherence.The proposed method is validated in IEEE 34 node test feeder.Simulation results show asymmetric ground fault type,resistance,fault position and access of distributed generators(DGs)do not significantly influence performance of our method.In addition,it works effectively under various scenarios of noisy measurement and line parameter error.Validations on 134 node test feeders prove the proposed method is also suitable for systems with more complex structure.

关键词： Distribution networks fault location reconstruction accuracy two-stage recovery virtual injected current ratio

Convexification of Hybrid AC-DC Optimal Power Flow with Line-Commutated Converters

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 617-628页

作者： Hongyuan Liang Zhigang Li J.H.Zheng q.H.wu School of Electric Power Engineering South China University of TechnologyGuangzhou 510641China

Line-commutated converter (LCC)-based high-voltage DC (HVDC) systems have been integrated with bulk AC power grids for interregional transmission of renewable power. The nonlinear LCC model brings additional nonconvexity to optimal power flow (OPF) of hybrid AC-DC power grids. A convexification method for the LCC station model could address such nonconvexity but has rarely been discussed. We devise an equivalent reformulation for classical LCC station models that facilitates second-order cone convex relaxation for the OPF of LCC-based AC-DC power grids. We also propose sufficient conditions for exactness of convex relaxation with its proof. Equivalence of the proposed LCC station models and properties, exactness, and effectiveness of convex relaxation are verified using four numerical simulations. Simulation results demonstrate a globally optimal solution of the original OPF can be efficiently obtained from relaxed model.

关键词： AC-DC power system convex relaxation linecommutated converter optimal power flow second-order cone programming

Estimating Critical Clearing Time of Grid Faults Using DA of State-Reduction Model of Power Systems

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 807-820页

作者： Yang Liu Zhongyang Chen Huanjin Yao Lin Yi q.H.wu School of Electric Power Engineering South China University of TechnologyGuangzhou 510640China China Southern Power Grid Research Institute Guangzhou 510663China

This paper proposes a critical clearing time (CCT) estimation method by the domain of attraction (DA) of a state-reduction model of power systems using sum of squares (SOS) programming. By exploiting the property of the Jacobian matrix and the structure of the boundary of the DA, it is found the DA of the state-reduction model and that of the full model of a power system are topological isomorphism. There are one-to-one correspondence relationships between the number of equilibrium points, the type of equilibrium points, and solutions of the two system models. Based on these findings, an expanding interior algorithm is proposed with SOS programming to estimate the DA of the state-reduction model. State trajectories of the full model can be transformed to those of the state-reduction model by orthogonal or equiradius projection. In this way, CCT of a grid fault is estimated with the DA of the state-reduction model. The calculational burden of SOS programming in the DA estimation using the state-reduction model is rather small compared with using the full model. Simulation results show the proposed expanding interior algorithm is able to provide a tight estimation of DA of power systems with higher accuracy and lower time costs.

关键词： Critical clearing time domain of attraction expanding interior algorithm state-reduction model SOS programming

Network Embedding Algorithm for Vulnerability Assessment of Power Transmission Lines Using Integrated Structure and Attribute Information

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 351-360页

作者： Xianglong Lian Tong qian Zepeng Li Xingyu Chen Wenhu Tang q.H.wu School of Electric Power Engineering South China University of TechnologyGuangzhou 510640China

In power systems,failures of vulnerable lines can trigger large-scale cascading failures,and vulnerability assessment is dedicated to locating these lines and reducing the risks of such failures.Based on a structure and attribute network embedding(SANE)algorithm,a novel quantitative vulnerability analysis method is proposed to identify vulnerable lines in this research.First,a two-layered random walk network with topological and electrical properties of transmission lines is established.Subsequently,based on the weighted degree of nodes in the two-layered network,the inter-layer and intra-layer walking transition probabilities are developed to obtain walk sequences.Then,a Word2Vec algorithm is applied to obtain lowdimension vectors representing transmission lines,according to obtained walk sequences for calculating the vulnerability index of transmissions lines.Finally,the proposed method is compared with three widely used methods in two test systems.Results show the network embedding based method is superior to those comparison methods and can provide guidance for identifying vulnerable lines.

关键词： Network embedding random walk transmission lines vulnerability assessment

Observability Analysis of Integrated Electricity and Heating Systems with Thermal quasi-dynamics in Pipelines

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CSEE Journal of Power and Energy Systems 2024年第3期10卷 1145-1158页

作者： Zhigang Li Wenjian Zheng Junbo Zhao J.H.Zheng q.H.wu School of Electric Power Engineering South China University of TechnologyGuangzhou 510641China Fuzhou Changle District Power Supply Company of State Grid Fujian Electric Power Co. Ltd.Fuzhou 350000China Department of Electrical and Computer Engineering University of ConnecticutStorrsCT 06269USA CSEE IEEE

Observability analysis(OA)is vital to obtaining the available input measurements of state estimation(SE)in an integrated electricity and heating system(IEHS).Considering the thermal quasi-dynamics in pipelines,the measurement equations in heating systems are dependent on the estimated results,leading to an interdependency between OA and SE.Conventional OA methods require measurement equations be known exactly before SE is performed,and they are not applicable to IEHSs.To bridge this gap,a scenario-based OA scheme for IEHSs is devised that yields reliable analysis results for a predefined set of time-delay scenarios to cope with this interdependency.As its core procedure,the observable state identification and observability restoration are formulated in terms of integer linear programming.Numerical tests are conducted to demonstrate the validity and superiority of the proposed formulation.

关键词： Integrated electricity and heating system measurement observability analysis state estimation thermal quasi-dynamics