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Leader-follower Optimal Selection Method for Distributed Control System in Active Distribution Networks

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 314-323页

作者： Jian Le Liangang Zhao Cao Wang Qian Zhou Yang Wang school of Electrical engineering and automation Wuhan UniversityWuhan 430072China

Aiming at the shortcomings of a traditional centralized control in an active distribution network(AND),this paper proposes a leader-follower distributed group cooperative control strategy to realize multiple operation and control tasks for an *** distributed information exchange protocols of the distributed generation(DG)group devoted to node voltage regulation or exchange power control are developed using a DG power utilization ratio as the consensus *** these bases,this study further investigates the leader optimal selection method for a DG group to improve the response speed of the distributed control ***,a single or multiple leader selection model is established to minimize the constraints of the one-step convergence factor and the number of leaders to improve the response speed of the distributed control *** simulation results of the IEEE 33 bus standard test system show the effectiveness of the proposed distributed control *** addition,the response speed of a DG control group can be improved effectively when the single or multiple leaders are selected optimally.

关键词： Active distribution1network consensus algorithm leader-follower system mixed-integer semidefinite programming optimal distributed control

Distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

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Defence Technology（防务技术） 2024年第1期31卷 429-446页

作者： Shixiong Li Xingling Shao Wendong Zhang Qingzhen Zhang National Key Laboratory for electronic Measurement Technology School of Instrument and ElectronicsNorth University of ChinaTaiyuan 030051China school of automation Science and Electrical engineering Beihang UniversityBeijing 100086China

This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary *** defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving ***,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication ***,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular *** is inferred from Lyapunov stability that all errors are demonstrated to be *** are offered to verify the utility of proposed protocol.

关键词： Angular spacing Distributed observer Multicircular circumnavigation Moving target UAVs

BDSec:Security Authentication Protocol for BeiDou-Ⅱ Civil Navigation Message

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China Communications 2024年第6期21卷 206-218页

作者： Wu Zhijun Zhang Yuan Yang Yiming Wang Peng Yue Meng school of Safety Science and engineering Civil Aviation University of ChinaTianjin 300300China school of electronic Information and automation Civil Aviation University of ChinaTianjin 300300China

Due to the lack of authentication mechanism in BeiDou navigation satellite system(BDS),BD-Ⅱ civil navigation message(BDⅡ-CNAV) are vulnerable to spoofing attack and replay *** solve this problem,we present a security authentication protocol,called as BDSec,which is designed by using China’s cryptography Shangyong Mima(SM) series algorithms,such as SM2/4/9 and Zu Chongzhi(ZUC)*** BDSec protocol,both of BDⅡ-CNAV and signature information are encrypted using the SM4 algorithm(Symmetric encryption mechanism).The encrypted result is used as the subject authentication *** protocol applies SM9 algorithm(Identity-based cryptography mechanism) to protect the integrity of the BDⅡ-CNAV,adopts the SM2 algorithm(Public key cryptosystem) to guarantee the confidentiality of the important session information,and uses the ZUC algorithm(Encryption and integrity algorithm) to verify the integrity of the message authentication serial number and initial information and the information in authentication initialization sub-protocol *** results of the SVO logic reasoning and performance analysis show that BDSec protocol meets security requirements for the dual user identity authentication in BDS and can realize the security authentication of BDⅡ-CNAV.

关键词： BDII civil navigation messages(BDIICNAV) BeiDou navigation satellite system(BDS) identity-based cryptography mechanism navigation message authentication protocol(BDSec)

Visible Light Indoor Positioning System Based on Pisarenko Harmonic Decomposition and Neural Network

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Chinese Journal of electronics 2024年第1期33卷 195-203页

作者： Li ZHAO Yi REN Qi WANG Lange DENG Feng ZHANG school of electronic Information engineering Xi’an Technological University

Visible-light indoor positioning is a new generation of positioning technology that can be integrated into smart lighting and optical communications. The current received signal strength(RSS)-based visible-light positioning systems struggle to overcome the interferences of background and indoor-reflected noise. Meanwhile, when ensuring the lighting, it is impossible to use the superposition of each light source to accurately distinguish light source information; furthermore, it is difficult to achieve accurate positioning in complex indoor environments. This study proposes an indoor positioning method based on a combination of power spectral density detection and a neural network. The system integrates the mechanism for visible-light radiation detection with RSS theory, to build a back propagation neural network model fitting for multiple reflection channels. Different frequency signals are loaded to different light sources at the beacon end, and the characteristic frequency and power vectors are obtained at the location end using the Pisarenko harmonic decomposition method. Then, a complete fingerprint database is established to train the neural network model and conduct location tests. Finally, the location effectiveness of the proposed algorithm is verified via actual positioning experiments. The simulation results show that, when four groups of sinusoidal waves with different frequencies are superimposed with white noise, the maximum frequency error is 0.104 Hz and the maximum power error is 0.0362 W. For the measured positioning stage, a 0.8 m × 0.8 m × 0.8 m solid wood stereoscopic positioning model is constructed, and the average error is 4.28 cm. This study provides an effective method for separating multi-source signal energies, overcoming background noise, and improving indoor visible-light positioning accuracies.

关键词： Neural networks Measurement uncertainty Position measurement Harmonic analysis Light emitting diodes Frequency estimation Indoor positioning systems

Adaptive nonlinear Kalman filters based on credibility theory with noise correlation

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Chinese Journal of Aeronautics 2024年第6期37卷 232-243页

作者： Quanbo GE Zihao SONG Bingtao ZHU Bingjun ZHANG school of automation Nanjing University of Information Science and TechnologyNanjing 210044China Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology Nanjing 210044China school of Electrical and automation engineering East China Jiaotong UniversityNanchang 330013China school of Logistics engineering Shanghai Maritime UniversityShanghai 201306China school of electronic and Information engineering Tongji UniversityShanghai 200092China

To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-based nonlinear filtering methods,we design a new method for estimating noise statistical characteristics of nonlinear systems based on the credibility Kalman Filter(KF)theory considering noise *** method first extends credibility to the Unscented Kalman Filter(UKF)and Extended Kalman Filter(EKF)based on the credibility ***,an optimization model for nonlinear credibility under noise related conditions is established considering noise correlation.A combination of filtering smoothing and credibility iteration formula is used to improve the real-time performance of the nonlinear adaptive credibility KF algorithm,further expanding its application scenarios,and the derivation process of the formula theory is ***,the performance of the nonlinear credibility filtering algorithm is simulated and analyzed from multiple perspectives,and a comparative analysis conducted on specific experimental *** simulation and experimental results show that the proposed credibility EKF and credibility UKF algorithms can estimate the noise covariance more accurately and effectively with lower average estimation time than traditional methods,indicating that the proposed algorithm has stable estimation performance and good real-time performance.

关键词： Kalman filter Extended Kalman Filter(EKF) Unscented Kalman Filter(UKF) Credibility Noise correlation

Distributed Cooperative Secondary Voltage Control in an Unbalanced Microgrid

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 222-234页

作者： Xiangzhen Yang Haixi Zhao Mengke Duan Yan Du Haining Wang Jian Zhang school of Electrical engineering and automation Hefei University of TechnologyHefei 23009China

The negative-sequence reactive power-conductance(Q^(−)-G) droop control strategy is a conventional method to compensate for the output unbalanced voltages in an islanded ***, the conflict between unbalanced voltage compensation and negative-sequence reactive power sharing, caused bythe impedance mismatching of distribution lines and distributedgenerators, has not been solved only by Q^(−)-G droop *** this paper, a distributed cooperative secondary unbalancedvoltage control strategy is proposed to decrease the outputvoltage unbalance factor (VUF) of each droop-controlled DG,as well as to further enhance the negative-sequence reactivepower sharing effectiveness among DGs by properly shiftingup and down the Q^(−)-G droop characteristics of each *** algorithm for adaptive VUF weight coefficient is proposedto better suppress VUF under severe imbalance ***, a negative-sequence small-signal model of an MGunder an unbalanced condition, considering the communicationdelay time of the proposed SUVC, is established to analyze thesystem’s stability and transient performance under the influenceof some critical parameters. Finally, the effectiveness of theproposed strategy is validated by the simulation results froma real-time emulator of StarSim HIL.

关键词： Distributed cooperative control MG negativesequence reactive power starsim real-time platform time delay voltage unbalance compensation

Progress in modeling and control of probe-and-drogue autonomous aerial refueling

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Chinese Journal of Aeronautics 2024年第5期37卷 6-26,I0001页

作者： Jinrui REN Quan QUAN school of automation Xi’an University of Posts&TelecommunicationsXi'an 710072China school of automation Science and Electrical engineering Beihang UniversityBeijing 100191China

By refueling aircraft while they are in flight,aerial refueling is an efficient technique to extend their endurance and *** Aerial Refueling(AAR)is anticipated to be used to complete aerial refueling for unmanned *** are three aerial refueling methods:the Probe-and-Drogue Refueling(PDR)refueling method,the flying-boom refueling method,and the boom-drogue-adapter refueling *** paper considers the PDR approach,the most challenging of the three,because the flexible hose-drogue assembly has fast dynamics and is susceptible to various kinds of winds,which makes the probe docking with the drogue *** is divided into four phases,namely the rendezvous phase,joining phase,refueling phase,and reform phase,with the refueling phase being the most *** controller design faces the greatest challenge during the docking control of the refueling phase since it calls for a high level of safety,precision,and *** a result,the modeling and control issues encountered during the refueling phase are typical and *** fundamental idea of AAR is presented in the paper first,after which the characteristics and requirements of AAR are *** progress in modeling and control techniques for the AAR’s refueling phase is then systematically ***,potential future work for high safety,precision,and efficiency requirements is examined and suggested.

关键词： Aerial refueling Probe-and-drogue refueling Docking Flight controlsystems Unmanned Aerial Vehicles

Coordinated Dispatch Based on Distributed Robust Optimization for Interconnected Urban Integrated Energy and Transmission Systems

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Journal of Modern Power Systems and Clean Energy 2024年第3期12卷 840-851页

作者： Wei Xu Yufeng Guo Tianhui Meng Yingwei Wang Jilai Yu the school of Electrical engineering and automation Harbin Institute of TechnologyHarbin 150001China

To improve the economic efficiency of urban integrated energy systems(UIESs)and mitigate day-ahead dispatch uncertainty,this paper presents an interconnected UIES and transmission system(TS)model based on distributed robust ***,interconnections are established between a TS and multiple UIESs,as well as among different UIESs,each incorporating multiple energy *** Bregman alternating direction method with multipliers(BADMM)is then applied to multi-block problems,ensuring the privacy of each energy system operator(ESO).Second,robust optimization based on wind probability distribution information is implemented for each ESO to address dispatch *** column and constraint generation(C&CG)algorithm is then employed to solve the robust ***,to tackle the convergence and practicability issues overlooked in the existing studies,an external C&CG with an internal BADMM and corresponding acceleration strategy is ***,numerical results demonstrate that the adoption of the proposed model and method for absorbing wind power and managing its uncertainty results in economic benefits.

关键词： Distributed robust optimization distributionally robust dispatch urban integrated energy system transmission system external column and constraint generation(C&CG) internal Bregman alternating direction method with multipliers(BADMM)

Distributed velocity-free formation tracking control for clustered UAVs under virtual leader-follower framework

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Science China(Technological Sciences) 2024年第5期67卷 1538-1552页

作者： ZHANG ZhaoYu DUAN HaiBin school of automation Science and Electrical engineering Beihang UniversityBeijing100083China

The collective formation control problem of a cluster of rotorcraft unmanned aerial vehicles(UAVs)is investigated in this *** consensus tracking towards formation centroid with following UAVs forming a predefined configuration around the leader is considered as the *** prior studies,the information of the central reference trajectory,which is deemed as a virtual leader in the leader-follower topology,is not directly accessible for partial nodes through the communication ***,a novel distributed formation tracking control scheme is ***,a decentralized saturation observer is employed to estimate the reference acceleration signal of the virtual *** the absence of linear velocity measurement,two sliding manifolds are proposed by introducing the relative discrepancy terms of position and *** a smooth saturation operator in the form of a sigmoid function is applied to generate the command force ***,under the dilemma of constrained capabilities of the airborne sensors equipped on the rotorcrafts,the angular velocity is difficult to *** cascaded auxiliary attitude error systems are established on each rotorcraft system to synthesize the rotating torque with no need to require the angular velocity *** to the strong coupling and nonlinearity of the rotorcraft UAV system,the command angular velocity and the derivatives of command input are hard to *** a continuous nonlinear differentiator is proposed to work with the difficulties in deriving the explicit expression of system ***,a detailed stability analysis is conducted progressively on the angular control loop,reference trajectory observer loop,and the position control loop.A simulation scheme for a cluster of four rotorcraft UAVs tracking sinusoidal trajectory are presented and the formation control results are proven advantageous in comparison with the control protocol in previous literature.

关键词： distributed formation control unmanned rotorcraft clusters velocity-free tracking nonlinear differentiator