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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

Stochastic LQ Control with Extra Measurability Restriction

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Journal of Systems science & Complexity 2024年第3期37卷 1003-1022页

作者： WANG Hongxia HU Yuxi LI Zixing SONG Lianfeng College of electrical engineering and automation Shandong University of Science and TechnologyQingdao 266590China

Different from the standard linear quadratic(LQ)problem for stochastic systems,the LQ problem considered in the paper has extra measurability *** problem also appears in the LQ control problem for stochastic systems with delays,rational expectations problems,asymmetric information control,and so *** essential difficulty lies in that one has to optimize the input and its conditional expectations *** stochastic maximum principle(SMP)and orthogonal decomposition technique are the key ***,the authors establish the SMP and convert the original problem into forward and backward stochastic difference equations(FBSDEs)with extra measurability ***,the authors resolve the FBSDEs by using the orthogonal decomposition technique and obtain the analytical solution to the underlying ***,the authors explore the essential distinction between the problem and the standard stochastic LQ control ***,numerical examples are given to illustrate the obtained results.

关键词： Multiplicative noise systems optimal control stochastic maximum principle stochastic systems

Noise-induced phase transition in the Vicsek model through eigen microstate methodology

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Chinese Physics B 2024年第9期33卷 327-338页

作者： Yongnan Jia Jiali Han Qing Li School of automation and electrical engineering University of Science and Technology BeijingBeijing 100083China

This paper presents a comprehensive framework for analyzing phase transitions in collective models such as theVicsek model under various noise types. The Vicsek model, focusing on understanding the collective behaviors of socialanimals, is known due to its discontinuous phase transitions under vector noise. However, its behavior under scalar noiseremains less conclusive. Renowned for its efficacy in the analysis of complex systems under both equilibrium and nonequilibriumstates, the eigen microstate method is employed here for a quantitative examination of the phase transitions inthe Vicsek model under both vector and scalar noises. The study finds that the Vicsek model exhibits discontinuous phasetransitions regardless of noise type. Furthermore, the dichotomy method is utilized to identify the critical points for thesephase transitions. A significant finding is the observed increase in the critical point for discontinuous phase transitions withescalation of population density.

关键词： Vicsek model phase transitions eigen microstate method noise

Coordinated Frequency Control for Isolated Power Systems with High Penetration of DFIG-Based Wind Power

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CSEE Journal of Power and Energy Systems 2024年第4期10卷 1399-1414页

作者： Xin Ding Wei Lin Jian Xu Yuanzhang Sun Liangzhong Yao Beilin Mao School of electrical engineering and automation Wuhan UniversityWuhan 430072China department of electrical engineering and Computer science Case Western Reserve UniversityClevelandOH 44106 USA

This paper proposes a coordinated frequency control scheme for emergency frequency regulation of isolated power systems with a high penetration of wind *** proposed frequency control strategy is based on the novel nonlinear regulator theory,which takes advantage of nonlinearity of doubly fed induction generators(DFIGs)and generators to regulate the frequency of the power *** deviations and power imbalances are used to design nonlinear feedback controllers that achieve the reserve power distribution between generators and DFIGs,in various wind speed *** effectiveness and dynamic performance of the proposed nonlinear coordinated frequency control method are validated through simulations in an actual isolated power grid.

关键词： Frequency control isolated power systems nonlinear feedback nonlinear regulator theory wind power

A new technique for fault diagnosis in transformer insulating oil based on infrared spectroscopy measurements

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High Voltage 2024年第2期9卷 319-335页

作者： Mohamed M.F.Darwish Mohamed H.A.Hassan Nagat M.K.Abdel-Gawad Matti Lehtonen Diaa-Eldin A.Mansour department of electrical engineering Faculty of Engineering at ShoubraBenha UniversityCairoEgypt department of electrical engineering and automation School of Electrical EngineeringAalto UniversityEspooFinland department of electrical Power engineering Egypt-Japan University of Science and Technology(E-JUST)New Borg El-Arab CityEgypt department of electrical Power and Machines engineering Faculty of EngineeringTanta UniversityTantaEgypt

Condition monitoring of the insulating system within power transformers has a massive importance according to the electrical *** gas analysis(DGA)is frequently used for this ***,DGA lacks the necessary level of accuracy to identify all equipment faults,particularly in their initial stages of ***,it does not have the capability for real-time monitoring and relies on manual sampling and laboratory testing,causing potential delays in fault ***,the interpretation of DGA data necessitates specialised expertise,which may pose difficulties for smaller entities that have limited access to ***,the contribution of this research is to use infrared spectroscopy measurements as a new effective technique substituting the DGA method for fault diagnosis in insulating *** inception faults that were considered in this study were the electrical fault(discharges of high energy)and the thermal fault(300°C

关键词： fault diagnosis spectroscopy

Evaluating transient behaviour of large-scale photovoltaic systems during lightning events using enhanced finite difference time domain method with variable cell size approach

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High Voltage 2024年第3期9卷 636-647页

作者： Ibrahim Hetita Diaa-Eldin A.Mansour Yang Han Ping Yang Congling Wang Mohamed M.F.Darwish Matti Lehtonen Amr S.Zalhaf School of Mechanical and electrical engineering University of Electronic Science and Technology of China(UESTC)ChengduChina electrical Power and Machines engineering department Faculty of EngineeringHelwan UniversityCairoEgypt electrical Power and Machines engineering department Faculty of EngineeringTanta UniversityTantaEgypt department of electrical Power engineering Faculty of EngineeringEgypt-Japan University of Science and TechnologyAlexandriaEgypt department of electrical engineering Faculty of Engineering at ShoubraBenha UniversityCairoEgypt department of electrical engineering and automation School of Electrical EngineeringAalto UniversityEspooFinland

Photovoltaic(PV)arrays are usually installed in open areas;hence,they are vulnerable to lightning strikes that can result in cell degradation,complete damage,service disruption,and increased maintenance *** a result,it is imperative to develop an effective and efficient lightning protection system by evaluating the transient behaviour of PV arrays during lightning *** aim is to evaluate the transient analysis of large-scale PV systems when subjected to lightning strikes using the finite difference time domain(FDTD)*** overvoltages are calculated at various points within the mounting *** optimise the FDTD method's execution time and make it more suitable for less powerful hardware,a variable cell size approach is ***,larger cell dimensions are used in the earthing system and smaller cell dimensions are used in the mounting *** FDTD method is utilised to calculate the temporal variation of transient overvoltages for large-scale PV systems under different scenarios,including variations in the striking point,soil resistivity,and the presence of a metal *** results indicate that the highest transient overvoltages occur at the striking point,and these values increase with the presence of a PV metal frame as well as with higher soil ***,a comparison is performed between the overvoltage results obtained from the FDTD approach and the partial element equivalent circuit(PEEC)method at the four corner points of the mounting systems to demonstrate the superior accuracy of the FDTD ***,a laboratory experiment is conducted on a small-scale PV system to validate the simulation *** calculated overvoltages obtained from the FDTD and PEEC methods are compared with the measured values,yielding a mean absolute error of 5%and 11%for the FDTD and PEEC methods,respectively,thereby confirming the accuracy of the FDTD simulation model.

关键词： transient behaviour finite

Decentralized Optimal Control and Stabilization of Interconnected Systems With Asymmetric Information

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 698-707页

作者： Na Wang Xiao Liang Hongdan Li Xiao Lu the College of electrical engineering and automation Shandong University of Science and TechnologyQingdao 266000China the School of automation and electrical engineering Linyi UniversityLinyi 276000China the College of Energy Storage Technology Shandong University of Science and TechnologyQingdao 266000China

The paper addresses the decentralized optimal control and stabilization problems for interconnected systems subject to asymmetric *** with previous work,a closed-loop optimal solution to the control problem and sufficient and necessary conditions for the stabilization problem of the interconnected systems are given for the first *** main challenge lies in three aspects:Firstly,the asymmetric information results in coupling between control and estimation and failure of the separation ***,two extra unknown variables are generated by asymmetric information(different information filtration)when solving forward-backward stochastic difference ***,the existence of additive noise makes the study of mean-square boundedness an *** adopted technique is proving and assuming the linear form of controllers and establishing the equivalence between the two systems with and without additive noise.A dual-motor parallel drive system is presented to demonstrate the validity of the proposed algorithm.

关键词： Asymmetric information decentralized control forwardbackward stochastic difference equations interconnected system stalibization

Robust Distributed Model Predictive Control for Formation Tracking of Nonholonomic Vehicles

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 560-562页

作者： Zhigang Luo Bing Zhu Jianying Zheng Zewei Zheng School of automation science and electrical engineering Beihang UniversityBeijing 100191China

Dear Editor,This letter proposes a robust distributed model predictive control(MPC) strategy for formation tracking of a group of wheeled vehicles subject to constraints and disturbances. Formation control has attract... 详细信息

关键词： letter constraints searching

Linear Quadratic Optimal Control for Systems Governed by First-Order Hyperbolic Partial Differential Equations

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Journal of Systems science & Complexity 2024年第1期37卷 230-252页

作者： XUE Xiaomin XU Juanjuan ZHANG Huanshui School of Control science and engineering Shandong UniversityJinan 250061China College of electrical engineering and automation Shandong University of Science and TechnologyQingdao 266000China

This paper focuses on linear-quadratic(LQ)optimal control for a class of systems governed by first-order hyperbolic partial differential equations(PDEs).Different from most of the previous works,an approach of discretization-then-continuousization is proposed in this paper to cope with the infinite-dimensional nature of PDE *** contributions of this paper consist of the following aspects:(1)The differential Riccati equations and the solvability condition of the LQ optimal control problems are obtained via the discretization-then-continuousization method.(2)A numerical calculation way of the differential Riccati equations and a practical design way of the optimal controller are ***,the relationship between the optimal costate and the optimal state is established by solving a set of forward and backward partial difference equations(FBPDEs).(3)The correctness of the method used in this paper is verified by a complementary continuous method and the comparative analysis with the existing operator results is *** is shown that the proposed results not only contain the classic results of the standard LQ control problem of systems governed by ordinary differential equations as a special case,but also support the existing operator results and give a more convenient form of computation.

关键词： Discretization-then-continuousization method first-order hyperbolic partial differential equations forward and backward partial difference equations linear quadratic optimal control.