A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis o...A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.展开更多
This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generati...This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.展开更多
In wind power transmission via modular multilevel converter based high voltage direct current(MMCHVDC)systems,under traditional control strategies,MMC-HVDCcannot provide inertia support to the receiving-end grid(REG)d...In wind power transmission via modular multilevel converter based high voltage direct current(MMCHVDC)systems,under traditional control strategies,MMC-HVDCcannot provide inertia support to the receiving-end grid(REG)during disturbances.Moreover,due to the frequency decoupling between the two ends of the MMCHVDC,the sending-end wind farm(SEWF)cannot obtain the frequency variation information of the REG to provide inertia response.Therefore,this paper proposes a novel coordinated source-network-storage inertia control strategy based on wind power transmission via MMC-HVDC system.First,the grid-side MMC station(GS-MMC)maps the frequency variations of the REG to direct current(DC)voltage variations through the frequency mapping control,and uses submodule capacitor energy to provide inertial power.Then,the wind farm-side MMC station(WF-MMC)restores the DC voltage variations to frequency variations through the frequency restoration control and power loss compensation,providing real-time frequency information for the wind farm.Finally,based on real-time frequency information,thewind farmutilizes the rotor kinetic energy and energy storage to provide fast and lasting power support through the wind-storage coordinated inertia control strategy.Meanwhile,when the wind turbines withdraw from the inertia response phase,the energy storage can increase the power output to compensate for the power deficit,preventing secondary frequency drops.Furthermore,this paper uses small-signal analysis to determine the appropriate values for the key parameters of the proposed control strategy.A simulation model of the wind power transmission via MMCHVDC system is built in MATLAB/Simulink environment to validate and evaluate the proposed method.The results show that the proposed coordinated control strategy can effectively improve the system inertia level and avoid the secondary frequency drop under the load sudden increase condition.展开更多
The precise tuning of magnetic nanoparticle size and magnetic domains,thereby shaping magnetic properties.However,the dynamic evolution mechanisms of magnetic domain configurations in relation to electromagnetic(EM)at...The precise tuning of magnetic nanoparticle size and magnetic domains,thereby shaping magnetic properties.However,the dynamic evolution mechanisms of magnetic domain configurations in relation to electromagnetic(EM)attenuation behavior remain poorly understood.To address this gap,a thermodynamically controlled periodic coordination strategy is proposed to achieve precise modulation of magnetic nanoparticle spacing.This approach unveils the evolution of magnetic domain configurations,progressing from individual to coupled and ultimately to crosslinked domain configurations.A unique magnetic coupling phenomenon surpasses the Snoek limit in low-frequency range,which is observed through micromagnetic simulation.The crosslinked magnetic configuration achieves effective low-frequency EM wave absorption at 3.68 GHz,encompassing nearly the entire C-band.This exceptional magnetic interaction significantly enhances radar camouflage and thermal insulation properties.Additionally,a robust gradient metamaterial design extends coverage across the full band(2–40 GHz),effectively mitigating the impact of EM pollution on human health and environment.This comprehensive study elucidates the evolution mechanisms of magnetic domain configurations,addresses gaps in dynamic magnetic modulation,and provides novel insights for the development of high-performance,low-frequency EM wave absorption materials.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
This paper concerns the exponential attitude-orbit coordinated control problems for gravitational-wave detection formation spacecraft systems.Notably,the large-scale communication delays resulting from oversized inter...This paper concerns the exponential attitude-orbit coordinated control problems for gravitational-wave detection formation spacecraft systems.Notably,the large-scale communication delays resulting from oversized inter-satellite distance of space-based laser interferometers are first modeled.Subject to the delayed communication behaviors,a new delay-dependent attitude-orbit coordinated controller is designed.Moreover,by reconstructing the less conservative Lyapunov-Krasovskii functional and free-weight matrices,sufficient criteria are derived to ensure the exponential stability of the closed-loop relative translation and attitude error system.Finally,a simulation example is employed to illustrate the numerical validity of the proposed controller for in-orbit detection missions.展开更多
Conventional coordinated control strategies for DC bus voltage signal(DBS)in islanded DC microgrids(IDCMGs)struggle with coordinating multiple distributed generators(DGs)and cannot effectively incorporate state of cha...Conventional coordinated control strategies for DC bus voltage signal(DBS)in islanded DC microgrids(IDCMGs)struggle with coordinating multiple distributed generators(DGs)and cannot effectively incorporate state of charge(SOC)information of the energy storage system,thereby reducing the system flexibility.In this study,we propose an adaptive coordinated control strategy that employs a two-layer fuzzy neural network controller(FNNC)to adapt to varying operating conditions in an IDCMG with multiple PV and battery energy storage system(BESS)units.The first-layer FNNC generates optimal operating mode commands for each DG,thereby avoiding the requirement for complex operating modes based on SOC segmentation.An optimal switching sequence logic prioritizes the most appropriate units during mode transitions.The second-layer FNNC dynamically adjusts the droop power to overcome power distribution challenges among DG groups.This helps in preventing the PV power from exceeding the limits and mitigating the risk of BESS overcharging or over-discharging.The simulation results indicate that the proposed strategy enhances the coordinated operation of multi-DG IDCMGs,thereby ensuring the efficient and safe utilization of PV and BESS.展开更多
Dear Editor,This letter is concerned with a coordinated path following control method for multiple unmanned underwater vehicles(UUVs)to carry out maritime search and rescue(MSR)missions.The kinetic model parameters of...Dear Editor,This letter is concerned with a coordinated path following control method for multiple unmanned underwater vehicles(UUVs)to carry out maritime search and rescue(MSR)missions.The kinetic model parameters of each UUV is totally unknown.Firstly,a kinematic control law is constructed by designing a vertical line-of-sight(LOS)guidance scheme.展开更多
With the advent of in-wheel motors and corner modules,the structure of vehicle chassis subsystems has shifted from traditionally centralized to distributed.This review focuses on the distributed chassis system(DCS)equ...With the advent of in-wheel motors and corner modules,the structure of vehicle chassis subsystems has shifted from traditionally centralized to distributed.This review focuses on the distributed chassis system(DCS)equipped with corner modules.It first provides a comprehensive summary and description of the revolution of the structure and control methods of vehicle chassis systems(including driving,braking,suspension,and steering systems).Given that DCS integrates various chassis subsystems,this review moves beyond individual subsystem analysis and delves into the coordination of these subsystems at the vehicle level.It provides a detailed summary of the methods and architectures used for integrated coordination and control,ensuring that multiple subsystems can function seamlessly as an integrated whole.Finally,this review summarizes the latest distributed control architecture for DCS.It also examines current control theories in the fields of control and information technology for distributed systems,such as multi-agent systems and cyber-physical systems.Based on these two control approaches,a multi-domain cooperative control framework for DCS is proposed.展开更多
In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of un...In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.展开更多
To investigate the control of morphing wings by means of interacting effectors,this article proposes a distributed coordinated control scheme with sampled communication on the basis of a simple morphing wing model,est...To investigate the control of morphing wings by means of interacting effectors,this article proposes a distributed coordinated control scheme with sampled communication on the basis of a simple morphing wing model,established with arrayed agents. The control scheme can change the shape of airfoil into an expected one and keep it smooth during morphing. As the interconnection of communication network and the agents would make the behavior of the morphing wing system complicated,a diagrammatic stability analysis method is put forward to ensure the system stability. Two simulations are carried out on the morphing wing system by using MATLAB. The results stand witness to the feasibility of the distributed coordinated control scheme and the effectiveness of the diagrammatic stability analysis method.展开更多
In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on obje...In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.展开更多
Enhancing traffic efficiency and alleviating(even circumventing)traffic congestion with advanced traffic signal control(TSC)strategies are always the main issues to be addressed in urban transportation systems.Since m...Enhancing traffic efficiency and alleviating(even circumventing)traffic congestion with advanced traffic signal control(TSC)strategies are always the main issues to be addressed in urban transportation systems.Since model predictive control(MPC)has a lot of advantages in modeling complex dynamic systems,it has been widely studied in traffic signal control over the past 20 years.There is a need for an in-depth understanding of MPC-based TSC methods for traffic networks.Therefore,this paper presents the motivation of using MPC for TSC and how MPC-based TSC approaches are implemented to manage and control the dynamics of traffic flows both in urban road networks and freeway networks.Meanwhile,typical performance evaluation metrics,solution methods,examples of simulations,and applications related to MPC-based TSC approaches are reported.More importantly,this paper summarizes the recent developments and the research trends in coordination and control of traffic networks with MPC-based TSC approaches.Remaining challenges and open issues are discussed towards the end of this paper to discover potential future research directions.展开更多
An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims t...An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.展开更多
The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(UAVs).First,a distributed MPC framework is designed and...The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(UAVs).First,a distributed MPC framework is designed and each member only shares the information with neighbors.The Chaotic Grey Wolf Optimization(CGWO)method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem(FHOCP).Then,the distributed cost function is designed and integrated into each FHOCP to achieve multi-UAV formation control and trajectory tracking with no-fly zone constraint.Further,an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach,which considers the predicted state errors and the convergence of cost function.Simulation results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-UAV coordination control than traditional method.展开更多
Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utili...Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system.展开更多
The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditiona...The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditional gliders and AUVs.The research on control strategy and energy consumption minimization for the hybrid gliders is necessary both in methodology and experiment. A multi-layer coordinate control strategy is developed for the fleet of hybrid underwater gliders to control the gliders’ motion and formation geometry with optimized energy consumption. The inner layer integrated in the onboard controller and the outer layer integrated in the ground control center or the deck controller are designed. A coordinate control model is proposed based on multibody theory through adoption of artificial potential fields. Considering the existence of ocean flow, a hybrid motion energy consumption model is constructed and an optimization method is designed to obtain the heading angle, net buoyancy, gliding angle and the rotate speed of screw propeller to minimize the motion energy with consideration of the ocean flow. The feasibility of the coordinate control system and motion optimization method has been verified both by simulation and sea trials. Simulation results show the regularity of energy consumption with the control variables. The fleet of three Petrel-Ⅱ gliders developed by Tianjin University is deployed in the South China Sea. The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy. The results of simulation and the sea trial prove the feasibility of the proposed coordinate control strategy and energy optimization method. In conclusion, a coordinate control system and a motion optimization method is studied, which can be used for reference in theoretical research and practical fleet operation for both the traditional gliders and hybrid gliders.展开更多
Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w...Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.展开更多
The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better und...The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently needed.Here,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution regions.The results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.展开更多
文摘A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.
基金supported by the National Natural Science Foundation of China (11072002,10832006)
文摘This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.
基金funded by State Grid Corporation of China Central Branch Technology Project(52140024000C).
文摘In wind power transmission via modular multilevel converter based high voltage direct current(MMCHVDC)systems,under traditional control strategies,MMC-HVDCcannot provide inertia support to the receiving-end grid(REG)during disturbances.Moreover,due to the frequency decoupling between the two ends of the MMCHVDC,the sending-end wind farm(SEWF)cannot obtain the frequency variation information of the REG to provide inertia response.Therefore,this paper proposes a novel coordinated source-network-storage inertia control strategy based on wind power transmission via MMC-HVDC system.First,the grid-side MMC station(GS-MMC)maps the frequency variations of the REG to direct current(DC)voltage variations through the frequency mapping control,and uses submodule capacitor energy to provide inertial power.Then,the wind farm-side MMC station(WF-MMC)restores the DC voltage variations to frequency variations through the frequency restoration control and power loss compensation,providing real-time frequency information for the wind farm.Finally,based on real-time frequency information,thewind farmutilizes the rotor kinetic energy and energy storage to provide fast and lasting power support through the wind-storage coordinated inertia control strategy.Meanwhile,when the wind turbines withdraw from the inertia response phase,the energy storage can increase the power output to compensate for the power deficit,preventing secondary frequency drops.Furthermore,this paper uses small-signal analysis to determine the appropriate values for the key parameters of the proposed control strategy.A simulation model of the wind power transmission via MMCHVDC system is built in MATLAB/Simulink environment to validate and evaluate the proposed method.The results show that the proposed coordinated control strategy can effectively improve the system inertia level and avoid the secondary frequency drop under the load sudden increase condition.
基金supported by the National Natural Science Foundation of China(22265021,52231007,and 12327804)the Aeronautical Science Foundation of China(2020Z056056003)Jiangxi Provincial Natural Science Foundation(20232BAB212004).
文摘The precise tuning of magnetic nanoparticle size and magnetic domains,thereby shaping magnetic properties.However,the dynamic evolution mechanisms of magnetic domain configurations in relation to electromagnetic(EM)attenuation behavior remain poorly understood.To address this gap,a thermodynamically controlled periodic coordination strategy is proposed to achieve precise modulation of magnetic nanoparticle spacing.This approach unveils the evolution of magnetic domain configurations,progressing from individual to coupled and ultimately to crosslinked domain configurations.A unique magnetic coupling phenomenon surpasses the Snoek limit in low-frequency range,which is observed through micromagnetic simulation.The crosslinked magnetic configuration achieves effective low-frequency EM wave absorption at 3.68 GHz,encompassing nearly the entire C-band.This exceptional magnetic interaction significantly enhances radar camouflage and thermal insulation properties.Additionally,a robust gradient metamaterial design extends coverage across the full band(2–40 GHz),effectively mitigating the impact of EM pollution on human health and environment.This comprehensive study elucidates the evolution mechanisms of magnetic domain configurations,addresses gaps in dynamic magnetic modulation,and provides novel insights for the development of high-performance,low-frequency EM wave absorption materials.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金supported by the Na⁃tional Key R&D Program of China(No.2022YFC2204800)the Graduate Student Independent Exploration and Innovation Program of Central South University(No.2024ZZTS 0767).
文摘This paper concerns the exponential attitude-orbit coordinated control problems for gravitational-wave detection formation spacecraft systems.Notably,the large-scale communication delays resulting from oversized inter-satellite distance of space-based laser interferometers are first modeled.Subject to the delayed communication behaviors,a new delay-dependent attitude-orbit coordinated controller is designed.Moreover,by reconstructing the less conservative Lyapunov-Krasovskii functional and free-weight matrices,sufficient criteria are derived to ensure the exponential stability of the closed-loop relative translation and attitude error system.Finally,a simulation example is employed to illustrate the numerical validity of the proposed controller for in-orbit detection missions.
基金supported by National Key R&D Program of ChinaunderGrant,(2021YFB2601403).
文摘Conventional coordinated control strategies for DC bus voltage signal(DBS)in islanded DC microgrids(IDCMGs)struggle with coordinating multiple distributed generators(DGs)and cannot effectively incorporate state of charge(SOC)information of the energy storage system,thereby reducing the system flexibility.In this study,we propose an adaptive coordinated control strategy that employs a two-layer fuzzy neural network controller(FNNC)to adapt to varying operating conditions in an IDCMG with multiple PV and battery energy storage system(BESS)units.The first-layer FNNC generates optimal operating mode commands for each DG,thereby avoiding the requirement for complex operating modes based on SOC segmentation.An optimal switching sequence logic prioritizes the most appropriate units during mode transitions.The second-layer FNNC dynamically adjusts the droop power to overcome power distribution challenges among DG groups.This helps in preventing the PV power from exceeding the limits and mitigating the risk of BESS overcharging or over-discharging.The simulation results indicate that the proposed strategy enhances the coordinated operation of multi-DG IDCMGs,thereby ensuring the efficient and safe utilization of PV and BESS.
基金supported by the National Science and Technology Major Project(2022ZD0119902)the Doctoral Scientific Research Foundation of Liaoning Province(2023-BS-077)+2 种基金the Postdoctoral Research Foundation of China(2024M751980)the Open Project of State Key Laboratory of Maritime Technology and Safety(SKLMTA-DMU2024Y3)Bolian Research Funds of Dalian Maritime University/Fundamental Research Funds for the Central Universities(3132023616).
文摘Dear Editor,This letter is concerned with a coordinated path following control method for multiple unmanned underwater vehicles(UUVs)to carry out maritime search and rescue(MSR)missions.The kinetic model parameters of each UUV is totally unknown.Firstly,a kinematic control law is constructed by designing a vertical line-of-sight(LOS)guidance scheme.
基金Supported by National Natural Science Foundation of China(Grant Nos.52072072,52025121,52394263).
文摘With the advent of in-wheel motors and corner modules,the structure of vehicle chassis subsystems has shifted from traditionally centralized to distributed.This review focuses on the distributed chassis system(DCS)equipped with corner modules.It first provides a comprehensive summary and description of the revolution of the structure and control methods of vehicle chassis systems(including driving,braking,suspension,and steering systems).Given that DCS integrates various chassis subsystems,this review moves beyond individual subsystem analysis and delves into the coordination of these subsystems at the vehicle level.It provides a detailed summary of the methods and architectures used for integrated coordination and control,ensuring that multiple subsystems can function seamlessly as an integrated whole.Finally,this review summarizes the latest distributed control architecture for DCS.It also examines current control theories in the fields of control and information technology for distributed systems,such as multi-agent systems and cyber-physical systems.Based on these two control approaches,a multi-domain cooperative control framework for DCS is proposed.
基金supported in part by the National Key R&D Program of China(No.2023YFB4704400)in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.
基金National Natural Science Foundation of China (90605007)
文摘To investigate the control of morphing wings by means of interacting effectors,this article proposes a distributed coordinated control scheme with sampled communication on the basis of a simple morphing wing model,established with arrayed agents. The control scheme can change the shape of airfoil into an expected one and keep it smooth during morphing. As the interconnection of communication network and the agents would make the behavior of the morphing wing system complicated,a diagrammatic stability analysis method is put forward to ensure the system stability. Two simulations are carried out on the morphing wing system by using MATLAB. The results stand witness to the feasibility of the distributed coordinated control scheme and the effectiveness of the diagrammatic stability analysis method.
文摘In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.
基金supported in part by the National Natural Science Foundation of China(61603154,61773343,61621002,61703217)the Natural Science Foundation of Zhejiang Province(LY15F030021,LY19F030014)Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University,China(ICT1800407)
文摘Enhancing traffic efficiency and alleviating(even circumventing)traffic congestion with advanced traffic signal control(TSC)strategies are always the main issues to be addressed in urban transportation systems.Since model predictive control(MPC)has a lot of advantages in modeling complex dynamic systems,it has been widely studied in traffic signal control over the past 20 years.There is a need for an in-depth understanding of MPC-based TSC methods for traffic networks.Therefore,this paper presents the motivation of using MPC for TSC and how MPC-based TSC approaches are implemented to manage and control the dynamics of traffic flows both in urban road networks and freeway networks.Meanwhile,typical performance evaluation metrics,solution methods,examples of simulations,and applications related to MPC-based TSC approaches are reported.More importantly,this paper summarizes the recent developments and the research trends in coordination and control of traffic networks with MPC-based TSC approaches.Remaining challenges and open issues are discussed towards the end of this paper to discover potential future research directions.
基金Supported in part by Ministry of Science and Technology of the People’s Republic of China(Grant No.2017YFB0103600)Beijing Municipal Science and Technology Commission via the Beijing Nova Program(Grant No.Z201100006820007).
文摘An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.
基金co-supported by the National Natural Science Foundation of China(Nos.61803009,61903084)Fundamental Research Funds for the Central Universities of China(No.YWF-20-BJ-J-542)Aeronautical Science Foundation of China(No.20175851032)。
文摘The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(UAVs).First,a distributed MPC framework is designed and each member only shares the information with neighbors.The Chaotic Grey Wolf Optimization(CGWO)method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem(FHOCP).Then,the distributed cost function is designed and integrated into each FHOCP to achieve multi-UAV formation control and trajectory tracking with no-fly zone constraint.Further,an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach,which considers the predicted state errors and the convergence of cost function.Simulation results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-UAV coordination control than traditional method.
基金by a project under the scheme entitled“Developing Policies&Adaptation Strategies to Climate Change in the Baltic Sea Region”(ASTRA),Project No.ASTRA6-4(2014-2020.4.01.16-0032).
文摘Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system.
基金Supported by National Key R&D Plan of China(Grant No.2016YFC0301100)National Natural Science Foundation of China(Grant Nos.51475319,51575736,41527901)Aoshan Talents Program of Qingdao National Laboratory for Marine Science and Technology,China
文摘The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditional gliders and AUVs.The research on control strategy and energy consumption minimization for the hybrid gliders is necessary both in methodology and experiment. A multi-layer coordinate control strategy is developed for the fleet of hybrid underwater gliders to control the gliders’ motion and formation geometry with optimized energy consumption. The inner layer integrated in the onboard controller and the outer layer integrated in the ground control center or the deck controller are designed. A coordinate control model is proposed based on multibody theory through adoption of artificial potential fields. Considering the existence of ocean flow, a hybrid motion energy consumption model is constructed and an optimization method is designed to obtain the heading angle, net buoyancy, gliding angle and the rotate speed of screw propeller to minimize the motion energy with consideration of the ocean flow. The feasibility of the coordinate control system and motion optimization method has been verified both by simulation and sea trials. Simulation results show the regularity of energy consumption with the control variables. The fleet of three Petrel-Ⅱ gliders developed by Tianjin University is deployed in the South China Sea. The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy. The results of simulation and the sea trial prove the feasibility of the proposed coordinate control strategy and energy optimization method. In conclusion, a coordinate control system and a motion optimization method is studied, which can be used for reference in theoretical research and practical fleet operation for both the traditional gliders and hybrid gliders.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of China
文摘Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.
基金supported by the National Natural Science Foundation of China(No.91844301)by the Beijing Municipal Natural Science Fund(No.JQ21030)。
文摘The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently needed.Here,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution regions.The results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.
