To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies base...To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.展开更多
This paper introduces a multi-model approach to design a robust supplementary damping controller. The designed fixed-order supplementary damping controller adjusts the voltage reference set point of SVC. There are two...This paper introduces a multi-model approach to design a robust supplementary damping controller. The designed fixed-order supplementary damping controller adjusts the voltage reference set point of SVC. There are two main objectives of the controller design, damping low frequencies oscillations and enhancing power system stability. This method relies on shaping the closed-loop sensitivity functions in the Nyquist plot under the constraints of these functions. These constraints can be linearized by choosing a desired open-loop transfer function. The robust controller is designed to minimize the error between the open-loop of the original plant model and the desired transfer functions. These outcomes can be achieved by using convex optimization methods. Convexity of the problem formulation ensures global optimality. One of the advantages of the proposed approach is that the approach accounts for multi-model uncertainty. In contrast to the methods available in the literature, the proposed approach deals with full-order model (i.e., model reduction is not required) with lower controller order. The issue of time delay of feedback signals has been addressed in this paper for different values of time delay by applying a multi-model optimization technique. The proposed approach is compared to other existing techniques to design a robust controller which is based on H2 under pole placement. Both techniques are applied to the 68-bus system to evaluate and validate the robust controller performance under different load scenarios and different wind generations.展开更多
Inter-networking Mobile Number Portability(MNP) is an important way to promote the development of new telecom services.For the congestion that always occurs on the MNP query nodes,this paper proposes a Q-learning-base...Inter-networking Mobile Number Portability(MNP) is an important way to promote the development of new telecom services.For the congestion that always occurs on the MNP query nodes,this paper proposes a Q-learning-based inter-networking mobile number portability congestion control mechanism,taking the node queue delay and query service stability as the control targets,based on the optimal decision which is made over mobile user number portability query through self-adaptive connection admission control.The simulation and analysis show that,compared with tail-drop,random early detection and other mechanisms,this mechanism realizes a smoother and more regular queue size when the load is relatively light;and maintains a relatively low and stable queue size with relatively small loss when the load is relatively heavy,thus improving QoS and increasing network throughput at lower cost.展开更多
Inter-area low frequency oscillation in power system is one of the major problems for bulk power transmission through weak tie lines.Use of wide-area signal is more effective than the local area signal in damping out ...Inter-area low frequency oscillation in power system is one of the major problems for bulk power transmission through weak tie lines.Use of wide-area signal is more effective than the local area signal in damping out the inter-area oscillations.Wide area measurement system(WAMS)is convenient to transmit the wide area signal through the communication channel to the remote location.Communication failure is one of the disastrous phenomena in a communication channel.In this paper,a dual input single output(DISO)Hm controller is designed to build the control resiliency by employing two highest observability ranking wide area signals with respect to the critical damping inter-area mode.The proposed controller can provide sufficient damping to the system and also the system remains stabilized if one of the wide-area signals is lost.The time delay is an unwanted phenomenon that degrades the performance of the controllers.The unified Smith predictor approach is used to design a Hm controller to handle the time delay.Kundur's two-area and IEEE-39 bus test systems are considered to verify the effectiveness of the proposed controller.From the simulation results,it is verified that,the proposed controller provides excellent damping performance at normal communication and improves the controller resiliency to counteract the communication failure.展开更多
In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been m...In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44% and 61% in the presence of constant and time-varying disturbances respectively.展开更多
This paper presents an approach for the optimal design of a new retrofit technique called weakening and damping that is valid for civil engineering inelastic structures. An alternative design methodology is developed ...This paper presents an approach for the optimal design of a new retrofit technique called weakening and damping that is valid for civil engineering inelastic structures. An alternative design methodology is developed with respect to the existing ones that is able to determine the locations and the magnitude of weakening and/or softening of structural elements and adding damping while insuring structural stability. An optimal polynomial controller that is a summation of polynomials in nonlinear states is used in Phase I of the method to reduce the peak response quantities of seismically excited nonlinear or hysteretic systems. The main advantage of the optimal polynomial controller is that it is able to automatically stabilize the structural system. The optimal design of a shear-type structure is used as an example to illustrate the feasibility of the proposed approach, which leads to a reduction of both peak inter-story drifts and peak total accelerations.展开更多
In this paper, we propose a novel uplink power control algorithm, SMST, for multiple-input multiple-output orthogonal frequency-division multiple access （MIMQ-OFDMA）.We perform an extensive system-level simulation t...In this paper, we propose a novel uplink power control algorithm, SMST, for multiple-input multiple-output orthogonal frequency-division multiple access （MIMQ-OFDMA）.We perform an extensive system-level simulation to compare different uplink power control algorithms, including the FPC adopted in 3GPP LTE and LTE-Advanced. Simulations show that SMST adopted in IEEE 802.16m outperforms other algorithms in terms of spectral efficiency, cell-edge performance, interference control, and trade-off control between sector-accumulated throughput and cell-edge user throughput. The SMST performance gain over FPC can be more than 40%展开更多
Space electromagnetic docking technology, free of propellant and plume contamination, offers continuous, reversible and synchronous controllability, which is widely applied in the future routine on-orbit servicing mis...Space electromagnetic docking technology, free of propellant and plume contamination, offers continuous, reversible and synchronous controllability, which is widely applied in the future routine on-orbit servicing missions. Due to the inherent nonlinearities, couplings and uncertainties of an electromagnetic force model, the dynamics and control problems of them are difficult. A new modeling approach for relative motion dynamics with intersatellite force is proposed. To resolve these control problems better, a novel nonlinear control method for soft space electro-magnetic docking is proposed, which combines merits of artificial potential function method, Lyapunov theory and extended state observer. In addition, the angular momentum management problem of space electromagnetic docking and approaches of handling it by exploiting the Earth＇s magnetic torque are investigated. Finally, nonlinear simulation results demonstrate the feasibility of the dynamic model and the novel nonlinear control method.展开更多
基金Supported by the Ministerial Level Advanced Research Foundation(40401060305)
文摘To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.
文摘This paper introduces a multi-model approach to design a robust supplementary damping controller. The designed fixed-order supplementary damping controller adjusts the voltage reference set point of SVC. There are two main objectives of the controller design, damping low frequencies oscillations and enhancing power system stability. This method relies on shaping the closed-loop sensitivity functions in the Nyquist plot under the constraints of these functions. These constraints can be linearized by choosing a desired open-loop transfer function. The robust controller is designed to minimize the error between the open-loop of the original plant model and the desired transfer functions. These outcomes can be achieved by using convex optimization methods. Convexity of the problem formulation ensures global optimality. One of the advantages of the proposed approach is that the approach accounts for multi-model uncertainty. In contrast to the methods available in the literature, the proposed approach deals with full-order model (i.e., model reduction is not required) with lower controller order. The issue of time delay of feedback signals has been addressed in this paper for different values of time delay by applying a multi-model optimization technique. The proposed approach is compared to other existing techniques to design a robust controller which is based on H2 under pole placement. Both techniques are applied to the 68-bus system to evaluate and validate the robust controller performance under different load scenarios and different wind generations.
文摘Inter-networking Mobile Number Portability(MNP) is an important way to promote the development of new telecom services.For the congestion that always occurs on the MNP query nodes,this paper proposes a Q-learning-based inter-networking mobile number portability congestion control mechanism,taking the node queue delay and query service stability as the control targets,based on the optimal decision which is made over mobile user number portability query through self-adaptive connection admission control.The simulation and analysis show that,compared with tail-drop,random early detection and other mechanisms,this mechanism realizes a smoother and more regular queue size when the load is relatively light;and maintains a relatively low and stable queue size with relatively small loss when the load is relatively heavy,thus improving QoS and increasing network throughput at lower cost.
基金support by the Central Power Research Institute,India(CPRI/RD/RSOP/GRANT/2015)
文摘Inter-area low frequency oscillation in power system is one of the major problems for bulk power transmission through weak tie lines.Use of wide-area signal is more effective than the local area signal in damping out the inter-area oscillations.Wide area measurement system(WAMS)is convenient to transmit the wide area signal through the communication channel to the remote location.Communication failure is one of the disastrous phenomena in a communication channel.In this paper,a dual input single output(DISO)Hm controller is designed to build the control resiliency by employing two highest observability ranking wide area signals with respect to the critical damping inter-area mode.The proposed controller can provide sufficient damping to the system and also the system remains stabilized if one of the wide-area signals is lost.The time delay is an unwanted phenomenon that degrades the performance of the controllers.The unified Smith predictor approach is used to design a Hm controller to handle the time delay.Kundur's two-area and IEEE-39 bus test systems are considered to verify the effectiveness of the proposed controller.From the simulation results,it is verified that,the proposed controller provides excellent damping performance at normal communication and improves the controller resiliency to counteract the communication failure.
文摘In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44% and 61% in the presence of constant and time-varying disturbances respectively.
文摘This paper presents an approach for the optimal design of a new retrofit technique called weakening and damping that is valid for civil engineering inelastic structures. An alternative design methodology is developed with respect to the existing ones that is able to determine the locations and the magnitude of weakening and/or softening of structural elements and adding damping while insuring structural stability. An optimal polynomial controller that is a summation of polynomials in nonlinear states is used in Phase I of the method to reduce the peak response quantities of seismically excited nonlinear or hysteretic systems. The main advantage of the optimal polynomial controller is that it is able to automatically stabilize the structural system. The optimal design of a shear-type structure is used as an example to illustrate the feasibility of the proposed approach, which leads to a reduction of both peak inter-story drifts and peak total accelerations.
文摘In this paper, we propose a novel uplink power control algorithm, SMST, for multiple-input multiple-output orthogonal frequency-division multiple access （MIMQ-OFDMA）.We perform an extensive system-level simulation to compare different uplink power control algorithms, including the FPC adopted in 3GPP LTE and LTE-Advanced. Simulations show that SMST adopted in IEEE 802.16m outperforms other algorithms in terms of spectral efficiency, cell-edge performance, interference control, and trade-off control between sector-accumulated throughput and cell-edge user throughput. The SMST performance gain over FPC can be more than 40%
基金supported by the National Natural Science Foundation of China(11172322)
文摘Space electromagnetic docking technology, free of propellant and plume contamination, offers continuous, reversible and synchronous controllability, which is widely applied in the future routine on-orbit servicing missions. Due to the inherent nonlinearities, couplings and uncertainties of an electromagnetic force model, the dynamics and control problems of them are difficult. A new modeling approach for relative motion dynamics with intersatellite force is proposed. To resolve these control problems better, a novel nonlinear control method for soft space electro-magnetic docking is proposed, which combines merits of artificial potential function method, Lyapunov theory and extended state observer. In addition, the angular momentum management problem of space electromagnetic docking and approaches of handling it by exploiting the Earth＇s magnetic torque are investigated. Finally, nonlinear simulation results demonstrate the feasibility of the dynamic model and the novel nonlinear control method.
