This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory cap...This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming （BLP） and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles （SAMs） are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.展开更多
Considering the decision-making variables of the capacities of branch roads and the optimization targets of lowering the saturation of arterial roads and the reconstruction expense of branch roads, the bi-level progra...Considering the decision-making variables of the capacities of branch roads and the optimization targets of lowering the saturation of arterial roads and the reconstruction expense of branch roads, the bi-level programming model for reconstructing the branch roads was set up. The upper level model was for determining the enlarged capacities of the branch roads, and the lower level model was for calculating the flows of road sections via the user equilibrium traffic assignment method. The genetic algorithm for solving the bi-level model was designed to obtain the reconstruction capacities of the branch roads. The results show that by the bi-level model and its algorithm, the optimum scheme of urban branch roads reconstruction can be gained, which reduces the saturation of arterial roads apparently, and alleviates traffic congestion. In the data analysis the arterial saturation decreases from 1.100 to 0.996, which verifies the micro-circulation transportation's function of urban branch road network.展开更多
Rapid development of power-to-gas technology provides a potential solution for virtual power plants(VPP)to achieve near-zero carbon emissions.In this paper,a bi-level hybrid stochastic/robust optimization model is pro...Rapid development of power-to-gas technology provides a potential solution for virtual power plants(VPP)to achieve near-zero carbon emissions.In this paper,a bi-level hybrid stochastic/robust optimization model is proposed for low-carbon VPP day-ahead dispatch considering uncertainties from renewable generation and market prices.First,Karush-Kuhn-Tucker optimality conditions are employed to convert the bi-level model to a single level one.Next,the single level problem is decomposed into a master problem in the base case and several subproblems in extreme cases,which can then be solved by using the column-and-constraint generation algorithm iteratively.Numerical results indicate the proposed approach can effectively satisfy system operation constraints including the carbon emission limit,enhance computational efficiency and algorithm robustness compared with the stochastic method,and improve VPP revenue compared with the robust method.展开更多
This paper proposes an adaptive chaos quantum honey bee algorithm(CQHBA)for solving chance-constrained program-ming in random fuzzy environment based on random fuzzy simulations.Random fuzzy simulation is designed to ...This paper proposes an adaptive chaos quantum honey bee algorithm(CQHBA)for solving chance-constrained program-ming in random fuzzy environment based on random fuzzy simulations.Random fuzzy simulation is designed to estimate the chance of a random fuzzy event and the optimistic value to a random fuzzy variable.In CQHBA,each bee carries a group of quantum bits representing a solution.Chaos optimization searches space around the selected best-so-far food source.In the marriage process,random interferential discrete quantum crossover is done between selected drones and the queen.Gaussian quantum mutation is used to keep the diversity of whole population.New methods of computing quantum rotation angles are designed based on grads.A proof of con-vergence for CQHBA is developed and a theoretical analysis of the computational overhead for the algorithm is presented.Numerical examples are presented to demonstrate its superiority in robustness and stability,efficiency of computational complexity,success rate,and accuracy of solution quality.CQHBA is manifested to be highly robust under various conditions and capable of handling most random fuzzy programmings with any parameter settings,variable initializations,system tolerance and confidence level,perturbations,and noises.展开更多
In short-term operation of natural gas network,the impact of demand uncertainty is not negligible.To address this issue we propose a two-stage robust model for power cost minimization problem in gunbarrel natural gas ...In short-term operation of natural gas network,the impact of demand uncertainty is not negligible.To address this issue we propose a two-stage robust model for power cost minimization problem in gunbarrel natural gas networks.The demands between pipelines and compressor stations are uncertain with a budget parameter,since it is unlikely that all the uncertain demands reach the maximal deviation simultaneously.During solving the two-stage robust model we encounter a bilevel problem which is challenging to solve.We formulate it as a multi-dimensional dynamic programming problem and propose approximate dynamic programming methods to accelerate the calculation.Numerical results based on real network in China show that we obtain a speed gain of 7 times faster in average without compromising optimality compared with original dynamic programming algorithm.Numerical results also verify the advantage of robust model compared with deterministic model when facing uncertainties.These findings offer short-term operation methods for gunbarrel natural gas network management to handle with uncertainties.展开更多
Planning for water quality management is important for facilitating sustainable socio-economic development;however, the planning is also complicated by a variety of uncertainties and nonlinearities. In this study, an ...Planning for water quality management is important for facilitating sustainable socio-economic development;however, the planning is also complicated by a variety of uncertainties and nonlinearities. In this study, an interval-parameter fuzzy robust nonlinear programming (IFRNP) model was developed for water quality management to deal with such difficulties. The developed model incorporated interval nonlinear programming (INP) and fuzzy robust programming (FRP) methods within a general optimization framework. The developed IFRNP model not only could explicitly deal with uncertainties represented as discrete interval numbers and fuzzy membership functions, but also was able to deal with nonlinearities in the objective function.展开更多
An algorithm is proposed in this paper for solving two-dimensional bi-level linear programming problems without making a graph. Based on the classification of constraints, algorithm removes all redundant constraints, ...An algorithm is proposed in this paper for solving two-dimensional bi-level linear programming problems without making a graph. Based on the classification of constraints, algorithm removes all redundant constraints, which eliminate the possibility of cycling and the solution of the problem is reached in a finite number of steps. Example to illustrate the method is also included in the paper.展开更多
The urban transit fare structure and level can largely affect passengers’travel behavior and route choices.The commonly used transit fare policies in the present transit network would lead to the unbalanced transit a...The urban transit fare structure and level can largely affect passengers’travel behavior and route choices.The commonly used transit fare policies in the present transit network would lead to the unbalanced transit assignment and improper transit resources distribution.In order to distribute transit passenger flow evenly and efficiently,this paper introduces a new distance-based fare pattern with Euclidean distance.A bi-level programming model is developed for determining the optimal distance-based fare pattern,with the path-based stochastic transit assignment(STA)problem with elastic demand being proposed at the lower level.The upper-level intends to address a principal-agent game between transport authorities and transit enterprises pursing maximization of social welfare and financial interest,respectively.A genetic algorithm(GA)is implemented to solve the bi-level model,which is verified by a numerical example to illustrate that the proposed nonlinear distance-based fare pattern presents a better financial performance and distribution effect than other fare structures.展开更多
In this paper,we consider a robust semi-infinite interval-valued optimization problem with inequality constraints having an uncertain parameter.The parametric representation of the aforesaid problem is also considered...In this paper,we consider a robust semi-infinite interval-valued optimization problem with inequality constraints having an uncertain parameter.The parametric representation of the aforesaid problem is also considered in order to derive the necessary and sufficient optimality conditions.Furthermore,we formulate a mixed-type dual problem and derive duality results which associate the robust weak efficient solution of the primal and its dual problems.Several examples are given to illustrate the results in the manuscript.展开更多
With the widespread application of combined heat and power(CHP)units,the economic dispatch of integrated electric and district heating systems(IEHSs)has drawn increasing attention.Because the electric power system(EPS...With the widespread application of combined heat and power(CHP)units,the economic dispatch of integrated electric and district heating systems(IEHSs)has drawn increasing attention.Because the electric power system(EPS)and district heating system(DHS)are generally managed separately,the decentralized dispatch pattern is preferable for the IEHS dispatch problem.However,many common decentralized methods suffer from the drawbacks of slow and local convergence.Moreover,the uncertainties of renewable generation cannot be ignored in a decentralized pattern.Additionally,the most commonly used individual chance constraints in distributionally robust optimization cannot consider safety constraints simultaneously,so the safe operation of an IEHS cannot be guaranteed.Thus,distributionally robust joint chance constraints and robust constraints are jointly introduced into the IEHS dispatch problem in this paper to obtain a stronger safety guarantee,and a method combined with Bonferroni and conditional value at risk(CVaR)approximation is presented to transform the original model into a quadratic program.Additionally,a dynamic boundary response(DBR)-based distributed algorithm based on multiparametric programming is proposed for a fast solution.Case studies showcase the necessity of using mixed distributionally robust joint chance constraints and robust constraints,as well as the effectiveness of the DBR algorithm.展开更多
In order to meet the needs of collaborative decision making,considering the different demands of air traffic control units,airlines,airports and passengers in various traffic scenarios,the joint scheduling problem of ...In order to meet the needs of collaborative decision making,considering the different demands of air traffic control units,airlines,airports and passengers in various traffic scenarios,the joint scheduling problem of arrival and departure flights is studied systematically.According to the matching degree of capacity and flow,it is determined that the traffic state of arrival/departure operation in a certain period is peak or off-peak.The demands of all parties in each traffic state are analyzed,and the mathematical models of arrival/departure flight scheduling in each traffic state are established.Aiming at the four kinds of joint operation traffic scenarios of arrival and departure,the corresponding bi-level programming models for joint scheduling of arrival and departure flights are established,respectively,and the elitism genetic algorithm is designed to solve the models.The results show that:Compared with the first-come-firstserved method,in the scenarios of arrival peak&departure off-peak and arrival peak&departure peak,the departure flight equilibrium satisfaction is improved,and the runway occupation time of departure flight flow is reduced by 38.8%.In the scenarios of arrival off-peak&departure off-peak and departure peak&arrival off-peak,the arrival flight equilibrium delay time is significantly reduced,the departure flight equilibrium satisfaction is improved by 77.6%,and the runway occupation time of departure flight flow is reduced by 46.6%.Compared with other four kinds of strategies,the optimal scheduling method can better balance fairness and efficiency,so the scheduling results are more reasonable.展开更多
The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-com...The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-compensation technique for converting the original nonaffine dynamics into affine dynamics. Secondly, the paper derives a stability criterion linking the original nonaffine system and the auxiliary system, demonstrating that the obtained optimal policies from the auxiliary system can achieve the robust controller of the nonaffine system. Thirdly, an online adaptive dynamic programming(ADP) algorithm is designed for approximating the optimal solution of the Hamilton–Jacobi–Bellman(HJB) equation.Moreover, the gradient descent approach and projection approach are employed for updating the actor-critic neural network(NN) weights, with the algorithm's convergence being proven. Then, the uniformly ultimately bounded stability of state is guaranteed. Finally, in simulation, some examples are offered for validating the effectiveness of this presented approach.展开更多
This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent s...This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.展开更多
To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is present...To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is presented. The exception propagation graph （EPG） that describes the large programs with exception handling constructs is proposed by simplifying the control flow graph and it is applied to a case to verify its validity. According to the EPG, the exception handling code that never executes is identified; the points that are the most critical to controlling exception propagation are found; and the irrational exception handling code is corrected. The constructing algorithm for the EPG is given; thus, this provides a basis for automatically constructing the EPG and automatically correcting the irrational exception handling code.展开更多
【目的】基于虚拟电厂(virtual power plant,VPP)技术聚合区域电网内部分布式资源,能以低边际成本有效提高系统灵活性。然而,信息安全等因素导致的数据壁垒,以及分布式协调计算效率和调控资源的不确定性等问题给虚拟电厂辅助服务决策带...【目的】基于虚拟电厂(virtual power plant,VPP)技术聚合区域电网内部分布式资源,能以低边际成本有效提高系统灵活性。然而,信息安全等因素导致的数据壁垒,以及分布式协调计算效率和调控资源的不确定性等问题给虚拟电厂辅助服务决策带来困难。据此,分析VPP整体对外特性,包括关口功率、备用能力及运行成本,提出了一种VPP鲁棒调度特性可信量化方法,并构建多VPP博弈的协同调度模型。【方法】首先,考虑分布式电源和需求响应不确定因素影响,解析网络约束下的源荷备用潜力,从而建立VPP数学模型;其次,结合鲁棒优化和多参数规划理论,实现VPP关口功率调节空间、弹性备用能力和最优成本鲁棒可行域可信量化,建立VPP内部资源调控策略与对外交易结果的仿射关系,完成VPP等值聚合;进一步,构建了多VPP与主网有效互动的合作博弈模型;最后,通过3个测试算例验证了本文模型和方法的有效性。【结果】所量化的封装模型参与调度具有更高的计算效率,且保护了VPP内部信息隐私性。通过设计并行程序,封装模型量化过程计算效率得到了进一步提升。【结论】所提方法能有效支撑多重VPP主体协同大电网进行能量和辅助服务的交易,加强主网安全防御体系建设。展开更多
Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly...Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.展开更多
For the purpose of dealing with uncertainty factors in engineering optimization problems,this paper presents a new non-probabilistic robust optimal design method based on maximum variation estimation.The method analyz...For the purpose of dealing with uncertainty factors in engineering optimization problems,this paper presents a new non-probabilistic robust optimal design method based on maximum variation estimation.The method analyzes the effect of uncertain factors to objective and constraints functions,and then the maximal variations to a solution are calculated.In order to guarantee robust feasibility the maximal variations of constraints are added to original constraints as penalty term;the maximal variation of objective function is taken as a robust index to a solution;linear physical programming is used to adjust the values of quality characteristic and quality variation,and then a bi-level mathematical robust optimal model is constructed.The method does not require presumed probability distribution of uncertain factors or continuous and differentiable of objective and constraints functions.To demonstrate the proposed method,the design of the two-bar structure acted by concentrated load is presented.In the example the robustness of the normal stress,feasibility of the total volume and the buckling stress are studied.The robust optimal design results show that in the condition of maintaining feasibility robustness,the proposed approach can obtain a robust solution which the designer is satisfied with the value of objective function and its variation.展开更多
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
基金the National Natural Science Foundation of China(No.60904066)
文摘This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming （BLP） and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles （SAMs） are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.
基金Project(2006CB705507) supported by the National Basic Research and Development Program of ChinaProject(20060533036) supported by the Specialized Research Foundation for the Doctoral Program of Higher Education of China
文摘Considering the decision-making variables of the capacities of branch roads and the optimization targets of lowering the saturation of arterial roads and the reconstruction expense of branch roads, the bi-level programming model for reconstructing the branch roads was set up. The upper level model was for determining the enlarged capacities of the branch roads, and the lower level model was for calculating the flows of road sections via the user equilibrium traffic assignment method. The genetic algorithm for solving the bi-level model was designed to obtain the reconstruction capacities of the branch roads. The results show that by the bi-level model and its algorithm, the optimum scheme of urban branch roads reconstruction can be gained, which reduces the saturation of arterial roads apparently, and alleviates traffic congestion. In the data analysis the arterial saturation decreases from 1.100 to 0.996, which verifies the micro-circulation transportation's function of urban branch road network.
基金supported by the Shenzhen Science and Technology Program(JCYJ20210324130811031)Tsinghua Shenzhen International Graduate School Interdisciplinary Research and Innovation Fund(JC2021004).
文摘Rapid development of power-to-gas technology provides a potential solution for virtual power plants(VPP)to achieve near-zero carbon emissions.In this paper,a bi-level hybrid stochastic/robust optimization model is proposed for low-carbon VPP day-ahead dispatch considering uncertainties from renewable generation and market prices.First,Karush-Kuhn-Tucker optimality conditions are employed to convert the bi-level model to a single level one.Next,the single level problem is decomposed into a master problem in the base case and several subproblems in extreme cases,which can then be solved by using the column-and-constraint generation algorithm iteratively.Numerical results indicate the proposed approach can effectively satisfy system operation constraints including the carbon emission limit,enhance computational efficiency and algorithm robustness compared with the stochastic method,and improve VPP revenue compared with the robust method.
基金supported by National High Technology Research and Development Program of China(863 Program)(No.2007AA041603)National Natural Science Foundation of China(No.60475035)+2 种基金Key Technologies Research and Development Program Foundation of Hunan Province of China(No.2007FJ1806)Science and Technology Research Plan of National University of Defense Technology(No.CX07-03-01)Top Class Graduate Student Innovation Sustentation Fund of National University of Defense Technology(No.B070302.)
文摘This paper proposes an adaptive chaos quantum honey bee algorithm(CQHBA)for solving chance-constrained program-ming in random fuzzy environment based on random fuzzy simulations.Random fuzzy simulation is designed to estimate the chance of a random fuzzy event and the optimistic value to a random fuzzy variable.In CQHBA,each bee carries a group of quantum bits representing a solution.Chaos optimization searches space around the selected best-so-far food source.In the marriage process,random interferential discrete quantum crossover is done between selected drones and the queen.Gaussian quantum mutation is used to keep the diversity of whole population.New methods of computing quantum rotation angles are designed based on grads.A proof of con-vergence for CQHBA is developed and a theoretical analysis of the computational overhead for the algorithm is presented.Numerical examples are presented to demonstrate its superiority in robustness and stability,efficiency of computational complexity,success rate,and accuracy of solution quality.CQHBA is manifested to be highly robust under various conditions and capable of handling most random fuzzy programmings with any parameter settings,variable initializations,system tolerance and confidence level,perturbations,and noises.
基金partially supported by the National Science Foundation of China(Grants 71822105 and 91746210)。
文摘In short-term operation of natural gas network,the impact of demand uncertainty is not negligible.To address this issue we propose a two-stage robust model for power cost minimization problem in gunbarrel natural gas networks.The demands between pipelines and compressor stations are uncertain with a budget parameter,since it is unlikely that all the uncertain demands reach the maximal deviation simultaneously.During solving the two-stage robust model we encounter a bilevel problem which is challenging to solve.We formulate it as a multi-dimensional dynamic programming problem and propose approximate dynamic programming methods to accelerate the calculation.Numerical results based on real network in China show that we obtain a speed gain of 7 times faster in average without compromising optimality compared with original dynamic programming algorithm.Numerical results also verify the advantage of robust model compared with deterministic model when facing uncertainties.These findings offer short-term operation methods for gunbarrel natural gas network management to handle with uncertainties.
文摘Planning for water quality management is important for facilitating sustainable socio-economic development;however, the planning is also complicated by a variety of uncertainties and nonlinearities. In this study, an interval-parameter fuzzy robust nonlinear programming (IFRNP) model was developed for water quality management to deal with such difficulties. The developed model incorporated interval nonlinear programming (INP) and fuzzy robust programming (FRP) methods within a general optimization framework. The developed IFRNP model not only could explicitly deal with uncertainties represented as discrete interval numbers and fuzzy membership functions, but also was able to deal with nonlinearities in the objective function.
文摘An algorithm is proposed in this paper for solving two-dimensional bi-level linear programming problems without making a graph. Based on the classification of constraints, algorithm removes all redundant constraints, which eliminate the possibility of cycling and the solution of the problem is reached in a finite number of steps. Example to illustrate the method is also included in the paper.
基金the Humanities and Social Science Foundation of the Ministry of Education of China(Grant No.20YJCZH121).
文摘The urban transit fare structure and level can largely affect passengers’travel behavior and route choices.The commonly used transit fare policies in the present transit network would lead to the unbalanced transit assignment and improper transit resources distribution.In order to distribute transit passenger flow evenly and efficiently,this paper introduces a new distance-based fare pattern with Euclidean distance.A bi-level programming model is developed for determining the optimal distance-based fare pattern,with the path-based stochastic transit assignment(STA)problem with elastic demand being proposed at the lower level.The upper-level intends to address a principal-agent game between transport authorities and transit enterprises pursing maximization of social welfare and financial interest,respectively.A genetic algorithm(GA)is implemented to solve the bi-level model,which is verified by a numerical example to illustrate that the proposed nonlinear distance-based fare pattern presents a better financial performance and distribution effect than other fare structures.
基金supported by the MATRICES,SERB-DST,New Delhi,India(No.MTR/2021/000002).
文摘In this paper,we consider a robust semi-infinite interval-valued optimization problem with inequality constraints having an uncertain parameter.The parametric representation of the aforesaid problem is also considered in order to derive the necessary and sufficient optimality conditions.Furthermore,we formulate a mixed-type dual problem and derive duality results which associate the robust weak efficient solution of the primal and its dual problems.Several examples are given to illustrate the results in the manuscript.
基金supported by National Natural Science Foundation of China(52377107,52007105)and the Taishan Scholars Program.
文摘With the widespread application of combined heat and power(CHP)units,the economic dispatch of integrated electric and district heating systems(IEHSs)has drawn increasing attention.Because the electric power system(EPS)and district heating system(DHS)are generally managed separately,the decentralized dispatch pattern is preferable for the IEHS dispatch problem.However,many common decentralized methods suffer from the drawbacks of slow and local convergence.Moreover,the uncertainties of renewable generation cannot be ignored in a decentralized pattern.Additionally,the most commonly used individual chance constraints in distributionally robust optimization cannot consider safety constraints simultaneously,so the safe operation of an IEHS cannot be guaranteed.Thus,distributionally robust joint chance constraints and robust constraints are jointly introduced into the IEHS dispatch problem in this paper to obtain a stronger safety guarantee,and a method combined with Bonferroni and conditional value at risk(CVaR)approximation is presented to transform the original model into a quadratic program.Additionally,a dynamic boundary response(DBR)-based distributed algorithm based on multiparametric programming is proposed for a fast solution.Case studies showcase the necessity of using mixed distributionally robust joint chance constraints and robust constraints,as well as the effectiveness of the DBR algorithm.
基金supported by Nanjing University of Aeronautics and Astronautics Graduate Innovation Base(Laboratory)Open Fund(No.kfjj20200717).
文摘In order to meet the needs of collaborative decision making,considering the different demands of air traffic control units,airlines,airports and passengers in various traffic scenarios,the joint scheduling problem of arrival and departure flights is studied systematically.According to the matching degree of capacity and flow,it is determined that the traffic state of arrival/departure operation in a certain period is peak or off-peak.The demands of all parties in each traffic state are analyzed,and the mathematical models of arrival/departure flight scheduling in each traffic state are established.Aiming at the four kinds of joint operation traffic scenarios of arrival and departure,the corresponding bi-level programming models for joint scheduling of arrival and departure flights are established,respectively,and the elitism genetic algorithm is designed to solve the models.The results show that:Compared with the first-come-firstserved method,in the scenarios of arrival peak&departure off-peak and arrival peak&departure peak,the departure flight equilibrium satisfaction is improved,and the runway occupation time of departure flight flow is reduced by 38.8%.In the scenarios of arrival off-peak&departure off-peak and departure peak&arrival off-peak,the arrival flight equilibrium delay time is significantly reduced,the departure flight equilibrium satisfaction is improved by 77.6%,and the runway occupation time of departure flight flow is reduced by 46.6%.Compared with other four kinds of strategies,the optimal scheduling method can better balance fairness and efficiency,so the scheduling results are more reasonable.
基金Project supported by the National Natural Science Foundation of China (Grant No. 62103408)Beijing Nova Program (Grant No. 20240484516)the Fundamental Research Funds for the Central Universities (Grant No. KG16314701)。
文摘The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-compensation technique for converting the original nonaffine dynamics into affine dynamics. Secondly, the paper derives a stability criterion linking the original nonaffine system and the auxiliary system, demonstrating that the obtained optimal policies from the auxiliary system can achieve the robust controller of the nonaffine system. Thirdly, an online adaptive dynamic programming(ADP) algorithm is designed for approximating the optimal solution of the Hamilton–Jacobi–Bellman(HJB) equation.Moreover, the gradient descent approach and projection approach are employed for updating the actor-critic neural network(NN) weights, with the algorithm's convergence being proven. Then, the uniformly ultimately bounded stability of state is guaranteed. Finally, in simulation, some examples are offered for validating the effectiveness of this presented approach.
基金supported in part by the National Key Research and Development Program of China(2021YFE0206100)the National Natural Science Foundation of China(62425310,62073321)+2 种基金the National Defense Basic Scientific Research Program(JCKY2019203C029,JCKY2020130C025)the Science and Technology Development FundMacao SAR(FDCT-22-009-MISE,0060/2021/A2,0015/2020/AMJ)
文摘This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.
基金The National Natural Science Foundation of China(No60503020)the National Basic Research Program of China (973Program) (No2002CB312000)+1 种基金the Natural Science Foundation of Jiangsu Province (NoBK2006094)the Science Research Foundation of China University of Mining and Technology
文摘To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is presented. The exception propagation graph （EPG） that describes the large programs with exception handling constructs is proposed by simplifying the control flow graph and it is applied to a case to verify its validity. According to the EPG, the exception handling code that never executes is identified; the points that are the most critical to controlling exception propagation are found; and the irrational exception handling code is corrected. The constructing algorithm for the EPG is given; thus, this provides a basis for automatically constructing the EPG and automatically correcting the irrational exception handling code.
文摘【目的】基于虚拟电厂(virtual power plant,VPP)技术聚合区域电网内部分布式资源,能以低边际成本有效提高系统灵活性。然而,信息安全等因素导致的数据壁垒,以及分布式协调计算效率和调控资源的不确定性等问题给虚拟电厂辅助服务决策带来困难。据此,分析VPP整体对外特性,包括关口功率、备用能力及运行成本,提出了一种VPP鲁棒调度特性可信量化方法,并构建多VPP博弈的协同调度模型。【方法】首先,考虑分布式电源和需求响应不确定因素影响,解析网络约束下的源荷备用潜力,从而建立VPP数学模型;其次,结合鲁棒优化和多参数规划理论,实现VPP关口功率调节空间、弹性备用能力和最优成本鲁棒可行域可信量化,建立VPP内部资源调控策略与对外交易结果的仿射关系,完成VPP等值聚合;进一步,构建了多VPP与主网有效互动的合作博弈模型;最后,通过3个测试算例验证了本文模型和方法的有效性。【结果】所量化的封装模型参与调度具有更高的计算效率,且保护了VPP内部信息隐私性。通过设计并行程序,封装模型量化过程计算效率得到了进一步提升。【结论】所提方法能有效支撑多重VPP主体协同大电网进行能量和辅助服务的交易,加强主网安全防御体系建设。
基金Supported by the Ministry of Higher Education of Malaysia through the Foundation Research(Grant Scheme no.FRGS/1/2012/TK01/MMU/02/2)
文摘Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.
基金supported by Program for New Century Excellent Talents in University,Ministry of Education of China(Grant No.NCET-05-0285)
文摘For the purpose of dealing with uncertainty factors in engineering optimization problems,this paper presents a new non-probabilistic robust optimal design method based on maximum variation estimation.The method analyzes the effect of uncertain factors to objective and constraints functions,and then the maximal variations to a solution are calculated.In order to guarantee robust feasibility the maximal variations of constraints are added to original constraints as penalty term;the maximal variation of objective function is taken as a robust index to a solution;linear physical programming is used to adjust the values of quality characteristic and quality variation,and then a bi-level mathematical robust optimal model is constructed.The method does not require presumed probability distribution of uncertain factors or continuous and differentiable of objective and constraints functions.To demonstrate the proposed method,the design of the two-bar structure acted by concentrated load is presented.In the example the robustness of the normal stress,feasibility of the total volume and the buckling stress are studied.The robust optimal design results show that in the condition of maintaining feasibility robustness,the proposed approach can obtain a robust solution which the designer is satisfied with the value of objective function and its variation.
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
