A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned under...A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.展开更多
以同一系统中静止同步串联补偿器(static synchronous series compensator,SSSC)和静止无功补偿器(static var compensator,SVC)的共同作用为研究对象,建立了2者的数学参数模型,推导出控制器之间相互作用的量化关系式。通过控制参数分...以同一系统中静止同步串联补偿器(static synchronous series compensator,SSSC)和静止无功补偿器(static var compensator,SVC)的共同作用为研究对象,建立了2者的数学参数模型,推导出控制器之间相互作用的量化关系式。通过控制参数分析和仿真分析得出结论:灵活交流输电(FACTS)装置的控制方式和电气耦合程度对SSSC和SVC的相互作用有很大影响。最后基于直接反馈线性化(DFL)方法设计了SSSC和SVC协调控制器,仿真结果验证了该协调控制策略的有效性。展开更多
基金financially supported by the National Natural Science Foundation of China (Grant Nos. 51679057 and 51709062)Heilongjiang Province Outstanding Youth Fund (Grant No. J2016JQ0052)+2 种基金Equipment Preresearch Key Lab Fund (Grant No. 614221580107)China Postdoctoral Science Foundation (Grant No. 2019M651265)Harbin Science and Technology Talent Research Special Fund (Grant No.2017RAQXJ150)。
文摘A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.
文摘以同一系统中静止同步串联补偿器(static synchronous series compensator,SSSC)和静止无功补偿器(static var compensator,SVC)的共同作用为研究对象,建立了2者的数学参数模型,推导出控制器之间相互作用的量化关系式。通过控制参数分析和仿真分析得出结论:灵活交流输电(FACTS)装置的控制方式和电气耦合程度对SSSC和SVC的相互作用有很大影响。最后基于直接反馈线性化(DFL)方法设计了SSSC和SVC协调控制器,仿真结果验证了该协调控制策略的有效性。
