This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuratio...This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest（unstable） axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.展开更多
District energy systems(DESs)have become a popular form of satisfying comprehensive energy demands for different types of loads in multiple local buildings.For DFISs,the operational flexibility could be maintained by ...District energy systems(DESs)have become a popular form of satisfying comprehensive energy demands for different types of loads in multiple local buildings.For DFISs,the operational flexibility could be maintained by energy conversion and storage facilities.This paper proposes a hierarchical optimization framework for leveraging and aggregating the DES flexibility to provide contingency reserves.To characterize and quantify the flexibility in individual DESs,the concept of available reserve profile,which is measured by a set of indices,is established.A two-stage robust optimization(RO)model is developed for calculating the indices,which considers the uncertainties associated with wind power and ambient temperature.The lower stage of the two-stage model is managed by district energy system operators(DESOs)which submit reserve profiles to the district energy system coordinator(DESC)at the upper stage,which is responsible for the coordination process.Correspondingly,information privacy is preserved using a coordinated data-sharing strategy.Using reserve profiles submitted by multiple DESOs,the DESC applies the proposed coordination model to provide a certain reserve capacity schedule to DESs,which satisfies the stated objectives.The coordination model is formulated and solved based on the special ordered set(SOS)technique and particle swarm optimization(PSO)algorithm.A test system is developed to illustrate the technical viability and economic feasibility of the proposed technique.展开更多
基金supported by the National Natural Science Foundation of China (11072002, 10832006)
文摘This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest（unstable） axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.
基金supported by the National Natural Science Foundation of China under grant 52022016China Postdoctoral Science Foundation under grant 2021M693711.
文摘District energy systems(DESs)have become a popular form of satisfying comprehensive energy demands for different types of loads in multiple local buildings.For DFISs,the operational flexibility could be maintained by energy conversion and storage facilities.This paper proposes a hierarchical optimization framework for leveraging and aggregating the DES flexibility to provide contingency reserves.To characterize and quantify the flexibility in individual DESs,the concept of available reserve profile,which is measured by a set of indices,is established.A two-stage robust optimization(RO)model is developed for calculating the indices,which considers the uncertainties associated with wind power and ambient temperature.The lower stage of the two-stage model is managed by district energy system operators(DESOs)which submit reserve profiles to the district energy system coordinator(DESC)at the upper stage,which is responsible for the coordination process.Correspondingly,information privacy is preserved using a coordinated data-sharing strategy.Using reserve profiles submitted by multiple DESOs,the DESC applies the proposed coordination model to provide a certain reserve capacity schedule to DESs,which satisfies the stated objectives.The coordination model is formulated and solved based on the special ordered set(SOS)technique and particle swarm optimization(PSO)algorithm.A test system is developed to illustrate the technical viability and economic feasibility of the proposed technique.
