A design and verification of linear state observers which estimate state information such as angular velocity and load torque for retraction control of the motorized seat belt (MSB) system were described. The motorize...A design and verification of linear state observers which estimate state information such as angular velocity and load torque for retraction control of the motorized seat belt (MSB) system were described. The motorized seat belt system provides functions to protect passengers and improve passenger's convenience. Each MSB function has its own required belt tension which is determined by the function's purpose. To realize the MSB functions, state information, such as seat belt winding velocity and seat belt tension are required. Using a linear state observer, the state information for MSB operations can be estimated without sensors. To design the linear state observer, the motorized seat belt system is analyzed and represented as a state space model which contains load torque as an augmented state. Based on the state space model, a linear state observer was designed and verified by experiments. Also, the retraction control of the MSB algorithm using linear state observer was designed and verified on the test bench. With the designed retraction control algorithm using the linear state observer, it is possible to realize various types of MSB functions.展开更多
The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched(ga...The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched(gain-scheduled) state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.展开更多
The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From th...The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.展开更多
We show that the secret key generation rate can be balanced with the maximum secure distance of four-state continuous-variable quantum key distribution(CV-QKD) by using the linear optics cloning machine(LOCM). Ben...We show that the secret key generation rate can be balanced with the maximum secure distance of four-state continuous-variable quantum key distribution(CV-QKD) by using the linear optics cloning machine(LOCM). Benefiting from the LOCM operation, the LOCM-tuned noise can be employed by the reference partner of reconciliation to achieve higher secret key generation rates over a long distance. Simulation results show that the LOCM operation can flexibly regulate the secret key generation rate and the maximum secure distance and improve the performance of four-state CV-QKD protocol by dynamically tuning parameters in an appropriate range.展开更多
This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The develope...This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The developed controlmethod applies an FNTSMto ensure the tracking performance’s control accuracy,and an LESO to estimate the system’s unmodeled dynamics and external disturbances.Additionally,an improved salp swarm algorithm(ISSA)is employed to parameter tune the suggested controller by integrating the salp swarmtechnique with a cloud model.This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics models.The simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances,and the ISSA can help the proposed controller find optimal control parameters.展开更多
With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and p...With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.展开更多
The increasing penetration of renewable energy resources with highly fluctuating outputs has placed increasing concern on the accuracy and timeliness of electric power system state estimation(SE).Meanwhile,we note tha...The increasing penetration of renewable energy resources with highly fluctuating outputs has placed increasing concern on the accuracy and timeliness of electric power system state estimation(SE).Meanwhile,we note that only a fraction of system states fluctuate at the millisecond level and require to be updated.As such,refreshing only those states with significant variation would enhance the computational efficiency of SE and make fast-continuous update of states possible.However,this is difficult to achieve with conventional SE methods,which generally refresh states of the entire system every 4–5 s.In this context,we propose a local hybrid linear SE framework using stream processing,in which synchronized measurements received from phasor measurement units(PMUs),and trigger/timingmode measurements received from remote terminal units(RTUs)are used to update the associated local states.Moreover,the measurement update process efficiency and timeliness are enhanced by proposing a trigger measurement-based fast dynamic partitioning algorithm for determining the areas of the system with states requiring recalculation.In particular,non-iterative hybrid linear formulations with both RTUs and PMUs are employed to solve the local SE problem.The timeliness,accuracy,and computational efficiency of the proposed method are demonstrated by extensive simulations based on IEEE 118-,300-,and 2383-bus systems.展开更多
In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, t...In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.展开更多
The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles (multi-UUVs) formation in the case of leader-following is adapted. As the communica...The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles (multi-UUVs) formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.展开更多
We first design a discrete hyperchaotic system via piece-wise linear state feedback. The states of the closed loop system are locally expanding in two directions but absolutely bounded on the whole, which implies hype...We first design a discrete hyperchaotic system via piece-wise linear state feedback. The states of the closed loop system are locally expanding in two directions but absolutely bounded on the whole, which implies hyperchaos. Then, we use three suchlike hyperchaotic systems with different feedback gain matrices to design a pseudo-random sequence generator (PRSG). Through a threshold function, three sub-sequences generated from the output of piecewise linear functions are changed into 0-1 sequences. Then, followed by XOR operation, an unpredictable pseudo-random sequence (PRS) is ultimately obtained. The analysis and simulation results indicate that the PRS, generated with hyperchaotic systems, has desirable statistical features.展开更多
Entanglement plays an important role in quantum information science, especially in quantum communications. Here we present an efficient entanglement concentration protocol(ECP) for nonlocal atom systems in the partial...Entanglement plays an important role in quantum information science, especially in quantum communications. Here we present an efficient entanglement concentration protocol(ECP) for nonlocal atom systems in the partially entangled W-class states, using the single-photon input-output process regarding low-Q cavity and linear optical elements. Compared with previously published ECPs for the concentration of non-maximally entangled atomic states, our protocol is much simpler and more efficient as it employs the Faraday rotation in cavity quantum electrodynamics(QED) and the parameter-splitting method. The Faraday rotation requires the cavity with low-Q factor and weak coupling to the atom, which makes the requirement for entanglement concentration much less stringent than the previous methods, and achievable with current cavity QED techniques. The parameter-splitting method resorts to linear-optical elements only. This ECP has high efficiency and fidelity in realistic experiments, and some imperfections during the experiment can be avoided efficiently with currently available techniques.展开更多
Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators ...Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.展开更多
A discrete observer-based repetitive control(RC) design method for a linear system with uncertainties was presented based on two-dimensional(2D) system theory. Firstly, a 2D discrete model was established to describe ...A discrete observer-based repetitive control(RC) design method for a linear system with uncertainties was presented based on two-dimensional(2D) system theory. Firstly, a 2D discrete model was established to describe both the control behavior within a repetition period and the learning process taking place between periods. Next, by converting the designing problem of repetitive controller into one of the feedback gains of reconstructed variables, the stable condition was obtained through linear matrix inequality(LMI) and also the gain coefficient of repetitive system. Numerical simulation shows an exceptional feasibility of this proposal with remarkable robustness and tracking speed.展开更多
With more data-driven applications introduced in wide-area monitoring systems(WAMS),data quality of phasor measurement units(PMUs)becomes one of the fundamental requirements for ensuring reliable WAMS applications.Thi...With more data-driven applications introduced in wide-area monitoring systems(WAMS),data quality of phasor measurement units(PMUs)becomes one of the fundamental requirements for ensuring reliable WAMS applications.This paper proposes a doubly-fed deep learning method for bad data identification in linear state estimation,which can:(1)identify bad data under both steady states and contingencies;(2)achieve higher accuracy than conventional pre-filtering approaches;(3)reduce iteration burden for linear state estimation;(4)efficiently identify bad data in a parallelizable scheme.The proposed method consists of four key steps:(1)preprocessing filter;(2)online training of short-term deep neural network;(3)offline training of long-term deep neural network;(4)a decision merger.Through delicate design and comprehensive training,the proposed method can effectively differentiate the bad data from event data without relying on real-time topology information.An IEEE 39-bus system simulated by DSATools TSAT and a provincial electric power system with real PMU data collected are used to verify the proposed method.Multiple test scenarios are applied,which include steady states,three-phase-to-ground faults with(un)successful auto-reclosing,low-frequency oscillation,and low-frequency oscillation with simultaneous threephase-to-ground faults.The proposed method demonstrates satisfactory performance during both the training session and the testing session.展开更多
The hypersonic vehicle model is characterized by strong coupling,nonlinearity,and acute changes of aerodynamic parameters,which are challenging for control system design.This study investigates a novel compound contro...The hypersonic vehicle model is characterized by strong coupling,nonlinearity,and acute changes of aerodynamic parameters,which are challenging for control system design.This study investigates a novel compound control scheme that combines the advantages of the Fractional-Order Proportional-Integral-Derivative(FOPID)controller and Linear Active Disturbance Rejection Control(LADRC)for reentry flight control of hypersonic vehicles with actuator faults.First,given that the controller has adjustable parameters,the frequency-domain analysis-method-based parameter tuning strategy is utilized for the FOPID controller and LADRC method(FOLADRC).Then,the influences of the actuator model on the anti-disturbance capability and parameter tuning of the FOLADRC-based closed-loop control system are analyzed.Finally,the simulation results indicate that the proposed FOLADRC approach has satisfactory performance in terms of rapidity,accuracy,and robustness under the normal operating condition and actuator fault condition.展开更多
In this paper, a class of simplified Type-IV predator-prey system with linear state feedback is investigated. We prove the boundedness of the positive solutions to this system, and analyze the quality of the equilibri...In this paper, a class of simplified Type-IV predator-prey system with linear state feedback is investigated. We prove the boundedness of the positive solutions to this system, and analyze the quality of the equilibria and the existence of limit cycles of the system surrounding the positive equilibra. By Hopf bifurcation theory, the result of having two limit cycles to the system is obtained.展开更多
This paper proposes a neural-network-based state estimation(NNSE)method that aims to achieve higher time efficiency,improved robustness against noise,and extended observability when compared with the conventional weig...This paper proposes a neural-network-based state estimation(NNSE)method that aims to achieve higher time efficiency,improved robustness against noise,and extended observability when compared with the conventional weighted least squares(WLS)state estimation method.NNSE consists of two parts,the linear state estimation neural network(LSE-net)and the unobservable state estimation neural network(USE-net).The LSE-net functions as an adaptive approximator of linear state estimation(LSE)equations to estimate the nominally observable states.The inputs of LSE-net are the vectors of synchrophasors while the outputs are the estimated states.The USE-net operates as the complementary estimator on the nominally unobservable states.The inputs are the estimated observable states from LSE-net while the outputs are the estimation of nominally unobservable states.USE-net is trained off-line to approximate the veiled relationship between observable states and unobservable states.Two test cases are conducted to validate the performance of the proposed approach.The first case,which is based on the IEEE 118-bus system,shows the comprehensive performance of convergence,accuracy,and robustness of the proposed approach.The second case study adopts real-world synchrophasor measurements,and is based on the Jiangsu power grid,which is one of the largest provincial power systems in China.展开更多
State estimation is a critical functionality of energy management system(EMS) to provide power system states in real-time operations. However, problems such as failure to converge, prone to failure during contingencie...State estimation is a critical functionality of energy management system(EMS) to provide power system states in real-time operations. However, problems such as failure to converge, prone to failure during contingencies,and biased estimates while system is under stressed condition occur so that state estimation results may not be reliable.The unreliable results further impact downstream network and market applications, such as contingency analysis,voltage stability analysis, transient stability analysis, system alarming, and unit commitment. Thus, operators may lose the awareness of system condition in EMS. This paper proposes a fully independent and one-of-a-kind system by integrating linear state estimator into situational awareness applications based on real-time synchrophasor data. With guaranteed and accurate state estimation solution and advanced real-time data analytic and monitoring functionalities, the system is capable of assisting operators to assess and diagnose current system conditions for proactive and necessary corrective actions. The architecture, building components, and implementation of the proposed system are explored in detail. Two case studies with simulated data from the subsystems of Electric Reliability Council of Texas(ERCOT) and Los Angeles Department of Water and Power(LADWP) are presented. The test results show the effectiveness and reliability of the system, and its value for realtime power system operations.展开更多
Disturbance and uncertainty rejection is a key objective in control system design, and active disturbance rejection control(ADRC)exactly provides an effective solution to this issue. To this end, this paper presents a...Disturbance and uncertainty rejection is a key objective in control system design, and active disturbance rejection control(ADRC)exactly provides an effective solution to this issue. To this end, this paper presents a generalized active disturbance rejection controller for a class of nonlinear uncertain systems with linear output. To be specific, a generalized reduced-order extended state observer(ESO) is proposed to reduce phase delay and complexity of the system, which can take full advantage of the system output. Also, this method includes the existing results with fewer assumptions, and can be applied to systems with any order measurable states or multiple states, even linear combination states. Furthermore, the stability of this approach is guaranteed and demonstrated through matrix transformation and Lyapunov method, and design examples and numerical simulations are given to show the effectiveness and practicability of the method.展开更多
Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness t...Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.展开更多
基金Project supported by the Second Stage of Brain Korea 21 Projects and Changwon National University in 2011-2012
文摘A design and verification of linear state observers which estimate state information such as angular velocity and load torque for retraction control of the motorized seat belt (MSB) system were described. The motorized seat belt system provides functions to protect passengers and improve passenger's convenience. Each MSB function has its own required belt tension which is determined by the function's purpose. To realize the MSB functions, state information, such as seat belt winding velocity and seat belt tension are required. Using a linear state observer, the state information for MSB operations can be estimated without sensors. To design the linear state observer, the motorized seat belt system is analyzed and represented as a state space model which contains load torque as an augmented state. Based on the state space model, a linear state observer was designed and verified by experiments. Also, the retraction control of the MSB algorithm using linear state observer was designed and verified on the test bench. With the designed retraction control algorithm using the linear state observer, it is possible to realize various types of MSB functions.
基金supported by the National Natural Science Foundation of China(6132106261503100)the China Postdoctoral Science Foundation(2014M550189)
文摘The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched(gain-scheduled) state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61379153 and 61572529)
文摘We show that the secret key generation rate can be balanced with the maximum secure distance of four-state continuous-variable quantum key distribution(CV-QKD) by using the linear optics cloning machine(LOCM). Benefiting from the LOCM operation, the LOCM-tuned noise can be employed by the reference partner of reconciliation to achieve higher secret key generation rates over a long distance. Simulation results show that the LOCM operation can flexibly regulate the secret key generation rate and the maximum secure distance and improve the performance of four-state CV-QKD protocol by dynamically tuning parameters in an appropriate range.
基金supported by the National Natural Science Foundation of China(52005231)Social Development Science and Technology Support Project of Changzhou(CE20215050)Jiangsu Province Graduate Student Practice Innovation Plan(SJCX21_1313,SJCX21_1314).
文摘This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The developed controlmethod applies an FNTSMto ensure the tracking performance’s control accuracy,and an LESO to estimate the system’s unmodeled dynamics and external disturbances.Additionally,an improved salp swarm algorithm(ISSA)is employed to parameter tune the suggested controller by integrating the salp swarmtechnique with a cloud model.This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics models.The simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances,and the ISSA can help the proposed controller find optimal control parameters.
基金supported by the National Natural Science Foundation of China (52005231,52175097)Social Development Science and Technology Support Project of Changzhou (CE20215050).
文摘With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.
基金supported by the National Key Research and Development Program of China under Grant 2018YFB0904500。
文摘The increasing penetration of renewable energy resources with highly fluctuating outputs has placed increasing concern on the accuracy and timeliness of electric power system state estimation(SE).Meanwhile,we note that only a fraction of system states fluctuate at the millisecond level and require to be updated.As such,refreshing only those states with significant variation would enhance the computational efficiency of SE and make fast-continuous update of states possible.However,this is difficult to achieve with conventional SE methods,which generally refresh states of the entire system every 4–5 s.In this context,we propose a local hybrid linear SE framework using stream processing,in which synchronized measurements received from phasor measurement units(PMUs),and trigger/timingmode measurements received from remote terminal units(RTUs)are used to update the associated local states.Moreover,the measurement update process efficiency and timeliness are enhanced by proposing a trigger measurement-based fast dynamic partitioning algorithm for determining the areas of the system with states requiring recalculation.In particular,non-iterative hybrid linear formulations with both RTUs and PMUs are employed to solve the local SE problem.The timeliness,accuracy,and computational efficiency of the proposed method are demonstrated by extensive simulations based on IEEE 118-,300-,and 2383-bus systems.
基金supported in part by the Fundamental Research Funds for the Central Universities (No. 201964012)the Open Foundation of Henan Key Laboratory of Underwater Intelligent Equipment (No. KL02A1802)+1 种基金the National Natural Science Foundations of China (Nos. 61603361 and 51979256)the Shandong Provincial Natural Science Foundation (No. ZR2017MEE015)。
文摘In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.
基金Projects(51309067,51679057,51609048)supported by the National Natural Science Foundation of ChinaProject(JC2016007)supported by the Outstanding Youth Science Foundation of Heilongjiang Province,ChinaProject(HEUCFX041401)supported by the Fundamental Research Funds for the Central Universities,China
文摘The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles (multi-UUVs) formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.
基金This project was supported by the National Natural Science Foundation of China (69874025).
文摘We first design a discrete hyperchaotic system via piece-wise linear state feedback. The states of the closed loop system are locally expanding in two directions but absolutely bounded on the whole, which implies hyperchaos. Then, we use three suchlike hyperchaotic systems with different feedback gain matrices to design a pseudo-random sequence generator (PRSG). Through a threshold function, three sub-sequences generated from the output of piecewise linear functions are changed into 0-1 sequences. Then, followed by XOR operation, an unpredictable pseudo-random sequence (PRS) is ultimately obtained. The analysis and simulation results indicate that the PRS, generated with hyperchaotic systems, has desirable statistical features.
基金supported by the National Natural Science Foundation of China(Grant Nos.61471050,61377097,11404031 and 61571060)the Fok Ying-Tong Education Foundation for Young Teachers in the Higher Education Institutions of China(Grant No.151063)+1 种基金the Fundamental Research Funds for the Central Universities(Grant No.2015RC28)the Fund of State Key Laboratory of Information Photonics and Optical Communications(Beijing University of Posts and Telecommunications)(Grant No.IPOC2015ZT05)
文摘Entanglement plays an important role in quantum information science, especially in quantum communications. Here we present an efficient entanglement concentration protocol(ECP) for nonlocal atom systems in the partially entangled W-class states, using the single-photon input-output process regarding low-Q cavity and linear optical elements. Compared with previously published ECPs for the concentration of non-maximally entangled atomic states, our protocol is much simpler and more efficient as it employs the Faraday rotation in cavity quantum electrodynamics(QED) and the parameter-splitting method. The Faraday rotation requires the cavity with low-Q factor and weak coupling to the atom, which makes the requirement for entanglement concentration much less stringent than the previous methods, and achievable with current cavity QED techniques. The parameter-splitting method resorts to linear-optical elements only. This ECP has high efficiency and fidelity in realistic experiments, and some imperfections during the experiment can be avoided efficiently with currently available techniques.
基金Sponsored by the Doctoral Fund of Ministry of Education of China(20070288022)the Natural Science Foundation of Jiangsu Province of China(BK2008404)the Young Teacher Academic Foundation of Nanjing University of Technology(39710013)
文摘Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.
基金Project(61104072) supported by the National Natural Science Foundation of China
文摘A discrete observer-based repetitive control(RC) design method for a linear system with uncertainties was presented based on two-dimensional(2D) system theory. Firstly, a 2D discrete model was established to describe both the control behavior within a repetition period and the learning process taking place between periods. Next, by converting the designing problem of repetitive controller into one of the feedback gains of reconstructed variables, the stable condition was obtained through linear matrix inequality(LMI) and also the gain coefficient of repetitive system. Numerical simulation shows an exceptional feasibility of this proposal with remarkable robustness and tracking speed.
基金supported by the Science and Technology Program of State Grid Corporation of China under project“AI based oscillation detection and control”(No.SGJS0000DKJS1801231)
文摘With more data-driven applications introduced in wide-area monitoring systems(WAMS),data quality of phasor measurement units(PMUs)becomes one of the fundamental requirements for ensuring reliable WAMS applications.This paper proposes a doubly-fed deep learning method for bad data identification in linear state estimation,which can:(1)identify bad data under both steady states and contingencies;(2)achieve higher accuracy than conventional pre-filtering approaches;(3)reduce iteration burden for linear state estimation;(4)efficiently identify bad data in a parallelizable scheme.The proposed method consists of four key steps:(1)preprocessing filter;(2)online training of short-term deep neural network;(3)offline training of long-term deep neural network;(4)a decision merger.Through delicate design and comprehensive training,the proposed method can effectively differentiate the bad data from event data without relying on real-time topology information.An IEEE 39-bus system simulated by DSATools TSAT and a provincial electric power system with real PMU data collected are used to verify the proposed method.Multiple test scenarios are applied,which include steady states,three-phase-to-ground faults with(un)successful auto-reclosing,low-frequency oscillation,and low-frequency oscillation with simultaneous threephase-to-ground faults.The proposed method demonstrates satisfactory performance during both the training session and the testing session.
基金supported by the National HighTech Research and Development Program of China(Nos.11100002017115004 and 111GFTQ2018115005)the National Natural Science Foundation of China(Nos.61473015 and 91646108)the Space Science and Technology Foundation of China(No.105HTKG2019115002)。
文摘The hypersonic vehicle model is characterized by strong coupling,nonlinearity,and acute changes of aerodynamic parameters,which are challenging for control system design.This study investigates a novel compound control scheme that combines the advantages of the Fractional-Order Proportional-Integral-Derivative(FOPID)controller and Linear Active Disturbance Rejection Control(LADRC)for reentry flight control of hypersonic vehicles with actuator faults.First,given that the controller has adjustable parameters,the frequency-domain analysis-method-based parameter tuning strategy is utilized for the FOPID controller and LADRC method(FOLADRC).Then,the influences of the actuator model on the anti-disturbance capability and parameter tuning of the FOLADRC-based closed-loop control system are analyzed.Finally,the simulation results indicate that the proposed FOLADRC approach has satisfactory performance in terms of rapidity,accuracy,and robustness under the normal operating condition and actuator fault condition.
文摘In this paper, a class of simplified Type-IV predator-prey system with linear state feedback is investigated. We prove the boundedness of the positive solutions to this system, and analyze the quality of the equilibria and the existence of limit cycles of the system surrounding the positive equilibra. By Hopf bifurcation theory, the result of having two limit cycles to the system is obtained.
基金This work was supported by the State Grid Corporation of China(No.SGJS0000DKJS1801231).
文摘This paper proposes a neural-network-based state estimation(NNSE)method that aims to achieve higher time efficiency,improved robustness against noise,and extended observability when compared with the conventional weighted least squares(WLS)state estimation method.NNSE consists of two parts,the linear state estimation neural network(LSE-net)and the unobservable state estimation neural network(USE-net).The LSE-net functions as an adaptive approximator of linear state estimation(LSE)equations to estimate the nominally observable states.The inputs of LSE-net are the vectors of synchrophasors while the outputs are the estimated states.The USE-net operates as the complementary estimator on the nominally unobservable states.The inputs are the estimated observable states from LSE-net while the outputs are the estimation of nominally unobservable states.USE-net is trained off-line to approximate the veiled relationship between observable states and unobservable states.Two test cases are conducted to validate the performance of the proposed approach.The first case,which is based on the IEEE 118-bus system,shows the comprehensive performance of convergence,accuracy,and robustness of the proposed approach.The second case study adopts real-world synchrophasor measurements,and is based on the Jiangsu power grid,which is one of the largest provincial power systems in China.
文摘State estimation is a critical functionality of energy management system(EMS) to provide power system states in real-time operations. However, problems such as failure to converge, prone to failure during contingencies,and biased estimates while system is under stressed condition occur so that state estimation results may not be reliable.The unreliable results further impact downstream network and market applications, such as contingency analysis,voltage stability analysis, transient stability analysis, system alarming, and unit commitment. Thus, operators may lose the awareness of system condition in EMS. This paper proposes a fully independent and one-of-a-kind system by integrating linear state estimator into situational awareness applications based on real-time synchrophasor data. With guaranteed and accurate state estimation solution and advanced real-time data analytic and monitoring functionalities, the system is capable of assisting operators to assess and diagnose current system conditions for proactive and necessary corrective actions. The architecture, building components, and implementation of the proposed system are explored in detail. Two case studies with simulated data from the subsystems of Electric Reliability Council of Texas(ERCOT) and Los Angeles Department of Water and Power(LADWP) are presented. The test results show the effectiveness and reliability of the system, and its value for realtime power system operations.
基金supported by the National Natural Science Foundation of China(Grant Nos.61973175,61973172 and 62073177)the Key Technologies Research and Development Program of Tianjin(Grant No.19JCZDJC32800)Tianjin Research Innovation Project for Postgraduate Students(Grant No.2020YJSZXB02)。
文摘Disturbance and uncertainty rejection is a key objective in control system design, and active disturbance rejection control(ADRC)exactly provides an effective solution to this issue. To this end, this paper presents a generalized active disturbance rejection controller for a class of nonlinear uncertain systems with linear output. To be specific, a generalized reduced-order extended state observer(ESO) is proposed to reduce phase delay and complexity of the system, which can take full advantage of the system output. Also, this method includes the existing results with fewer assumptions, and can be applied to systems with any order measurable states or multiple states, even linear combination states. Furthermore, the stability of this approach is guaranteed and demonstrated through matrix transformation and Lyapunov method, and design examples and numerical simulations are given to show the effectiveness and practicability of the method.
基金National Science Fund for Distinguished Young Scholars (50825502)
文摘Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.