Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to aut...Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.展开更多
The application of various artificial intelligent(AI) techniques,namely artificial neural network(ANN),adaptive neuro fuzzy interface system(ANFIS),genetic algorithm optimized least square support vector machine(GA-LS...The application of various artificial intelligent(AI) techniques,namely artificial neural network(ANN),adaptive neuro fuzzy interface system(ANFIS),genetic algorithm optimized least square support vector machine(GA-LSSVM) and multivariable regression(MVR) models was presented to identify the real power transfer between generators and loads.These AI techniques adopt supervised learning,which first uses modified nodal equation(MNE) method to determine real power contribution from each generator to loads.Then the results of MNE method and load flow information are utilized to estimate the power transfer using AI techniques.The 25-bus equivalent system of south Malaysia is utilized as a test system to illustrate the effectiveness of various AI methods compared to that of the MNE method.展开更多
In some countries, there exists a risk of power deficit in the EPS （electrical power system）. This is a very serious problem and there are various solutions to deal with it. A power deficit in the EPS leads to frequ...In some countries, there exists a risk of power deficit in the EPS （electrical power system）. This is a very serious problem and there are various solutions to deal with it. A power deficit in the EPS leads to frequency decrease in the power system. A dedicated automation to load shedding is used to maintain proper EPS operation. For some time, it has applied a mechanism called demand-side response, which in case of an emergency situation allows for a ＂more civilized＂ rationing of electricity to customers, with their consent. Such programs require that the utilities pay the customers for their agreement. The author proposes a new solution, intermediate between strict ALS （acting relieving automation） and demand-side response programs, where the companies have to send information about the price of energy or control signals to households.展开更多
To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make th...To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the results.展开更多
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.
基金the Ministry of Higher Education,Malaysia (MOHE) for the financial funding of this projectUniversiti Kebangsaan Malaysia and Universiti Teknologi Malaysia for providing infrastructure and moral support for the research work
文摘The application of various artificial intelligent(AI) techniques,namely artificial neural network(ANN),adaptive neuro fuzzy interface system(ANFIS),genetic algorithm optimized least square support vector machine(GA-LSSVM) and multivariable regression(MVR) models was presented to identify the real power transfer between generators and loads.These AI techniques adopt supervised learning,which first uses modified nodal equation(MNE) method to determine real power contribution from each generator to loads.Then the results of MNE method and load flow information are utilized to estimate the power transfer using AI techniques.The 25-bus equivalent system of south Malaysia is utilized as a test system to illustrate the effectiveness of various AI methods compared to that of the MNE method.
文摘In some countries, there exists a risk of power deficit in the EPS （electrical power system）. This is a very serious problem and there are various solutions to deal with it. A power deficit in the EPS leads to frequency decrease in the power system. A dedicated automation to load shedding is used to maintain proper EPS operation. For some time, it has applied a mechanism called demand-side response, which in case of an emergency situation allows for a ＂more civilized＂ rationing of electricity to customers, with their consent. Such programs require that the utilities pay the customers for their agreement. The author proposes a new solution, intermediate between strict ALS （acting relieving automation） and demand-side response programs, where the companies have to send information about the price of energy or control signals to households.
基金Supported by the National Natural Science Foundation of China under Grant Nos.61104092,61134007,and61203147the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the results.
