Hierarchical Control of Ride Height System for Electronically Controlled Air Suspension Based on Variable Structure and Fuzzy Control Theory

The current research of air suspension mainly focuses on the characteristics and design of the air spring. In fact, electronically controlled air suspension （ECAS） has excellent performance in flexible height adjustment during different driving conditions. However, the nonlinearity of the ride height adjusting system and the uneven distribution of payload affect the control accuracy of ride height and the body attitude. Firstly, the three-point measurement system of three height sensors is used to establish the mathematical model of the ride height adjusting system. The decentralized control of ride height and the centralized control of body attitude are presented to design the ride height control system for ECAS. The exact feedback linearization method is adopted for the nonlinear mathematical model of the ride height system. Secondly, according to the hierarchical control theory, the variable structure control （VSC） technique is used to design a controller that is able to adjust the ride height for the quarter-vehicle anywhere, and each quarter-vehicle height control system is independent. Meanwhile, the three-point height signals obtained by three height sensors are tracked to calculate the body pitch and roll attitude over time, and then by calculating the deviation of pitch and roll and its rates, the height control correction is reassigned based on the fuzzy algorithm. Finally, to verify the effectiveness and performance of the proposed combined control strategy, a validating test of ride height control system with and without road disturbance is carried out. Testing results show that the height adjusting time of both lifting and lowering is over 5 s, and the pitch angle and the roll angle of body attitude are less than 0.15°. This research proposes a hierarchical control method that can guarantee the attitude stability, as well as satisfy the ride height tracking system.

Distributed Fault-Tolerant Containment Control for Nonlinear Multi-Agent Systems Under Directed Network Topology via Hierarchical Approach

This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.

A New Three-Level Hierarchical Control Algorithm for Large-Scale Systems

This paper presents a new three-level hierarchical control parallel algorithm for large-scale systems by spatial and time decomposition. The parallel variable metric (PVM)method is found to be promising third-level algorithm. In the subproblems of second-level, the constraints of the smaller subproblem requires that the initial state of a subproblem equals the terminal state of the preceding subproblem. The coordinating variables are updated using the modified Newton method. the low-level smaller subproblems are solved in parallel using extended differential dynamic programmeing (DDP). Numerical result shows that comparing with one level DDP. the PVM /DDP algorithm obtains significant speed-ups.

Energy-Efficient Optimal Guaranteed Cost Intermittent-Switch Control of a Direct Expansion Air Conditioning System

To improve the energy efficiency of a direct expansion air conditioning(DX A/C) system while guaranteeing occupancy comfort, a hierarchical controller for a DX A/C system with uncertain parameters is proposed. The control strategy consists of an open loop optimization controller and a closed-loop guaranteed cost periodically intermittent-switch controller(GCPISC). The error dynamics system of the closed-loop control is modelled based on the GCPISC principle. The difference,compared to the previous DX A/C system control methods, is that the controller designed in this paper performs control at discrete times. For the ease of designing the controller, a series of matrix inequalities are derived to be the sufficient conditions of the lower-layer closed-loop GCPISC controller. In this way, the DX A/C system output is derived to follow the optimal references obtained through the upper-layer open loop controller in exponential time, and the energy efficiency of the system is improved. Moreover, a static optimization problem is addressed for obtaining an optimal GCPISC law to ensure a minimum upper bound on the DX A/C system performance considering energy efficiency and output tracking error. The advantages of the designed hierarchical controller for a DX A/C system with uncertain parameters are demonstrated through some simulation results.

Intelligent Control Scheme of Engineering Machinery of Cluster Hybrid System

In a hybrid system, the subsystems with discrete dynamics play a central role in a hybrid system. In the course of engineering machinery of cluster construction, the discrete control law is hard to obtain because the construction environment is complex and there exist many affecting factors. In this paper, hierarchically intelligent control, expert control and fuzzy control are introduced into the discrete subsystems of engineering machinery of cluster hybrid system, so as to rebuild the hybrid system and make the discrete control law easily and effectively obtained. The structures, reasoning mechanism and arithmetic of intelligent control are replanted to discrete dynamic, conti- nuous process and the interface of the hybrid system. The structures of three types of intelligent hybrid system are presented and the human experiences summarized from engineering machinery of cluster are taken into account.

Group-Consensus of Hierarchical Containment Control for Linear Multi-Agent Systems

The existing containment control has been widely developed for several years, but ignores the case for large-scale cooperation. The strong coupling of large-scale networks will increase the costs of system detection and maintenance. Therefore, this paper is concerned with an extensional containment control issue, hierarchical containment control. It aims to enable a multitude of followers achieving a novel cooperation in the convex hull shaped by multiple leaders. Firstly, by constructing the three-layer topology, large-scale networks are decoupled. Then,under the condition of directed spanning group-tree, a class of dynamic hierarchical containment control protocol is designed such that the novel group-consensus behavior in the convex hull can be realized. Moreover, the definitions of coupling strength coefficients and the group-consensus parameter in the proposed dynamic hierarchical control protocol enhance the adjustability of systems. Compared with the existing containment control strategy, the proposed hierarchical containment control strategy improves dynamic control performance. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed hierarchical control protocol.

Hierarchical power control for OFDM based LTE system

3 GPP LTE has approved uplink intra-cell power control and defined overload indicator （OI） for uplink inter-cell power contrQ1 to mitigate the inter-cell interference （ICI）, respectively. In this pa- per, we propose a hierarchical power control （ HPC ） scheme where intra-eell and inter-cell power controls interact with each other. The inter-cell power control eommand is generated by radio re- source management （RRM） entity according to the ICI-load model together with the current ICI and served load information. This ICI-load model is proposed as a guideline for coordination among cells to enable the system to approach its system specific interference over thermal noise （IoT） work area. Simulation results show that for HPC scheme, the system＇ s IoT is well controlled to fit its pre-de- fined work area and the power efficiency is improved significantly. Our proposed scheme is also ro- bust to different settings of its inter-cell power control period.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Quality of Service Improvement with Optimal Software-Defined Networking Controller and Control Plane Clustering

The controller is indispensable in software-defined networking(SDN).With several features,controllers monitor the network and respond promptly to dynamic changes.Their performance affects the quality-of-service(QoS)in SDN.Every controller supports a set of features.However,the support of the features may be more prominent in one controller.Moreover,a single controller leads to performance,single-point-of-failure(SPOF),and scalability problems.To overcome this,a controller with an optimum feature set must be available for SDN.Furthermore,a cluster of optimum feature set controllers will overcome an SPOF and improve the QoS in SDN.Herein,leveraging an analytical network process(ANP),we rank SDN controllers regarding their supporting features and create a hierarchical control plane based cluster(HCPC)of the highly ranked controller computed using the ANP,evaluating their performance for the OS3E topology.The results demonstrated in Mininet reveal that a HCPC environment with an optimum controller achieves an improved QoS.Moreover,the experimental results validated in Mininet show that our proposed approach surpasses the existing distributed controller clustering(DCC)schemes in terms of several performance metrics i.e.,delay,jitter,throughput,load balancing,scalability and CPU(central processing unit)utilization.

A Fuzzy Logic Based Supervisory Hierarchical Control Scheme for Real Time Pressure Control

This paper describes a supervisory hierarchical fuzzy controller （SHFC） for regulating pressure in a real-time pilot pressure control system. The input scaling factor tuning of a direct expert controller is made using the error and process input parameters in a closed loop system in order to obtain better controller performance for set-point change and load disturbances. This on-line tuning method reduces operator involvement and enhances the controller performance to a wide operating range. The hierarchical control scheme consists of an intelligent upper level supervisory fuzzy controller and a lower level direct fuzzy controller. The upper level controller provides a mechanism to the main goal of the system and the lower level controller delivers the solutions to a particular situation. The control algorithm for the proposed scheme has been developed and tested using an ARM7 microcontroller-based embedded target board for a nonlinear pressure process having dead time. To demonstrate the effectiveness, the results of the proposed hierarchical controller, fuzzy controller and conventional proportional-integral （PI） controller are analyzed. The results prove that the SHFC performance is better in terms of stability and robustness than the conventional control methods.

Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.

Dynamic affine formation control of networked under-actuated quad-rotor UAVs with three-dimensional patterns

This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results.

Movability of the tracked pipeline-robot based on hierarchical fuzzy control

The turning motion of a tracked pipeline-robot implemented by skid steering is a nonholonomic dynamic problem with intrinsic nonlinearity, to which the classical control method is inappropriate and cannot be applied. This paper presents a novel path tracking control method based on hierarchical fuzzy structure. The controller consists of three sub-level low dimensional fuzzy control systems： fuzzy supervisory control, fuzzy steering and fuzzy velocity control. As a result, establishing the bases of rules for the fuzzy control becomes feasible and simplified, and the related controller can be adapted to complicated ground and environment. Using this method, the number of fuzzy controt rules is greatly decreased so that the curse of dimensionality causing the multivariable problem does not occur. Simulation and experimental results validate the effectiveness of the proposed method with satisfied performance on path tracking. Autonomous navigation of the caterpillar-inspired pipeline-robot is also implemented based on the sensor feedbacks.

Compensation/consumption hierarchical control strategy based on wind-solar-hydrogen coupling grid connection

In the process of grid-connected wind and solar power generation,there are problems of high rate of abandoning wind and light and insufficient energy.In order to solve these problems,we construct a grid-connected wind-solar hydrogen storage(alkaline electrolyzer(AE)-hydrogen storage tank-battery-proton exchange membrane fuel cell(PEMFC))coupled system architecture.A grid-connected compensation/consumption hierarchical control strategy based on wind-solar hydrogen coupling is proposed.During the grid-connected process of wind and solar power generation,the upper-level control allocates power reasonably to the hydrogen energy storage system by dispatching the power of wind and solar power generation.At the same time,the control strategy ensures that the pressure of the hydrogen storage tank is within the safety range limit,and the lower control completes the control of the duty cycle of the converter in the system.Due to the randomness of wind and light,the hydrogen energy storage system is divided into three working conditions,namely compensation,balance and consumption,and five working modes.The simulation results show that the hydrogen energy storage system compensates for 40%of the power shortage,and consumes 27.5%of the abandoned wind and solar energy,which improves the utilization rate of clean energy.

Hierarchical-control-based output synchronization of coexisting attractor networks

This paper introduces the concept of hierarchical-control-based output synchronization of coexisting attractor networks. Within the new framework, each dynamic node is made passive at first utilizing intra-control around its own arena. Then each dynamic node is viewed as one agent, and on account of that, the solution of output synchronization of coexisting attractor networks is transformed into a multi-agent consensus problem, which is made possible by virtue of local interaction between individual neighbours; this distributed working way of coordination is coined as inter-control, which is only specified by the topological structure of the network. Provided that the network is connected and balanced, the output synchronization would come true naturally via synergy between intra and inter-control actions, where the rightness is proved theoretically via convex composite Lyapunov functions. For completeness, several illustrative examples are presented to further elucidate the novelty and efficacy of the proposed scheme.

Hierarchical and Distributed Optimal Control Strategy for Power and Power Quality of Microgrid Based on Finite-Time Consistency

Droop control is one of the main control strategies of islanded microgrid(MG),but the droop control cannot achieve reasonable power distribution of microgrid,resulting in frequency and voltage deviation from the rating value,which needs the upper control link to eliminate the deviation.However,at present,most layered control requires a centralized control center,which excessively relies on microgrid central controller(MGCC)and real-time communication among distributed generation(DG),which has certain limitations.To solve the above problems,this paper proposes a hierarchical distributed power and power quality optimization strategy based on multi-agent finite time consistency algorithm(MA-FTCA).Firstly,based on the first layer droop control,MA-FTCA is applied to introduce frequency and voltage compensation to stabilize the system frequency and voltage at the rated value.Secondly,in the third layer,the MA-FTCA is adopted to estimate the total active power and total reactive power spare capacity of the system,to realize the reasonable distribution of active power and reactive power output of each DG according to its proportion of spare capacity when the system load side changes.The control strategy proposed in this paper adopts a completely distributed control method and does not need a centralized control center in each layer of control.Finally,MATLAB/Simulink simulation platform is used to verify the correctness and effectiveness of the proposed optimization strategy.

Combined Control Allocation and Sliding Mode Control in the Dynamic Control of a Vehicle with Eight In-Wheel Motors

An eight wheel independently driving steering（8 WIDBS）electric vehicle is studied in this paper.The vehicle is equipped with eight in-wheel motors and a steer-by-wire system.A hierarchically coordinated vehicle dynamic control（HCVDC）system,including a high-level vehicle motion controller,a control allocation,an inverse tire model and a lower-level slip/slip angle controller,is proposed for the over-actuated vehicle system.The high-level sliding mode vehicle motion controller is designed to produce desired total forces and yaw moment,distributed to longitudinal and lateral forces of each tire by an advanced control allocation method.And the slip controller is designed to use a sliding mode control method to follow the desired slip ratios by manipulating the corresponding in-wheel motor torques.Evaluation of the overall system is accomplished by sine maneuver simulation.Simulation results confirm that the proposed control system can coordinate among the redundant and constrained actuators to achieve the vehicle dynamic control task and improve the vehicle stability.

Frequency Regulation of Alternating Current Microgrid Based on Hierarchical Control Using Fuzzy Logic

An alternating current(AC)microgrid is a system that integrates renewable power,power converters,controllers and loads.Hierarchical control can manage the frequency of the microgrid to prevent imbalance and collapse of the system.The existing frequency control methods use traditional proportion integration(PI)controllers,which cannot adjust PI parameters in real-time to respond to the status changes of the system.Hierarchical control driven by fuzzy logic allows real-time adjustment of the PI parameters and the method used a two-layer control structure.The primary control used droop control to adjust power distribution,and fuzzy logic was used in the voltage loop of the primary control.The secondary control was added to make up for frequency deviation caused by droop control,and fuzzy logic was used in the secondary frequency control to deal with the dynamic change of frequency caused by the disturbances of loads.The proposed method was simulated in Matlab/Simulink.In the primary control,the proposed method reduced the total harmonic distortion(THD)of two cycles of the output voltage from 4.19%to 3.89%;in the secondary control,the proposed method reduced the frequency fluctuation of the system by about 0.03 Hz and 0.04 Hz when the load was increased and decreased,respectively.The results show that the proposed methods have a better effect on frequency maintenance and voltage control of the AC microgrid.

Hierarchical Optimal Power Flow Control for Loss Minimization in Hybrid Multi-terminal HVDC Transmission System

A hierarchical control scheme is proposed for optimal power flow control to minimize loss in a hybrid multiterminal HVDC(hybrid-MTDC)transmission system.In this scheme,the lower level is the droop control,which enables fast response to power fluctuation and ensures a stable DC voltage,and the upper level is power flow optimization control,which minimizes the losses during the operation of hybrid-MTDC and solves the contradiction between minimizing losses and preventing commutation failure.A 6-terminal hybrid-MTDC is also designed and simulated in PSCAD according to the potential demand of power transmission and wind farms integration in China to verify the proposed control strategy.First,the steady state analysis is conducted and then compared with simulation results.The analysis shows that the proposed control scheme achieves the desired minimum losses while at the same time satisfying system constraints.The proposed control scheme also guarantees that the hybrid-MTDC not only has a good dynamic response,but also remains stable during communication failure.

Hierarchical control of a class of uncertain linear systems

Hierarchical control method which is based on a hierarchical architecture has been developed to be mainly aimed at large-scale complex systems.In order to analyse and control this kind of systems,we construct first an appropriate and low-dimensional abstract system,then synthesise and lift the control law from the obtained abstraction to the original system.As far as the linear systems with uncertain terms are concerned,this paper studies the robust control problem of high-dimensional uncertain linear systems and derives the results by employing hierarchical controlmethod.Furthermore,the LMI toolbox is allowed to be used for the computation of interface functions.Finally,our method framework is illustrated on a five-dimensional uncertain linear system.