Pub Date : 2024-03-26DOI: 10.1109/TCST.2024.3378958
Connor H. Ligeikis;Jeffrey T. Scruggs
In vibration energy-harvesting technologies, feedback control is required to maximize the average power generated from stochastic disturbances. In large-scale applications, it is often advantageous to use three-phase conversion technologies for transduction. In such situations, vector control techniques can be used to optimally control the transducer currents in the direct-quadrature reference frame, as dynamic functions of feedback measurements. In this paradigm, converted energy is optimally controlled via the quadrature current. The direct current is only used to maintain control of the quadrature current when the machine’s internal back electromotive force (EMF) exceeds the voltage of the power bus, a technique called field weakening. Due to increased dissipation in the stator coil, the use of field weakening results in a reduction in power conversion, relative to what would theoretically be possible with a larger bus voltage. This overvoltage issue can be alternatively addressed by imposing a competing objective in the optimization of the quadrature current controller such that the frequency and duration of these overvoltage events are reduced. However, this also results in reduced generated power, due to the need to satisfy the competing constraint. This article examines the tradeoff between these two approaches to overvoltage compensation and illustrates a methodology for determining the optimum balance between the two approaches.
{"title":"Multiobjective Vector Control of a Three-Phase Vibratory Energy Harvester","authors":"Connor H. Ligeikis;Jeffrey T. Scruggs","doi":"10.1109/TCST.2024.3378958","DOIUrl":"10.1109/TCST.2024.3378958","url":null,"abstract":"In vibration energy-harvesting technologies, feedback control is required to maximize the average power generated from stochastic disturbances. In large-scale applications, it is often advantageous to use three-phase conversion technologies for transduction. In such situations, vector control techniques can be used to optimally control the transducer currents in the direct-quadrature reference frame, as dynamic functions of feedback measurements. In this paradigm, converted energy is optimally controlled via the quadrature current. The direct current is only used to maintain control of the quadrature current when the machine’s internal back electromotive force (EMF) exceeds the voltage of the power bus, a technique called field weakening. Due to increased dissipation in the stator coil, the use of field weakening results in a reduction in power conversion, relative to what would theoretically be possible with a larger bus voltage. This overvoltage issue can be alternatively addressed by imposing a competing objective in the optimization of the quadrature current controller such that the frequency and duration of these overvoltage events are reduced. However, this also results in reduced generated power, due to the need to satisfy the competing constraint. This article examines the tradeoff between these two approaches to overvoltage compensation and illustrates a methodology for determining the optimum balance between the two approaches.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140314809","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-26DOI: 10.1109/TCST.2024.3374156
Liwei Zhou;Matthias Preindl
The analytical co-design strategies of receding horizon estimation (RHE) and control (RHC) have been proposed in this brief for the general applications of power converters. A typical two-level power module with $LC$ filter system is demonstrated for the estimation and control implementation. The proposed analytical co-design procedures include: 1) system state space modeling; 2) receding horizon configuration/setup; 3) application of RHE–RHC for various interfaces; and 4) parametric analysis. The proposed strategies have been validated for the energy conversion applications of grid-connected dc/ac inverter and resistive load dc/dc converter. The advantages include: 1) reduced sensor cost with accurate estimation; 2) improved transient performance with receding horizon-based algorithms; and 3) reconfigurable RHE and RHC software unit for wide applications. The experimental test results verified the proposed methods.
{"title":"Analytical Co-Design of Receding Horizon Estimation and Control for Power Converters","authors":"Liwei Zhou;Matthias Preindl","doi":"10.1109/TCST.2024.3374156","DOIUrl":"10.1109/TCST.2024.3374156","url":null,"abstract":"The analytical co-design strategies of receding horizon estimation (RHE) and control (RHC) have been proposed in this brief for the general applications of power converters. A typical two-level power module with \u0000<inline-formula> <tex-math>$LC$ </tex-math></inline-formula>\u0000 filter system is demonstrated for the estimation and control implementation. The proposed analytical co-design procedures include: 1) system state space modeling; 2) receding horizon configuration/setup; 3) application of RHE–RHC for various interfaces; and 4) parametric analysis. The proposed strategies have been validated for the energy conversion applications of grid-connected dc/ac inverter and resistive load dc/dc converter. The advantages include: 1) reduced sensor cost with accurate estimation; 2) improved transient performance with receding horizon-based algorithms; and 3) reconfigurable RHE and RHC software unit for wide applications. The experimental test results verified the proposed methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140314875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-22DOI: 10.1109/TCST.2024.3377828
Alan Williams;Alexander Scheinker;En-Chuan Huang;Charles Taylor;Miroslav Krstic
We demonstrate the recent designs of safe extremum seeking (Safe ES) on the 1-km-long charged particle accelerator at the Los Alamos Neutron Science Center (LANSCE). Safe ES is a modification of extremum seeking (ES) which, in addition to minimizing an analytically unknown cost, also employs a safety filter based on an analytically unknown control barrier function (CBF) safety metric. Tuning is necessitated by accelerators being large complex systems, with many drifting parameters due to thermal effects and degradation. At the same time, safe operation (the maintenance of state constraints) is crucial, as damage brings astronomical costs, both financially and in operation downtime. Our measured (but analytically unknown) safety metric is the beam current. We perform multivariable Safe ES on three accelerator applications, in which we adapt 4, 6, and 3 magnet strength parameters, respectively. Two of the three applications are for validated simulation models of beamlines at LANSCE: the first for the proton radiography (pRad) beamline of 800-MeV protons for spot size tuning; the second on a high-performance code, HPSim, for tuning the low-energy beam transport (LEBT) region that contains a beam of 750-keV protons. The third is an experimental tuning of the steering magnets in the LEBT at LANSCE.
{"title":"Experimental Safe Extremum Seeking for Accelerators","authors":"Alan Williams;Alexander Scheinker;En-Chuan Huang;Charles Taylor;Miroslav Krstic","doi":"10.1109/TCST.2024.3377828","DOIUrl":"10.1109/TCST.2024.3377828","url":null,"abstract":"We demonstrate the recent designs of safe extremum seeking (Safe ES) on the 1-km-long charged particle accelerator at the Los Alamos Neutron Science Center (LANSCE). Safe ES is a modification of extremum seeking (ES) which, in addition to minimizing an analytically unknown cost, also employs a safety filter based on an analytically unknown control barrier function (CBF) safety metric. Tuning is necessitated by accelerators being large complex systems, with many drifting parameters due to thermal effects and degradation. At the same time, safe operation (the maintenance of state constraints) is crucial, as damage brings astronomical costs, both financially and in operation downtime. Our measured (but analytically unknown) safety metric is the beam current. We perform multivariable Safe ES on three accelerator applications, in which we adapt 4, 6, and 3 magnet strength parameters, respectively. Two of the three applications are for validated simulation models of beamlines at LANSCE: the first for the proton radiography (pRad) beamline of 800-MeV protons for spot size tuning; the second on a high-performance code, HPSim, for tuning the low-energy beam transport (LEBT) region that contains a beam of 750-keV protons. The third is an experimental tuning of the steering magnets in the LEBT at LANSCE.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140201440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-21DOI: 10.1109/TCST.2024.3375151
Jens Einar Bremnes;Torbjørn Reitan Fyrvik;Thomas Røbekk Krogstad;Asgeir Johan Sørensen
Operations of multiagent systems consisting of autonomous underwater vehicles (AUVs) and autonomous surface vessels (ASVs) offer a cost-effective solution to a wide range of marine applications, such as mapping and monitoring of the oceans. This article proposes a switching controller for tracking one or multiple AUVs with an ASV. Using three control modes, the controller ensures that: 1) each AUV eventually gets tracked and aided; 2) collisions with the AUVs are avoided; and 3) the ASV stops active propulsion whenever practical in order to conserve energy and reduce acoustic noise caused by the propulsion system. The switching of modes is based on the relative geometry between the ASV and the AUVs and backward reachable sets (BRSs). The switching controller is experimentally demonstrated with satisfying results in a series of field experiments in the Trondheim Fjord, where up to three AUVs executing missions simultaneously are tracked and aided by one ASV.
由自主水下航行器（AUV）和自主水面舰艇（ASV）组成的多代理系统的运行为广泛的海洋应用（如海洋测绘和监测）提供了一种具有成本效益的解决方案。本文提出了一种开关控制器，用于跟踪带有 ASV 的一个或多个 AUV。该控制器采用三种控制模式，可确保1) 每个 AUV 最终都能得到跟踪和辅助；2) 避免与 AUV 发生碰撞；3) ASV 在可行的情况下停止主动推进，以节约能源并减少推进系统产生的声噪。模式的切换基于 ASV 和 AUV 之间的相对几何形状以及后向可到达集（BRS）。在特隆赫姆峡湾进行的一系列现场实验中，切换控制器得到了令人满意的结果。在这些实验中，多达三艘同时执行任务的 AUV 由一艘 ASV 跟踪和辅助。
{"title":"Design of a Switching Controller for Tracking AUVs With an ASV","authors":"Jens Einar Bremnes;Torbjørn Reitan Fyrvik;Thomas Røbekk Krogstad;Asgeir Johan Sørensen","doi":"10.1109/TCST.2024.3375151","DOIUrl":"10.1109/TCST.2024.3375151","url":null,"abstract":"Operations of multiagent systems consisting of autonomous underwater vehicles (AUVs) and autonomous surface vessels (ASVs) offer a cost-effective solution to a wide range of marine applications, such as mapping and monitoring of the oceans. This article proposes a switching controller for tracking one or multiple AUVs with an ASV. Using three control modes, the controller ensures that: 1) each AUV eventually gets tracked and aided; 2) collisions with the AUVs are avoided; and 3) the ASV stops active propulsion whenever practical in order to conserve energy and reduce acoustic noise caused by the propulsion system. The switching of modes is based on the relative geometry between the ASV and the AUVs and backward reachable sets (BRSs). The switching controller is experimentally demonstrated with satisfying results in a series of field experiments in the Trondheim Fjord, where up to three AUVs executing missions simultaneously are tracked and aided by one ASV.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140201439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-20DOI: 10.1109/TCST.2024.3377509
Yi Guo;Ognjen Stanojev;Gabriela Hug;Tyler Holt Summers
We propose a sparsity-promoting feedback control design for stochastic linear systems with multiplicative noise. The objective is to identify an optimal sparse control architecture and optimize the closed-loop performance while stabilizing the system in the mean-square sense. Our approach approximates the nonconvex combinatorial optimization problem by minimizing various matrix norms subject to the linear matrix inequality (LMI) stability condition. We present two design problems to reduce the number of actuators and the number of sensors via a low-dimensional output. A regularized linear quadratic regulator with multiplicative (LQRm) noise optimal control problem and its convex relaxation are presented to demonstrate the tradeoff between the suboptimal closed-loop performance and the sparsity degree of control structure. Case studies on power grids for wide-area frequency control show that the proposed sparsity-promoting control can considerably reduce the number of sensors and actuators without significant loss in system performance. The sparse control architecture is robust to substantial system-level disturbances while achieving mean-square stability.
{"title":"Sparse Structure Design for Stochastic Linear Systems via a Linear Matrix Inequality Approach","authors":"Yi Guo;Ognjen Stanojev;Gabriela Hug;Tyler Holt Summers","doi":"10.1109/TCST.2024.3377509","DOIUrl":"10.1109/TCST.2024.3377509","url":null,"abstract":"We propose a sparsity-promoting feedback control design for stochastic linear systems with multiplicative noise. The objective is to identify an optimal sparse control architecture and optimize the closed-loop performance while stabilizing the system in the mean-square sense. Our approach approximates the nonconvex combinatorial optimization problem by minimizing various matrix norms subject to the linear matrix inequality (LMI) stability condition. We present two design problems to reduce the number of actuators and the number of sensors via a low-dimensional output. A regularized linear quadratic regulator with multiplicative (LQRm) noise optimal control problem and its convex relaxation are presented to demonstrate the tradeoff between the suboptimal closed-loop performance and the sparsity degree of control structure. Case studies on power grids for wide-area frequency control show that the proposed sparsity-promoting control can considerably reduce the number of sensors and actuators without significant loss in system performance. The sparse control architecture is robust to substantial system-level disturbances while achieving mean-square stability.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140201411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-20DOI: 10.1109/TCST.2024.3374153
Junhui Zhang;Yuxi Men;Lizhi Ding;Xiaonan Lu
This brief developed a novel sparsity-promoting distributed averaging-based proportional-integral (DAPI) control approach for secondary frequency and voltage regulation in inverter-based microgrids (MGs). In order to enhance the resilience of DAPI controllers and save communication resources, the metric “sparsity” needs to be fully considered without weakening its robustness to load fluctuations when designing the Laplacian matrix. To this end, in our work, a sparsity-promoting optimal linear output-feedback control problem is constructed, and an optimization framework is proposed by minimizing the impact of load fluctuation and cardinality function of the Laplacian matrix. Moreover, the optimization problem is flexible with its constraints which guarantee the basic properties of the Laplacian matrix for DAPI controllers. To solve the optimization problem, an alternating direction method of multipliers (ADMMs) is also developed, and the Laplacian matrix is then obtained. Furthermore, extensive case studies have shown that our approach can reduce the communication links of DAPI controllers effectively, and the robustness of voltage and reactive power sharing to load fluctuations is not weakened.
{"title":"Secondary Frequency and Voltage Regulation for Inverter-Based Microgrids: A Sparsity-Promoting DAPI Control Approach","authors":"Junhui Zhang;Yuxi Men;Lizhi Ding;Xiaonan Lu","doi":"10.1109/TCST.2024.3374153","DOIUrl":"10.1109/TCST.2024.3374153","url":null,"abstract":"This brief developed a novel sparsity-promoting distributed averaging-based proportional-integral (DAPI) control approach for secondary frequency and voltage regulation in inverter-based microgrids (MGs). In order to enhance the resilience of DAPI controllers and save communication resources, the metric “sparsity” needs to be fully considered without weakening its robustness to load fluctuations when designing the Laplacian matrix. To this end, in our work, a sparsity-promoting optimal linear output-feedback control problem is constructed, and an optimization framework is proposed by minimizing the impact of load fluctuation and cardinality function of the Laplacian matrix. Moreover, the optimization problem is flexible with its constraints which guarantee the basic properties of the Laplacian matrix for DAPI controllers. To solve the optimization problem, an alternating direction method of multipliers (ADMMs) is also developed, and the Laplacian matrix is then obtained. Furthermore, extensive case studies have shown that our approach can reduce the communication links of DAPI controllers effectively, and the robustness of voltage and reactive power sharing to load fluctuations is not weakened.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140201420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-20DOI: 10.1109/TCST.2024.3375760
Luuk Poort;Bart Besselink;Rob H. B. Fey;Nathan van de Wouw
We propose a novel balancing-based reduction approach for the reduction of interconnected, passive LTI subsystems. This approach retains (strict) passivity and (asymptotic) stability of both the subsystems and the interconnected system. Simultaneously, we retain an accurate description of the input–output behavior of the interconnected system by accounting for the dynamics of the interconnected system in the reduction of the subsystems. A relevant structural dynamics benchmark of approximately two thousand states is presented, by which we verify the preservation of stability and passivity and demonstrate the superior model accuracy of the proposed reduction method with respect to existing methods from the literature.
{"title":"Balancing-Based Reduction for Interconnected Passive Systems","authors":"Luuk Poort;Bart Besselink;Rob H. B. Fey;Nathan van de Wouw","doi":"10.1109/TCST.2024.3375760","DOIUrl":"10.1109/TCST.2024.3375760","url":null,"abstract":"We propose a novel balancing-based reduction approach for the reduction of interconnected, passive LTI subsystems. This approach retains (strict) passivity and (asymptotic) stability of both the subsystems and the interconnected system. Simultaneously, we retain an accurate description of the input–output behavior of the interconnected system by accounting for the dynamics of the interconnected system in the reduction of the subsystems. A relevant structural dynamics benchmark of approximately two thousand states is presented, by which we verify the preservation of stability and passivity and demonstrate the superior model accuracy of the proposed reduction method with respect to existing methods from the literature.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140201410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-19DOI: 10.1109/TCST.2024.3374155
Daniel Caporale;Luke F. van Eijk;Nima Karbasizadeh;Stijn Beer;Dragan Kostić;S. Hassan HosseinNia
In this work, the proportional Clegg integrator (PCI), a resetting proportional-integrator (PI) element, is studied with the aim of improving the performance of an industrial motion stage currently controlled by a linear controller. A novel parallel continuous reset (CR) architecture, based on the PI, is presented, along with frequency-based tuning guidelines, similar to linear time-invariant (LTI) loopshaping techniques. Open-loop higher order sinusoidal input describing functions (HOSIDFs) and pseudo-sensitivities computed through analytically derived approximate closed-loop HOSIDFs were effectively applied to predict steady-state performance. The experimental results, obtained on a wire bonding machine, confirmed that resonance-induced vibrations of the machine’s base frame can be suppressed more effectively by adopting a PCI-PID controller compared to the currently used linear controller. The novel structure does not only reduce unwanted excitation of higher order harmonics of the base frame resonance, such as the series CR architecture recently introduced in literature, but also avoids amplification of noise when implemented in practice. With the novel parallel structure, a significant (32%) decrease in the root mean square (rms) of the settling error could be achieved when compared to the linear controller currently used and the series CR reset structure.
{"title":"Practical Implementation of a Reset Controller to Improve Performance of an Industrial Motion Stage","authors":"Daniel Caporale;Luke F. van Eijk;Nima Karbasizadeh;Stijn Beer;Dragan Kostić;S. Hassan HosseinNia","doi":"10.1109/TCST.2024.3374155","DOIUrl":"10.1109/TCST.2024.3374155","url":null,"abstract":"In this work, the proportional Clegg integrator (PCI), a resetting proportional-integrator (PI) element, is studied with the aim of improving the performance of an industrial motion stage currently controlled by a linear controller. A novel parallel continuous reset (CR) architecture, based on the PI, is presented, along with frequency-based tuning guidelines, similar to linear time-invariant (LTI) loopshaping techniques. Open-loop higher order sinusoidal input describing functions (HOSIDFs) and pseudo-sensitivities computed through analytically derived approximate closed-loop HOSIDFs were effectively applied to predict steady-state performance. The experimental results, obtained on a wire bonding machine, confirmed that resonance-induced vibrations of the machine’s base frame can be suppressed more effectively by adopting a PCI-PID controller compared to the currently used linear controller. The novel structure does not only reduce unwanted excitation of higher order harmonics of the base frame resonance, such as the series CR architecture recently introduced in literature, but also avoids amplification of noise when implemented in practice. With the novel parallel structure, a significant (32%) decrease in the root mean square (rms) of the settling error could be achieved when compared to the linear controller currently used and the series CR reset structure.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10473227","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140169482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As an emerging mode of urban transportation, autonomous mobility-on-demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility demand and supply may lead to inefficiencies and a low quality of service. Vehicle rebalancing (i.e., dispatching idle vehicles to high-demand areas) is a potential solution for efficient AMoD fleet management. In this article, we formulate the vehicle rebalancing problem as a coverage control problem for the deployment of a fleet of mobile agents for AMoD operation in urban areas. Performance is demonstrated via microscopic simulations representing a large urban road network in Shenzhen, China. The results reveal the potential of the proposed method in improving service rates and decreasing passenger waiting times.
{"title":"A Coverage Control-Based Idle Vehicle Rebalancing Approach for Autonomous Mobility-on-Demand Systems","authors":"Pengbo Zhu;Isik Ilber Sirmatel;Giancarlo Ferrari-Trecate;Nikolas Geroliminis","doi":"10.1109/TCST.2024.3375765","DOIUrl":"10.1109/TCST.2024.3375765","url":null,"abstract":"As an emerging mode of urban transportation, autonomous mobility-on-demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility demand and supply may lead to inefficiencies and a low quality of service. Vehicle rebalancing (i.e., dispatching idle vehicles to high-demand areas) is a potential solution for efficient AMoD fleet management. In this article, we formulate the vehicle rebalancing problem as a coverage control problem for the deployment of a fleet of mobile agents for AMoD operation in urban areas. Performance is demonstrated via microscopic simulations representing a large urban road network in Shenzhen, China. The results reveal the potential of the proposed method in improving service rates and decreasing passenger waiting times.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140169503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-19DOI: 10.1109/TCST.2024.3375713
Haoyu Wang;Haizhong Zhang;Michael Z. Q. Chen
In the domain of vibration control, a common scenario arises where two conflicting $H_{2}$ norm performance indicators require simultaneous improvements. In this article, a novel control method known as the filter-expanded linear quadratic regulator (FELQR) is proposed to effectively address this challenge. In comparison with the linear quadratic regulator (LQR) method, the FELQR method demonstrates considerable advantages in managing two conflicting $H_{2}$ norm performance indicators. The primary contribution lies in establishing a constraint relationship between any two outputs of a linear vibration control system during the offline tuning of the state feedback gain. Leveraging this constraint relationship, a filter design process for the FELQR method is provided. By capitalizing on the disparate impact of gain tuning on the two outputs, the FELQR method attains a higher upper bound of vibration control performance compared with the LQR method. To validate the proposed FELQR method, simulations and experiments are conducted to assess its performance and robustness. The obtained results provide sufficient evidence supporting the efficacy of the FELQR method. Furthermore, a theoretical explanation is provided to elucidate the observed outcomes.
{"title":"Filter-Expanded Linear Quadratic Regulator and Its Application in Wind Turbine Vibration Control","authors":"Haoyu Wang;Haizhong Zhang;Michael Z. Q. Chen","doi":"10.1109/TCST.2024.3375713","DOIUrl":"10.1109/TCST.2024.3375713","url":null,"abstract":"In the domain of vibration control, a common scenario arises where two conflicting \u0000<inline-formula> <tex-math>$H_{2}$ </tex-math></inline-formula>\u0000 norm performance indicators require simultaneous improvements. In this article, a novel control method known as the filter-expanded linear quadratic regulator (FELQR) is proposed to effectively address this challenge. In comparison with the linear quadratic regulator (LQR) method, the FELQR method demonstrates considerable advantages in managing two conflicting \u0000<inline-formula> <tex-math>$H_{2}$ </tex-math></inline-formula>\u0000 norm performance indicators. The primary contribution lies in establishing a constraint relationship between any two outputs of a linear vibration control system during the offline tuning of the state feedback gain. Leveraging this constraint relationship, a filter design process for the FELQR method is provided. By capitalizing on the disparate impact of gain tuning on the two outputs, the FELQR method attains a higher upper bound of vibration control performance compared with the LQR method. To validate the proposed FELQR method, simulations and experiments are conducted to assess its performance and robustness. The obtained results provide sufficient evidence supporting the efficacy of the FELQR method. Furthermore, a theoretical explanation is provided to elucidate the observed outcomes.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140169502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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