Electrical Engineering And Systems Science

Time-of-use (ToU) pricing is widely used by the electricity utility. A carefully designed ToU pricing can incentivize end-users' energy storage deployment, which helps shave the system peak load and reduce the system social cost. However, the optimization of ToU pricing is highly non-trivial, and an improperly designed ToU pricing may lead to storage investments that are far from the social optimum. In this paper, we aim at designing the optimal ToU pricing, jointly considering the social cost of the utility and the storage investment decisions of users. Since the storage investment costs are users' private information, we design low-complexity contracts to elicit the necessary information and induce the proper behavior of users' storage investment. The proposed contracts only specify three contract items, which guides users of arbitrarily many different storage-cost types to invest in full, partial, or no storage capacity with respect to their peak demands. Our contracts can achieve the social optimum when the utility knows the aggregate demand of each storage-cost type (but not the individual user's type). When the utility only knows the distribution of each storage-cost type's demand, our contracts can lead to a near-optimal solution. The gap with the social optimum is as small as 1.5% based on the simulations using realistic data. We also show that the proposed contracts can reduce the system social cost by over 30%, compared with no storage investment benchmark.

We examine a control problem where the states of the components of a system deteriorate after a disruption, if they are not being repaired by an entity. There exist a set of dependencies in the form of precedence constraints between the components, captured by a directed acyclic graph (DAG). The objective of the entity is to maximize the number of components whose states are brought back to the fully repaired state within a given time. We prove that the general problem is NP-hard, and therefore we characterize near-optimal control policies for special instances of the problem. We show that when the deterioration rates are larger than or equal to the repair rates and the precedence constraints are given by a DAG, it is optimal to continue repairing a component until its state reaches the fully recovered state before switching to repair any other component. Under the aforementioned assumptions and when the deterioration and the repair rates are homogeneous across all the components, we prove that the control policy that targets the healthiest component at each time-step while respecting the precedence and time constraints fully repairs at least half the number of components that would be fully repaired by an optimal policy. Finally, we prove that when the repair rates are sufficiently larger than the deterioration rates, the precedence constraints are given by a set of disjoint trees that each contain at most k nodes, and there is no time constraint, the policy that targets the component with the least value of health minus the deterioration rate at each time-step while respecting the precedence constraints fully repairs at least 1/k times the number of components that would be fully repaired by an optimal policy.

Scanning quantum dot microscopy is a recently developed high-resolution microscopy technique that is based on atomic force microscopy and is capable of imaging the electrostatic potential of nanostructures like molecules or single atoms. Recently, it could be shown that it not only yields qualitatively but also quantitatively cutting edge images even on an atomic level. In this paper we present how control is a key enabling element to this. The developed control approach consists of a two-degree-of-freedom control framework that comprises a feedforward and a feedback part. For the latter we design two tailored feedback controllers. The feedforward part generates a reference for the current scanned line based on the previously scanned one. We discuss in detail various aspects of the presented control approach and its implications for scanning quantum dot microscopy. We evaluate the influence of the feedforward part and compare the two proposed feedback controllers. The proposed control algorithms speed up scanning quantum dot microscopy by more than a magnitude and enable to scan large sample areas.

Thermostatically controlled loads (TCLs) have the potential to be a valuable resource for the Balancing Authority (BA) of the future. Examples of TCLs include household appliances such as air conditioners, water heaters, and refrigerators. Since the rated power of each TCL is on the order of kilowatts, to provide meaningful service for the BA, it is necessary to control large collections of TCLs. To perform design of a distributed coordination/control algorithm, the BA requires a control oriented model that describes the relevant dynamics of an ensemble. Works focusing on solely modeling the ensemble date back to the 1980's, while works focusing on control oriented modeling are more recent. In this work, we contribute to the control oriented modeling literature. We leverage techniques from computational fluid dynamics (CFD) to discretize a pair of Fokker-Planck equations derived in earlier work [1]. The discretized equations are shown to admit a certain factorization, which makes the developed model useful for control design. In particular, the effects of weather and control are shown to independently effect the system dynamics.

We consider observers contracting a Riemannian distance between the state of the system and its estimate. As shown in [1], such a contraction property holds if the system dynamics and the Riemannian metric satisfy two conditions: a differential detectability property (Condition A2 in [2]), and a geodesic monotonicity property (Condition A3 in [2]). Condition A2 is thoroughly studied in [2]. In this paper, we study Condition A3 in relationship to the nullity of the second fundamental form of the output function. We formulate sufficient and necessary conditions for Condition A3 to hold. We establish a link between Condition A3 and the infinite gain margin property, and we provide a systematic way for constructing a metric satisfying this condition. Finally, we illustrate cases where both the first and the second conditions hold and propose ways to facilitate the satisfaction of these two conditions together.

Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how different formations of AVs impact traffic performance from a set-function optimization perspective. We first reveal a stability invariance property and a diminishing improvement property of noncooperative formation when AVs adopt typical Adaptive Cruise Control (ACC) strategies. Then, we focus on the case of cooperative formation where the AV controllers are cooperatively designed %redesign the control strategies of AVs in different formations and investigate the optimal formation of multiple AVs using set-function optimization. Two predominant optimal formations, i.e., uniform distribution and platoon formation, emerge from extensive numerical experiments. Interestingly, platooning might have the least potential to improve traffic performance when HDVs have poor string stability behavior. These results suggest more opportunities for cooperative formation of AVs, beyond platooning, in practical mixed traffic flow.

A distributed stochastic optimal control solution is presented for cooperative multi-agent systems. The network of agents is partitioned into multiple factorial subsystems, each of which consists of a central agent and neighboring agents. Local control actions that rely only on agents' local observations are designed to optimize the joint cost functions of subsystems. When solving for the local control actions, the joint optimality equation for each subsystem is cast as a linear partial differential equation and solved using the Feynman-Kac formula. The solution and the optimal control action are then formulated as path integrals and approximated by a Monte-Carlo method. Numerical verification is provided through a simulation example consisting of a team of cooperative UAVs.

In this paper, we propose an approach to coordinated receding-horizon control of vehicle speed and transmission gearshift for automated battery electric vehicles (BEVs) to achieve improved energy efficiency. The introduction of multi-speed transmissions in BEVs creates an opportunity to manipulate the operating point of electric motors under given vehicle speed and acceleration command, thus providing the potential to further improve the energy efficiency. However, co-optimization of vehicle speed and transmission gearshift leads to a mixed integer nonlinear program (MINLP), solving which can be computationally very challenging. In this paper, we propose a novel continuous relaxation technique to treat such MINLPs that makes it possible to compute solutions with conventional nonlinear programming solvers. After analyzing its theoretical properties, we use it to solve the optimization problem involved in coordinated receding-horizon control of BEV speed and gearshift. Through simulation studies, we show that co-optimizing vehicle speed and transmission gearshift can achieve considerably greater energy efficiency than optimizing them sequentially, and the proposed relaxation technique can reduce the online computational cost to a level that is comparable to the time available for real-time implementation.

The enormous technological potential accumulated over the past two decades would make it possible to change the operating principles of power systems entirely. The consequent technological evolution is not only affecting the structure of the electricity markets, but also the interactions between Transmission System Operators (TSOs) and Distribution System Operators (DSOs). New practical solutions are needed to improve the coordination between the grid operators at the national, TSOs, and local level, DSOs. In this paper, we define the flexibility range of coordination between TSOs and DSOs. By doing so, we propose an algorithm based on epsilon-constrained methods by means of mathematical programming and power systems principles. We evaluate and compare different classical optimal power flow formulations (AC-OPF, DistFlow, DistFlow-SOCP, and LinDistFlow) for building the flexible TSO-DSO flexible domain. The presented approaches in this paper are analyzed in an IEEE 33-bus test radial distribution system. We show that for this particular problem, the DistFlow-SOCP has the worst accuracy, despite the popularity among the academic community of convex relaxation approaches.

In this paper, we generalize the definition of backward reachable tube. The classic definition of backward reachable tube is a set of system state that can be driven into the target set within a given time horizon. Sometimes, the concern of researchers is not only the time consumption, but some other forms of cost of driving the system state toward the target set. Under this background, the definition of cost-limited backward reachable tube is put forward in this paper, where the cost is the time integral of a running cost. And the running cost is a scalar function of system state and control input. A method to compute the cost-limited backward reachable tube is proposed. In this method, a cost-limited backward reachable tube is characterized by a non-zero level set of a value function, which is approximated using recursion and interpolation. At the end of this paper, some examples are taken to illustrate the validity and accuracy of the proposed method.