Electrical Engineering And Systems Science

While bringing convenience to people, the growing number of vehicles on road already cause inevitable traffic congestion. Some traffic congestion happen with observable reasons, but others occur without apparent reasons or bottlenecks, which referred to as phantom jams, are caused by traditional vehicle following model. In order to alleviate the traffic instability caused by phantom jam, several models have been proposed with the development of intelligent transportation system (ITS). these have been proved to be able to suppress traffic instability in the ideal situation. But in road scenarios, uncertainties of vehicle state measurements and time delay caused by on-board sensors, inter-vehicle communications and control system of vehicles will affect the performance of the existing models severely, and cannot be ignored. In this paper, a novel predictable bilateral control model-PBCM, which consists of best estimation and state prediction is proposed to determine accurate acceleration values of the host vehicle in traffic flow to alleviate traffic instability. Theoretical analysis and simulation results show that our model could reduce the influence of the measurement errors and the delay caused by communication and control system effectively, control the state of the vehicles in traffic flow accurately, thus achieve the goal of restrain the instability of traffic flow.

Distributed renewable energy systems are now widely installed in many buildings, transforming the buildings into electricity prosumers. Existing studies have developed some advanced building side controls that enable renewable energy sharing and that aim to optimise building-cluster-level performance via regulating the energy storage charging/ discharging. However, the flexible demand shifting ability of electric vehicles is not considered in these building side controls. For instance, the electric vehicle charging will usually start once they are plugged into charging stations. But, in such charging period the renewable generation may be insufficient to cover the EV charging load, leading to grid electricity imports. Consequently, the building-cluster-level performance is not optimised. Therefore, this study proposes a coordinated control of building prosumers for improving the cluster-level performance, by making use of energy sharing and storage capability of electricity batteries in both buildings and EVs. An EV charging/discharging model is first developed. Then, based on the predicted future 24h electricity demand and renewable generation data, the coordinated control first considers the whole building cluster as one integrated building and optimises its operation as well as the EV charging/discharging using genetic algorithm. Next, the operation of individual buildings in the future 24h is coordinated using nonlinear programming. For validation, the developed control has been tested on a real building cluster in Ludvika, Sweden. The study results show that the developed control can increase the cluster-level daily renewable self-consumption rate by 19% and meanwhile reduce the daily electricity bills by 36% compared with the conventional controls.

In this paper, we consider the problem of invariant set computation for black-box switched linear systems using merely a finite set of observations of system trajectories. In particular, this paper focuses on polyhedral invariant sets. We propose a data-driven method based on the one step forward reachable set. For formal verification of the proposed method, we introduce the concepts of λ -contractive sets and almost-invariant sets for switched linear systems. The convexity-preserving property of switched linear systems allows us to conduct contraction analysis on the computed set and derive a probabilistic contraction property. In the spirit of non-convex scenario optimization, we also establish a chance-constrained guarantee on set invariance. The performance of our method is then illustrated by numerical examples.

We propose a distributed deployment solution for a group of mobile agents that should provide a service for a dense set of targets. The agents are heterogeneous in a sense that their quality of service (QoS), modeled as a spatial Gaussian distribution, is different. To provide the best service, the objective is to deploy the agents such that their collective QoS distribution is as close as possible to the density distribution of the targets. We propose a distributed consensus-based expectation-maximization (EM) algorithm to estimate the target density distribution, modeled as a Gaussian mixture model (GMM). The GMM not only gives an estimate of the targets' distribution, but also partitions the area to subregions, each of which is represented by one of the GMM's Gaussian bases. We use the Kullback-Leibler divergence (KLD) to evaluate the similarity between the QoS distribution of each agent and each Gaussian basis/subregion. Then, a distributed assignment problem is formulated and solved as a discrete optimal mass transport problem that allocates each agent to a subregion by taking the KLD as the assignment cost. We demonstrate our results by a sensor deployment for event detection where the sensor's QoS is modeled as an anisotropic Gaussian distribution.

An aerial vehicle powered by flapping feathered wings was designed, developed and fabricated. Different from legacy flapping-wing aerial vehicles with membrane wings, the new design uses authentic bird feathers to fabricate wings. In field tests, a radio-controlled electric-powered aerial vehicle with flapping feathered wings successfully took off, flew up to 63.88 s and landed safely. It was found that flapping feathered wings can generate sufficient thrust and lift to make a man-made aerial vehicle accomplish takeoff, sustainable flight and a safe landing.

The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive safety filter that is able to maintain vehicle safety with respect to track boundaries when paired alongside any potentially unsafe control signal, such as those found in learning-based methods. A model predictive control (MPC) framework is used to create a minimally invasive algorithm that certifies whether a desired control input is safe and can be applied to the vehicle, or that provides an alternate input to keep the vehicle in bounds. To this end, we provide a principled procedure to compute a safe and invariant set for nonlinear dynamic bicycle models using efficient convex approximation techniques. To fully support an aggressive racing performance without conservative safety interventions, the safe set is extended in real-time through predictive control backup trajectories. Applications for assisted manual driving and deep imitation learning on a miniature remote-controlled vehicle demonstrate the safety filter's ability to ensure vehicle safety during aggressive maneuvers.

This paper deals with the design of scheduling logics for Networked Control Systems (NCSs) whose shared communication networks have limited capacity. We assume that among \(N\) plants, only \(M\:(< N)\) plants can communicate with their controllers at any time instant. We present an algorithm to allocate the network to the plants periodically such that stability of each plant is preserved. The main apparatus for our analysis is a switched systems representation of the individual plants in an NCS. We rely on multiple Lyapunov-like functions and graph-theoretic arguments to design our scheduling logics. The set of results presented in this paper is a continuous-time counterpart of the results proposed in [15]. We present a set of numerical experiments to demonstrate the performance of our techniques.

The air source heat pump (ASHP) systems assisted by solar energy have drawn great attentions, owing to their great feasibility in buildings for space heating/cooling and hot water purposes. However, there are a variety of configurations, parameters and performance criteria of solar assisted ASHP systems, leading to a major inconsistency that increase the degree of complexity to compare and implement different systems. A comparative literature review is lacking, with the aim to evaluate the performance of various ASHP systems from three main solar sources, such as solar thermal (ST), photovoltaic (PV) and hybrid photovoltaic/thermal (PV/T). This paper thus conducts a systematic review of the prevailing solar assisted ASHP systems, including their boundary conditions, system configurations, performance indicators, research methodologies and system performance. The comparison result indicates that PV-ASHP system has the best techno-economic performance, which performs best in average with coefficient of performance (COP) of around 3.75, but with moderate cost and payback time. While ST-ASHP and PV/T-ASHP systems have lower performance with mean COP of 2.90 and 3.03, respectively. Moreover, PV/T-ASHP system has the highest cost and longest payback time, while ST-ASHP has the lowest ones. Future research are discussed from aspects of methodologies, system optimization and standard evaluation.

The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but also the frequency range of disturbance estimation improves yet the motion controller becomes more sensitive to the noise of measurement system. This trade-off is generally explained by considering only the noise of sensors such as encoders. However, the digital implementation of the robust motion controller may significantly influence the noise sensitivity and performance of disturbance estimation in practice. This paper shows that the conventional DOb implemented by estimating velocity is subject to waterbed effect when the design parameters (i.e., sampling-time, nominal plant parameters and the bandwidth of the DOb) are not properly tuned in the digital motion controller synthesis. Therefore, the bandwidth of disturbance estimation is limited by waterbed effect in addition to the noise of velocity measurement system. To facilitate the digital motion controller synthesis, the design constraints of the conventional DOb are analytically derived in this paper. When the digital motion controller is implemented by estimating acceleration, waterbed effect does not occur, and good robust stability and performance can be achieved for all values of the design parameters of the acceleration measurement-based DOb. The bandwidth of disturbance estimation, however, cannot be freely increased due to the noise of acceleration sensors in practice. By employing Bode Integral Theorem in the discrete-time domain, the design constraints of the DOb-based digital motion control systems are clearly explained and it is shown that acceleration measurement can be used to enhance the bandwidth of the DOb, i.e., the performance and frequency range of disturbance estimation.

This paper proposes an active attack detection scheme for constrained cyber-physical systems. Despite passive approaches where the detection is based on the analysis of the input-output data, active approaches interact with the system by designing the control input so to improve detection. This paper focuses on the prevented actuation attack, where the attacker prevents the exchange of information between the controller and actuators. The proposed scheme consists of two units: 1) detection, and 2) control. The detection unit includes a set of parallel detectors, which are designed based on the multiple-model adaptive estimation approach to detect the attack and to identify the attacked actuator(s). For what regards the control unit, a constrained optimization approach is developed to determine the control input such that the control and detection aims are achieved. In the formulation of the detection and control objective functions, a probabilistic approach is used to reap the benefits of the \textit{a priori} information availability. The effectiveness of the proposed scheme is demonstrated through a simulation study on an irrigation channel.