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Academic literature on the topic 'DISTRIBUTED CONTROLLERS SYSTEM'
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Journal articles on the topic "DISTRIBUTED CONTROLLERS SYSTEM"
1
Zaytsev, Sergej Vladilenovich. "REALIZATION OF ADAPTIVE REGULATORS IN DISTRIBUTION CONTROL SYSTEMS." Vestnik of Astrakhan State Technical University. Series: Management, computer science and informatics 2020, no. 3 (2020): 99–104. http://dx.doi.org/10.24143/2072-9502-2020-3-99-104.
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The article considers the problems of synthesis of different distributed controllers and methods for implementing the adaptation the system of these controllers. Each type of distributed controllers has its own parameters in the transfer functions. The parameters of the controller can be obtained after studying and identification of the distributed control object. In the transfer functions there are two parameters that can be changed in order to achieve the high-quality transient processes in the control system. These parameters are: weight coefficient of the distributed link ni and the proportionality coefficient of the distributed link Ei. The parameters of the distributed link G and s depend on the object structure and on the time (or the selected sampling interval of the digital controller), respectively. According to the results of the synthesis of parameters of distributed controllers, there have been proposed the methods for implementing adaptive setup of different controllers. Currently, the following controllers are available: distributed high-precision controller, space-amplifying controller, space-differentiating amplifier controller, spatially-isodromic controller for distributed control systems. There has been considered implementing a distributed controller and shown in which part it is necessary to be adapted. The controller type is selected according to the tasks to be solved by the distributed object control system. Depending on the controller type, in the implementation of controller blocks, there can be used the standard integration and differentiation blocks available in different programming languages for programmable logic controllers. The example given in the article was developed using the CoDeSys software package supplied with OVEN programmable logic controller.
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Nakayama, Ryoichi, Hitoshi Iida, Hisashi Hozumi, Satoshi Okada, Hideharu Okano, and Tatsuo Miyazawa. "Distributed Control System for Six-Legged Walking Robot." Journal of Robotics and Mechatronics 5, no. 6 (1993): 570–74. http://dx.doi.org/10.20965/jrm.1993.p0570.
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In this paper, describe a walking robot system which has been developed based on the assumption that it will be used to perform visual inspections. The robot is designed to be static walking and cableless. The six legs are disposed symmetrically around the center of the robot's body, and each modular leg comprises a number of links. The distributed control concept is adopted for the control system, which consists of a main controllers a sub-controller, and local controllers. The local controllers and driver circuits for the DC servo motors are mounted on the individual leg modules, and special-purpose small lightweight units have been developed. The robot is automatically controlled by a sub-controller which receives walk commands from the remote unit's main controller.
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Bouzid, Allal El Moubarek, Mohamed Zerrougui, Seifeddine Ben Elghali, Karim Beddiar, and Mohamed Benbouzid. "Robust Resonant Controllers for Distributed Energy Resources in Microgrids." Applied Sciences 10, no. 24 (2020): 8905. http://dx.doi.org/10.3390/app10248905.
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Motivated by the problem of different types and variations of load in micro-grids, this paper presents robust proportional-resonant controllers with a harmonics compensator based on the internal model principle. These controllers ensure robust tracking of sinusoidal reference signals in distributed energy resource systems subject to load variation with respect to sinusoidal disturbances. The distributed generation resource and the resonant controllers are described using the augmented state system approach, allowing the application of the state feedback technique. In order to minimize the tracking error and ensure robustness against perturbation, a set of linear matrix inequalities (LMIs) are addressed for the synthesizing of controller gains. Finally, results obtained in the simulation for resonant compensators with the distributed energy system are presented, in which the controller is applied to the CC-CA inverter.
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Jahn, Uwe, Carsten Wolff, and Peter Schulz. "Concepts of a Modular System Architecture for Distributed Robotic Systems." Computers 8, no. 1 (2019): 25. http://dx.doi.org/10.3390/computers8010025.
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Modern robots often use more than one processing unit to solve the requirements in robotics. Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks. The use of multiple processing units leads to a distributed system within one single robot. Therefore, the system architecture is even more important than in single-computer robots. The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator–Controller Module (OCM). This article describes the adaption of the distributed OCM for mobile robots considering the requirements on such robots, including, for example, real-time and safety constraints. The presented architecture splits the system hierarchically into a three-layer structure of controllers and operators. The controllers interact directly with all sensors and actuators within the system. For that reason, hard real-time constraints need to comply. The reflective operator, however, processes the information of the controllers, which can be done by model-based principles using state machines. The cognitive operator is used to optimize the system. The article also shows the exemplary design of the DAEbot, a self-developed robot, and discusses the experience of applying these concepts on this robot.
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Cho, Yon Sang, Sung Jae Jun, and Heung Sik Park. "AGV System with Dual Motor Drive by Distributed Control." Key Engineering Materials 297-300 (November 2005): 2297–302. http://dx.doi.org/10.4028/www.scientific.net/kem.297-300.2297.
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With the recent progress in flexible manufacturing systems (FMS) in industry, increasing attention has been given to Automatic Guided Vehicle (AGV) systems. An AGV is a self-powered unit for transporting materials between stations without needing to be controlled by an operator. Such a system has several sensors to recognize the external state, and it is designed to travel between stations without external assistance. To manage each device quickly and independently it requires a distributed controller with a main computer as the host, as well as a number of micro-controllers. In this study, an AGV system with dual motor drive was constructed. A Pentium 4 personal computer was set up as the main host for the distributed control, and this communicated with other micro-controllers in the management of the motor. The speed of each motor was also controlled by a micro-controller.
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Xu, Ning, Runfeng Chen, Yuchong Huang, Yiting Chen, and Jie Li. "Synthesis of Asynchronous Control and Synchronization for Multi-Robot System under Finite Horizon Temporal Task." Journal of Physics: Conference Series 2213, no. 1 (2022): 012030. http://dx.doi.org/10.1088/1742-6596/2213/1/012030.
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Abstract This paper proposes a novel control synthesis method for cooperative multi-robot systems to fulfil a global mission given as linear temporal logic on finite traces (LTLf). Transition systems are used as the form of distributed controllers, such that the robots are driven to act asynchronously and synchronize on shared actions for necessary local coordination. An automated control synthesis method is proposed, which generates provably correct distributed controllers by two steps: (i) synthesizing satisfiable global controllers for the parallel composition of the uncontrolled system, such that the global specification is met; (ii) searching for a decomposable global controller among them over the synchronization scheme to obtain decomposed distributed controllers. The method is integrated into a closed-loop mission execution framework, of which the applicability is demonstrated with a simulation based on ROS.
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Xu, Ning, Ting Peng, Dawei Liu, and Jie Li. "Temporal Logic Control Synthesis for Distributed Multi-Agent Cooperative Tasking." Journal of Physics: Conference Series 2216, no. 1 (2022): 012061. http://dx.doi.org/10.1088/1742-6596/2216/1/012061.
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Abstract In this work, we present a novel control synthesis method for cooperative multi-agent systems to fulfill a global mission given as linear temporal logic on finite traces (LTLf). The proposed method first synthesizes satisfiable global controllers for uncontrolled system, such that the global specification is met; and then, searches for a decomposable global controller among them over a maximum synchronization scheme; finally, further refining the synchronization scheme to obtain decomposed distributed controllers. To search for a decomposable global controller among the satisfiable ones, we present an informed searching algorithm based on the decomposability analysis of global controllers. A multi-UAV cooperative fire surveillance scenario is developed to illustrate the method.
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Badotra, Sumit, Sarvesh Tanwar, Salil Bharany, et al. "A DDoS Vulnerability Analysis System against Distributed SDN Controllers in a Cloud Computing Environment." Electronics 11, no. 19 (2022): 3120. http://dx.doi.org/10.3390/electronics11193120.
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Software-Defined Networking (SDN) is now a well-established approach in 5G, Internet of Things (IoT) and Cloud Computing. The primary idea behind its immense popularity is the separation of its underlying intelligence from the data-carrying components like routers and switches. The intelligence of the SDN-based networks lies in the central point, popularly known as the SDN controller. It is the central control hub of the SDN-based network, which has full privileges and a global view over the entire network. Providing security to SDN controllers is one such important task. Whenever one wishes to implement SDN into their data center or network, they are required to provide the website to SDN controllers. Several attacks are becoming a hurdle in the exponential growth of SDN, and among all one such attack is a Distributed Denial of Service (DDoS) attack. In a couple of years, several new SDN controllers will be available. Among many, Open Networking Operating System (ONOS) and OpenDayLight (ODL) are two popular SDN controllers laying the foundation for many other controllers. These SDN controllers are now being used by numerous businesses, including Cisco, Juniper, IBM, Google, etc. In this paper, vulnerability analysis is carried out against DDoS attacks on the latest released versions of both ODL and ONOS SDN controllers in real-time cloud data centers. For this, we have considered distributed SDN controllers (located at different locations) on two different clouds (AWS and Azure). These controllers are connected through the Internet and work on different networks. DDoS attacks are bombarded on the distributed SDN controllers, and vulnerability is analyzed. It was observed with experimentation that, under five different scenarios (malicious traffic generated), ODL-3 node cluster controller had performed better than ONOS. In these five different scenarios, the amount of malicious traffic was incregradually increased. It also observed that, in terms of disk utilization, memory utilization, and CPU utilization, the ODL 3-node cluster was way ahead of the SDN controller.
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Pan, J. Z., and R. V. Patel. "Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation." Robotica 22, no. 6 (2004): 661–79. http://dx.doi.org/10.1017/s0263574704000360.
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Sophisticated robotic applications require systems to be reconfigurable at the system level. Aiming at this requirement, this paper presents the design and implementation of a software architecture for a reconfigurable real-time multi-processing system for multi-robot control. The system is partitioned into loosely coupled function units and the data modules manipulated by the function units. Modularized and unified structures of the sub-controllers and controller processes are designed and constructed. All the controller processes run autonomously and intra-sub-controller information exchange is realized by shared data modules that serve as a data repository in the sub-controller. The dynamic data-management processes are responsible for data exchange among sub-controllers and across the computer network. Among sub-controllers there is no explicit temporal synchronization and the data dependencies are maintained by using datum-based synchronization. The hardware driver is constructed as a two-layered system to facilitate adaptation to various robotic hardware systems. A series of effective schemes for software fault detection, fault anticipation and fault termination are accomplished to improve run-time safety. The system is implemented cost-effectively on a QNX real-time operating system (RTOS) based system with a complete PC architecture, and experimentally validated successfully on an experimental dual-arm test-bed. The results indicate that the architectural design and implementation are well suited for advanced application tasks.
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Elgammal, Adel, and Tagore Ramlal. "Adaptive Voltage Regulation Control Strategy in a Stand-Alone Islanded DC Microgrid based on distributed Wind / Photovoltaic / Diesel / Energy Storage Hybrid Energy Conversion System." European Journal of Electrical Engineering and Computer Science 5, no. 4 (2021): 26–33. http://dx.doi.org/10.24018/ejece.2021.5.4.343.
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An adaptive approach for optimal tuning of a SMC for an automated voltage regulator system is displayed in this study. The approach is centered on hybrid of the GA and MOPSA. In addition, unique objective functions for the controller's parameter optimization are suggested. The performance of the resulting perfect sliding mode controller is confirmed by comparing it to controllers adjusted using various techniques that have been published in the literature. The simulation outcomes indicate that controllers tuned with the projected MOPSO and GA algorithms outperform controllers tuned with existing methods. In addition, a comparison study is performed to select the best controller for use in AVR systems. The suggested algorithm's major benefit is a considerable boost in convergence speed. With step changes and step load modifications in input wind power, the system model with built-in intelligent controller is generated in MATLAB/SIMULINK. The benefits of the recommended intelligent control algorithm are confirmed by comparing the outcomes of the sliding mode controller and the projected MOPSO self-tuned controller. The findings show that the hybrid Wind/PV system's reactive power adjustment capabilities. When used in conjunction with BES, it is extremely successful in optimising the voltage profile although providing active energy to local load.