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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 (July 31, 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 (December 20, 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 (December 14, 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 (March 14, 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 (March 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 (March 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, Ateeq Ur Rehman, Elsayed Tag Eldin, Nivin A. Ghamry, and Muhammad Shafiq. "A DDoS Vulnerability Analysis System against Distributed SDN Controllers in a Cloud Computing Environment." Electronics 11, no. 19 (September 29, 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 (November 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 (July 26, 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.
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Yu, Haisheng, Keqiu Li, and Heng Qi. "An Active Controller Selection Scheme for Minimizing Packet-In Processing Latency in SDN." Security and Communication Networks 2019 (October 13, 2019): 1–11. http://dx.doi.org/10.1155/2019/1949343.
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In software-defined network, the use of distributed controllers to control forwarding devices has been proposed to solve the issues of scalability and load balance. However, the forwarding devices are statically assigned to the controllers in these distributed systems, which can overload some controllers while others are underutilized. In this paper, we propose an architecture named ASLB (active controller selection load balance), which proactively selects appropriate controllers for load balancing and minimize packet processing delays. We also present a novel active controller selection algorithm (ACS) for ASLB that efficiently schedules traffic from the switch to the controller and designs an intermediate coordinator for actively selecting a controller to serve a request. We built a system and evaluated it on a physical platform. The results show that ASLB is much better than the static allocation scheme in terms of minimizing latency, bandwidth utilization, and throughput.
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Hulewicz, Arkadiusz, Zbigniew Krawiecki, and Krzysztof Dziarski. "Distributed control system DCS using a PLC controller." ITM Web of Conferences 28 (2019): 01041. http://dx.doi.org/10.1051/itmconf/20192801041.
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The article presents The unconventional use of PLC controllers in a distributed control system DCS were presented in this article. The functionality, requirements and the costs of installation and operation of commercial DCS systems and those built on the basis of PLC logic controllers were analyzed. The features, the architecture and the structure of DCS systems based on PLC controllers have been described in details. The particular attention was paid to the allocation of the individual system components to the appropriate layers contained in their structure.
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Shi, Linda Z., and Mohamed B. Trabia. "Comparison of Distributed PD-like and Importancebased Fuzzy Logic Controllers for a Two-link Rigid-flexible Manipulator." Journal of Vibration and Control 11, no. 6 (June 2005): 723–47. http://dx.doi.org/10.1177/1077546305053660.
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Fuzzy logic control presents a computationally efficient and robust alternative to conventional controllers. While experts can easily design fuzzy logic controllers (FLCs) for many applications, some systems such as multilink flexible manipulators, which have many variables and complex behavior, offer challenges to fuzzy logic control. In this paper we present two distributed controllers for a two-link rigid-flexible manipulator that moves in a vertical plane where the gravity field is active. The first distributed controller, which is based on observing the performance of the manipulator, uses three PD-like FLCs: the first two FLCs control joint angles and joint angular velocities while the third controls the tip vibration. The second distributed controller is based on evaluating the importance degrees of the output variables of the system. Variables with the same rank of high importance degrees are grouped together, while variables with low importance degrees may be deleted to simplify the design of the controller. The fuzzy rules in the two proposed structures are selected to mimic the performance of comparable linear controllers. The parameters in both FLCs are tuned using nonlinear programming to obtain better performance. The two distributed FLCs are simulated and compared. The robustness of both tuned distributed FLCs is tested by varying the joint trajectories and angular velocities. The effect of changing the payload on the robustness of the two controllers is also considered.
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Jiang, Chong Ran, Li Li, Jin Quan Bai, and Yan Zhong Huo. "Research and Design of Distributed Controllers for Mechanical Arms of Humanoid Robot Based on FCS." Applied Mechanics and Materials 419 (October 2013): 682–87. http://dx.doi.org/10.4028/www.scientific.net/amm.419.682.
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According to the high real-time and the high anti-interference which required by the machanical arms of humanoid robot, a distributed controllers for mechanical arms of humanoid robot system based on CAN is developed, to which C8051F041 micro controller is applied as the joint controllers. The circuits of incremental discs and speed detection as well as their applications are designed. The achievement of develop and design on distributed controllers for six degrees of freedom mechanical arms fulfills the trajectory requirement of humanoid robot qualification and the system according to the study design.
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Gehring, Nicole, Abdurrahman Irscheid, Joachim Deutscher, Frank Woittennek, and Joachim Rudolph. "Control of distributed-parameter systems using normal forms: an introduction." at - Automatisierungstechnik 71, no. 8 (August 1, 2023): 624–46. http://dx.doi.org/10.1515/auto-2023-0051.
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Abstract This paper gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form that is advantageous for the control design, analogous to the finite-dimensional case. A flatness-based controller makes use of the hyperbolic controller canonical form that follows from a parametrization of the system’s solutions. A backstepping design exploits the strict-feedback form of the system to recursively stabilize and transform the subsystems.
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Yang, Hongyong, Fujun Han, Fei Liu, Huixia Liu, and Mei Zhao. "Distributed Coordination of Fractional Dynamical Systems with Exogenous Disturbances." Mathematical Problems in Engineering 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/793903.
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Distributed coordination of fractional multiagent systems with external disturbances is studied. The state observer of fractional dynamical system is presented, and an adaptive pinning controller is designed for a little part of agents in multiagent systems without disturbances. This adaptive pinning controller with the state observer can ensure multiple agents' states reaching an expected reference tracking. Based on disturbance observers, the controllers are composited with the pinning controller and the state observer. By applying the stability theory of fractional order dynamical systems, the distributed coordination of fractional multiagent systems with external disturbances can be reached asymptotically.
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Gaur, Puru, Amish Tandon, Nupur Goyal, Gitanjali Chandwani, and Mangey Ram. "An Analysis of Hierarchical Software-Defined Network Control Plane: A Reliability Approach." International Journal of Reliability, Quality and Safety Engineering 27, no. 03 (October 2, 2019): 2050010. http://dx.doi.org/10.1142/s0218539320500102.
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Present-day computer systems have drastically transformed from the ones in days of basic file sharing, peripheral sharing or the hosting of companywide applications on a server to much more sophisticated, small and faster systems. These systems have further expanded to include cloud-based networks, virtualized desktops, servers, etc. The capabilities of evolving heterogeneous computer systems require advanced control plane. Software-defined networking (SDN) proposes to control the network from a centralized controller instead of a distributed configuration. SDN makes it easier for network operators to evolve network capabilities. Even though SDN proposes a logically centralized system, the controllers may not represent a single, centralized device, instead the control plane may consist of logically centralized but physically distributed controllers wherein each controller manages different administrative domains of the network or different parts of the flow space. There are mainly two types of control plane architecture: flat control plane and hierarchical control plane. In this paper, we have analyzed the reliability and availability of the hierarchical SDN control plane. We take into consideration work-load capacities of the controllers, link failures, node failures and controller-end failures to determine the reliability of the system.
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Rashad, Muhammad, Uzair Raoof, Muhammad Ashraf, and Bilal Ashfaq Ahmed. "Proportional Load Sharing and Stability of DC Microgrid with Distributed Architecture Using SM Controller." Mathematical Problems in Engineering 2018 (2018): 1–16. http://dx.doi.org/10.1155/2018/2717129.
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DC microgrids look attractive in distribution systems due to their high reliability, high efficiency, and easy integration with renewable energy sources. The key objectives of the DC microgrid include proportional load sharing and precise voltage regulation. Droop controllers are based on decentralized control architectures which are not effective in achieving these objectives simultaneously due to the voltage error and load power variation. A centralized controller can achieve these objectives using a high speed communication link. However, it loses reliability due to the single point failure. Additionally, these controllers are realized through proportional integral (PI) controllers which cannot ensure load sharing and stability in all operating conditions. To address limitations, a distributed architecture using sliding mode (SM) controller utilizing low bandwidth communication is proposed for DC microgrids in this paper. The main advantages are high reliability, load power sharing, and precise voltage regulation. Further, the SM controller shows high robustness, fast dynamic response, and good stability for large load variations. To analyze the stability and dynamic performance, a system model is developed and its transversality, reachability, and equivalent control conditions are verified. Furthermore, the dynamic behavior of the modeled system is investigated for underdamped and critically damped responses. Detailed simulations are carried out to show the effectiveness of the proposed controller.
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Iftar, Altug. "Overlapping Decentralized Controller Design for Descriptor-type Systems with Distributed Time-delay." WSEAS TRANSACTIONS ON CIRCUITS AND SYSTEMS 20 (September 27, 2021): 257–63. http://dx.doi.org/10.37394/23201.2021.20.29.
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Decentralized controller design using overlapping decompositions is considered for descriptor-type systems with distributed time-delay. The approach is based on the principle of extension. In this approach, a given large-scale system is decomposed overlappingly into a number of subsystems and expanded such that the overlapping parts appear as disjoint. A decentralized controller is then designed for the expanded system. This controller is then contracted for implementation on the original system. It is shown that if the decentralized controllers are designed to stabilize the expanded system and to achieve certain performance, then the contracted controller, which would have an overlapping decentralized structure, will stabilize the original system and will achieve corresponding performance
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Qazi, Sajid Hussain, Mohd Wazir Mustafa, and Shakir Ali. "Review on Current Control Techniques of Grid Connected PWM-VSI Based Distributed Generation." ECTI Transactions on Electrical Engineering, Electronics, and Communications 17, no. 2 (August 31, 2019): 152–68. http://dx.doi.org/10.37936/ecti-eec.2019172.219187.
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Nowadays, new trends in the industry of electricity generation are to enhance the power generation by employing distributed generation (DG) system which is mostly based on renewable generation sources such as wind, solar, etc. However, many power quality problems could arise on existing grid when DG is connected or the operation of distributed energy resources (DER) is not controlled properly. That's why, while integrating DG with the power grid, a seamless attention should be given to power generation and safe running of system. Several methods, having a diverse concept, have been divided into two main sets: linear and nonlinear controllers. The first group comes with PI controller and parameter feedback controller, and control by means of constant frequency with predictive techniques. The second group includes hysteresis current control and on-line optimization for predictive controllers. Additionally, new current control techniques with neural networks and fuzzy based controllers are also discussed. Selected methods associate the arrangement for the sake to demonstrate the described groups of the controller.
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Patsalides, Minas, Christina N. Papadimitriou, and Venizelos Efthymiou. "Low Inertia Systems Frequency Variation Reduction with Fine-Tuned Smart Energy Controllers." Sustainability 13, no. 5 (March 9, 2021): 2979. http://dx.doi.org/10.3390/su13052979.
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The distributed and stochastic nature of Renewable Power Sources is certainly forming considerable challenges for the operation of the power system. Specifically, the stability of the system can be jeopardized when the penetration of inverter-based systems is high. Storage and the proper design of controllers is seen as part of the solution for supporting the future expansion of distributed systems. Thus, control strategies need to be designed to provide the appropriate support to the system and be capable of keeping the variation of the frequency within limits to keep the reliability of the system as high as possible. The main challenge is the appropriate parameterization of these distributed controllers and their coordination under the integrated grid approach in securing the stability of the system at all times. In this paper, a smart energy controller is utilized and incorporated into the projection case study for Cyprus’ real distribution grid for the year 2050 to evaluate its behavior and identify possible weaknesses in its usage. It was found that the parameterization and not only the architecture of such controllers is crucial in coping with the frequency variation and stability problem. From the simulation work and recorded results, it was observed that the smart energy controllers can maintain frequency variation within the desirable range when the parametrization of the controllers is chosen appropriately. This specific observation highlights the need to evaluate and configure the smart controllers while operating in the field, and possibly further research is required to provide the advanced capability to such systems to adjust dynamically during field operation, thereby achieving better response during abnormal conditions.
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Delgado, Raimarius, Jaeho Park, and Byoung Choi. "Open Embedded Real-time Controllers for Industrial Distributed Control Systems." Electronics 8, no. 2 (February 17, 2019): 223. http://dx.doi.org/10.3390/electronics8020223.
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This paper presents design details adopting open embedded systems (OES) as real-time controllers in industrial distributed control systems. OES minimize development cost and enhance portability while addressing widely known shortcomings of their proprietary counterparts. These shortcomings include the black box method of distribution which hinders integration to more complex systems. However, OES are highly dependent on the compatibility of each software components and essential benchmarking is required to ensure that the system can satisfy hard real-time constraints. To address these issues and the notion that OES will find broader distributed control applications, we provide detailed procedures in realizing OES based on an open source real-time operating system on various low-cost open embedded platforms. Their performance was evaluated and compared in terms of periodicity and schedulability, task synchronization, and interrupt response time, which are crucial metrics to determine stability and reliability of real-time controllers. Practical implementations, including the modernization of a multi-axis industrial robot controller, are described clearly to serve as a comprehensive reference on the integration of OES in industrial distributed control systems.
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Yasuda, Gen’ichi. "Distributed Controller Design for Cooperative Robot Systems Based on Hierarchical Task Decomposition." International Journal of Humanoid Robotics 14, no. 02 (May 25, 2017): 1750017. http://dx.doi.org/10.1142/s0219843617500177.
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A distributed simulation and control method for humanoid robot systems based on the discrete event net models is proposed. Extended Petri nets are adopted as an effective tool to describe, design and control the cooperative behavior of robots. Based on hierarchical net decomposition, conceptual and detailed Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for the hierarchical coordination of cooperative execution control by multiple robots is proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of robot systems. The upper level system controller and lower level local controllers are concurrently executed, communicating events information (enabled transitions) with each other, so that the cooperative robotic tasks are successfully performed.
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Liang, Wei, Sizhe Ma, Erica Cochran, and Katherine A. Flanigan. "Distributed MPC-ILC Thermal Control Design for Large-Scale Multi-Zone Building HVAC System." ACM SIGEnergy Energy Informatics Review 3, no. 2 (June 2023): 34–46. http://dx.doi.org/10.1145/3607114.3607118.
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With building heating, ventilation, and air conditioning (HVAC) systems accounting for 50% the energy consumption in the building sector in the United States, there is a need to develop and implement optimal control strategies for building HVAC systems that reduce energy consumption while achieving thermal comfort for users. In the author's previous work, an integrated model predictive control (MPC) and iterative learning control (ILC) design approach was presented that took advantage of both controllers. It did not rely on model accuracy compared to conventional MPC and reduced the learning curve compared to conventional ILC. Albeit the previous numerical results showed fast convergence in most of the VAV subsystems, the gap between room air temperature and its set point remains noticeable in several zones. This paper further proposes an approach to extend the centralized MPC-ILC controller to take into account the distributed factor and the spatial distribution of the thermal zones of the VAV system. The improved control strategy allows all VAVs to interact with each other and contribute collectively to the overall convergence of the whole system. The proposed controller is implemented on a thirty-two zone VAV reheat system and compared with different controllers, including our previous MPC-ILC design. The outcomes show that the proposed controller results in faster and closer convergence among all zones even when the number of subsystems is large.
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Mureşan, Vlad, Mihail Abrudean, Honoriu Vălean, Mihaela Ligia Ungureşan, and Tiberiu Coloşi. "Tuning a Neural Controller with Distributed Parameters." Applied Mechanics and Materials 555 (June 2014): 341–51. http://dx.doi.org/10.4028/www.scientific.net/amm.555.341.
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In this paper, a solution for the control of a distributed parameter process, using a neural distributed parameter controller is presented. The main originality elements from the paper are the introducing of the distributed parameter controller concept, respectively the including of this type of controller in a control structure. In the paper, a method for tuning a distributed parameter controller is presented, taken as example the pH control system associated to a blunting process. Also, due to the complex structure of the controller two neural networks are used for its implementation. In order to highlight the main advantages of using of this type of controllers, some representative simulation results are presented.
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Bulatov, Yu N. "Joint voltage and frequency predictive controllers for distributed generation plants." iPolytech Journal 25, no. 5 (November 9, 2021): 568–85. http://dx.doi.org/10.21285/1814-3520-2021-5-568-585.
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The paper determines the effect of proposed joint voltage and frequency predictive controllers for distributed generation (DG) plants on quality indicators characterizing the control process in different operating modes of power supply systems. The studies are conducted in the MatLab environment (Simulink and SimPowerSystems simulation packages) employing control engineering methods. It is proposed to design and adjust joint predictive controllers by determining the resonant frequency of oscillations for the master generator rotor. This approach provides better quality indicators of voltage and frequency control in power supply systems while maintaining the same settings for the controllers of DG plants. With an additional load in an isolated power supply system, the maximum voltage sag is found to be 1.75 times lower than for local predictive control and 3.5 times lower as compared to the use of conventional controllers. For the specified mode, predictive controllers enable a threefold reduction in the transient time between rotor rotational speeds in a synchronous generator. In the start mode of a powerful electric motor, the predictive controllers of synchronous generators in the power supply system enable a 1.5 times reduction in voltage sag, with a 1.4 times reduction in overvoltage following its start. In the case of a short-term three phase short-circuit, joint predictive controllers allow a 1.5 times decrease in transient time and a 2.3 times decrease in the overshoot of power line frequency as compared to local control. In addition, frequency oscillation in the power system is also reduced. Similar effects are observed in other operating modes of the considered power supply systems equipped with DG plants. The performed dynamic simulation confirms the effectiveness of using joint voltage and frequency predictive controllers for DG plants, which consists in a positive impact on the quality of processes involved in controlling the parameters of power supply systems in various operating modes.
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Pereira, José N., Porfírio Silva, Pedro U. Lima, and Alcherio Martinoli. "Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems." Artificial Life 20, no. 1 (January 2014): 127–41. http://dx.doi.org/10.1162/artl_a_00100.
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The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persistent artificial modifications made to the environment or to the internal mechanisms of a subset of agents, thought to be functional for the collective order. In this article we introduce a formal model of institutional controllers based on Petri nets. We define executable Petri nets—an extension of Petri nets that takes into account robot actions and sensing—to design, program, and execute institutional controllers. We use a generalized stochastic Petri net view of the robot team controlled by the institutional controllers to model and analyze the stochastic performance of the resulting distributed robotic system. The ability of our formalism to replicate results obtained using other approaches is assessed through realistic simulations of up to 40 e-puck robots. In particular, we model a robot swarm and its institutional controller with the goal of maintaining wireless connectivity, and successfully compare our model predictions and simulation results with previously reported results, obtained by using finite state automaton models and controllers.
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Delgoshaei, Parhum, and James D. Freihaut. "Development of a Control Platform for a Building-Scale Hybrid Solar PV-Natural Gas Microgrid." Energies 12, no. 21 (November 4, 2019): 4202. http://dx.doi.org/10.3390/en12214202.
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Building-scale microgrids are a type of behind-the-meter microgrids where the building operator has control of the distributed energy resources, including, in this case, a natural gas-fired microturbine in addition to solar PV and battery energy storage systems. There is a growing trend in deploying behind-the-meter microgrids due to their benefits including the resiliency of serving critical loads, especially in regions with abundant natural gas. In order to ensure distributed energy resources are dispatched optimally for the desired mode of operation, a hierarchical control platform including a centralized controller was developed and installed. The platform includes communication and control infrastructure that interface with controllers for distributed energy resources and the building automation system of a recently built energy efficient commercial building. Based on desirable outcomes under different grid and building conditions, operational modes were defined for the microgrid controller. The controller is programmed to map each mode to respective operational modes for distributed energy resources controllers. Experimental data for test runs corresponding to two operational modes confirm the communication and control infrastructure can execute hierarchical control commands. Finally, dispatch optimization for a year-long simulation of system operation is presented and the benefits of the hybrid solar PV-natural gas setup are evaluated.
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Jabri, Dalel, Djamel Eddine Chouaib Belkhiat, Kevin Guelton, and Noureddine Manamanni. "Decentralized Controller Design for Large Scale Switched Takagi-Sugeno Systems with H∞ Performance Specifications." Journal of Advanced Engineering and Computation 2, no. 2 (June 30, 2018): 139. http://dx.doi.org/10.25073/jaec.201822.187.
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This paper investigates the design of decentralized controllers for a class of large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller interconnected switched Takagi-Sugeno fuzzy subsystems. In this context, to stabilize the overall closed-loop system, a set of switched non-Parallel-Distributed-Compensation (non-PDC) output-feedback controllers is considered. The latter is designed based on Linear Matrix Inequalities (LMI) conditions obtained from a multiple switched non-quadratic Lyapunov-like candidate function. The controllers proposed herein are synthesized to satisfy H∞ performances for disturbance attenuation. Finally, a numerical example is proposed to illustrate the effectiveness of the suggested decentralized switched controller design approach. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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Dmitrieva, Valeria, Pavel Sizin, and Ilyas Avkhadiev. "Selection of a Multi-Functional Controller for the Software and Hardware Complex of an Automated Control System for a Thermal Power Plant." MATEC Web of Conferences 346 (2021): 03091. http://dx.doi.org/10.1051/matecconf/202134603091.
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The article describes the main tasks that need to be solved when automating technological processes at TPS. Technological processes at TPS take place in difficult conditions, which complicates the management tasks. When creating an automated control system, modern software and technical complexes are used, which are developed by domestic manufacturers. The software and hardware complex allows you to solve all the problems of monitoring and controlling technological processes in all operating modes of power equipment. They can be used for both newly constructed and reconstructed energy facilities. The basis of the Software and hardware complex is programmable logic controllers that support medium and distributed automation. The article discusses some Russian-made controllers. Since 2019, the automated control system of the boiler-economizer is being designed by NVT-Systems at the Dzerzhinsk TPS. The implemented Software and hardware complex needs to be integrated into the existing automation structure, in addition, simplicity, reliability and redundancy are required. For these reasons, the REGUL500 controller was selected. The controller is characterized by very high performance, reliability, and the ability to work in distributed systems in real time. In addition, the advantages of the REGUL500 controllers are: high accuracy of the measuring channels; the possibility of hot-swapping modules of all types; resistance to external influences. The REGUL controller has a set of various Russian certificates of conformity.
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Zhu, Zhihao, Yu Guo, and Zhi Gao. "Distributed Coordinated Attitude Regulation Control for Multiple Spacecraft with Time-varying Uncertainties." Journal of Circuits, Systems and Computers 29, no. 01 (April 4, 2019): 2050018. http://dx.doi.org/10.1142/s0218126620500188.
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For multiple spacecrafts under the communication topology containing a spanning tree with the leader as the root, we investigate a distributed coordinated attitude regulation control problem of the spacecraft with unknown time-varying uncertainties and state-dependent disturbances. Aiming at solving the practical problem that the information of the leader may be only available to a subset of the followers, a novel class of distributed finite-time leaders’ state observer for each follower is proposed. Meanwhile, a new self-adjustment matrix is designed to reduce the overshoot of the system. In addition, an adaptive compensation term is designed to reject the impact of the time-varying inertia uncertainties and external state-dependent and state-independent disturbances. On the basis of the distributed finite-time observer, the self-adjustment matrix and the adaptive law, two distributed coordinated attitude regulation control laws are designed. With the first controller, the coordinated attitude regulation system is stable asymptotically, and with the second controller, the system is bounded stable. Both distributed coordinated attitude regulation controllers can guarantee that the follower spacecraft can track a common time-varying trajectory of the leader. Numerical simulation examples validate the effectiveness of the proposed controllers.
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Lee, Daeil, Seoryong Koo, Inseok Jang, and Jonghyun Kim. "Comparison of Deep Reinforcement Learning and PID Controllers for Automatic Cold Shutdown Operation." Energies 15, no. 8 (April 13, 2022): 2834. http://dx.doi.org/10.3390/en15082834.
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Many industries apply traditional controllers to automate manual control. In recent years, artificial intelligence controllers applied with deep-learning techniques have been suggested as advanced controllers that can achieve goals from many industrial domains, such as humans. Deep reinforcement learning (DRL) is a powerful method for these controllers to learn how to achieve their specific operational goals. As DRL controllers learn through sampling from a target system, they can overcome the limitations of traditional controllers, such as proportional-integral-derivative (PID) controllers. In nuclear power plants (NPPs), automatic systems can manage components during full-power operation. In contrast, startup and shutdown operations are less automated and are typically performed by operators. This study suggests DRL-based and PID-based controllers for cold shutdown operations, which are a part of startup operations. By comparing the suggested controllers, this study aims to verify that learning-based controllers can overcome the limitations of traditional controllers and achieve operational goals with minimal manipulation. First, to identify the required components, operational goals, and inputs/outputs of operations, this study analyzed the general operating procedures for cold shutdown operations. Then, PID- and DRL-based controllers are designed. The PID-based controller consists of PID controllers that are well-tuned using the Ziegler–Nichols rule. The DRL-based controller with long short-term memory (LSTM) is trained with a soft actor-critic algorithm that can reduce the training time by using distributed prioritized experience replay and distributed learning. The LSTM can process a plant time-series data to generate control signals. Subsequently, the suggested controllers were validated using an NPP simulator during the cold shutdown operation. Finally, this study discusses the operational performance by comparing PID- and DRL-based controllers.
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Subudhi, Bidyadhar, Subhakanta Ranasingh, and Ajaha Swain. "Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator." Archives of Control Sciences 21, no. 3 (January 1, 2011): 269–85. http://dx.doi.org/10.2478/v10170-010-0043-2.
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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
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Yu, Lu, and Jinzhi Wang. "Cooperative Control for Uncertain Multiagent Systems via Distributed Output Regulation." Mathematical Problems in Engineering 2013 (2013): 1–11. http://dx.doi.org/10.1155/2013/898375.
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The distributed robust output regulation problem for multiagent systems is considered. For heterogeneous uncertain linear systems and a linear exosystem, the controlling aim is to stabilize the closed-loop system and meanwhile let the regulated outputs converge to the origin asymptotically, by the help of local interaction. The communication topology considered is directed acyclic graphs, which means directed graphs without loops. With distributed dynamic state feedback controller and output feedback controller, respectively, the solvability of the problem and the algorithm of controller design are both investigated. The solvability conditions are given in terms of linear matrix inequalities (LMIs). It is shown that, for polytopic uncertainties, the distributed controllers constructed by solving LMIs can satisfy the requirements of output regulation property.
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Su, Can, Hao Zhou, Peng Yan, Liang Meng, and Ziwei Cheng. "Research on Improving Transient Stability of Power System with Distributed BESS and its Coordinated Control Method." E3S Web of Conferences 256 (2021): 01007. http://dx.doi.org/10.1051/e3sconf/202125601007.
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The feasibility of battery energy storage system (BESS) in ameliorating power system transient stability has been proved. However, the required BESS capacity is large, which leads to high price. Meanwhile, the improving effect is significantly affected by fault location and BESS location. To address the problem, a distributed configuration of BESS, with a coordinated control method, is proposed in this paper. Firstly, an independent double-closed loop decoupling controller is designed for each BESS, so that the BESS unit can realize decentralized control according to its local correlation information. Secondly, particle swarm optimization is applied to optimize the control parameters of the distributed controllers to achieve coordinated control. Simulation results show that the distributed BESS controllers optimized by particle swarm optimization can better coordinate with each other, and the transient stability of the system is significantly improved.
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Shojaee, Milad, and S. Mohsen Azizi. "Sequential Design of Decentralized Robust Controllers for Strongly Interconnected Inverter-Based Distributed Generation Systems: A Comparative Study versus Independent Design." Energies 15, no. 23 (November 28, 2022): 8995. http://dx.doi.org/10.3390/en15238995.
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Internal oscillations among multiple generation systems in low-voltage stand-alone nanogrids and small-scale microgrids can cause instability in the entire generation system. This issue becomes worse when the coupling strength between the generation systems increases, which is a result of a shorter distance between them and a smaller reactance to resistance ratio. Previous approaches, which were based on the independent control design and considered the coupling effect as disturbances, may fail to tackle this issue when the two generation systems become strongly coupled. Therefore, in this paper a novel method is proposed to handle this coupling effect by designing robust decentralized controllers in a sequential manner to address the problem of voltage and frequency control in a nanogrid. This proposed sequential design is a general technique that is applicable to multiple inverter-based generation systems in a nanogrid or small-scale microgrid. For the ease of demonstration, in this paper the case of two interconnected inverters with LC output filters is studied. Two robust decentralized controllers are designed for the two inverter systems by using the μ-synthesis technique. The sequential design takes into account the interconnection line between the two inverters. Moreover, the controllers are designed to be robust against all the parameter variations in the system including the LC filter and interconnection line parameters. The simulation results demonstrate the superior performance of the proposed controller over the independently-designed controllers for the case of two generation systems that are highly coupled due to the short distance between them. Moreover, the proposed controller is shown to be robust against the LC filter and interconnection line parameter uncertainties as compared to the sequentially-designed linear quadratic Gaussian controllers.
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BUSI, JACOB PRABHAKAR, and SRINIVASARAO YELAVARTHI. "A Fuzzy Logic Based DSTATCOM for Diesel Generation System for Load Compensation." IAES International Journal of Artificial Intelligence (IJ-AI) 4, no. 1 (March 1, 2015): 8. http://dx.doi.org/10.11591/ijai.v4.i1.pp8-13.
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This paper proposes the concept of distributed static compensator for compensation of harmonics, unbalances and reactive powers. The main aim of this diesel electrical generator is to generate electrical power and transfer to the distribution point. The main problems occurred in this distribution systems are voltage distributions, interruptions and variations in distribution system also called as power quality problems. The FACTS controllers are classified into different types based on improvement of power quality. These facts devices are classified based on their construction and connection to the line i.e. called as series and shunt converters. This paper also concentrate on the concept of fuzzy logic controller for getting better performance as compared with the previous conventional controllers. Basically, the fuzzy controller has the advantage of low steady state error and also it reduces the These experimental diagrams are verified in Matlab/Simulink and the results are verified for both PI and Fuzzy controllers.
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Erol, H. Ersin, and Altuğ İftar. "Decentralized time-delay controller design for systems described by delay differential-algebraic equations." Transactions of the Institute of Measurement and Control 43, no. 14 (June 28, 2021): 3129–48. http://dx.doi.org/10.1177/01423312211015961.
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This paper presents a complete approach for designing stabilizing linear time-invariant decentralized finite-dimensional or retarded time-delay output feedback controllers for linear time-invariant systems of delay differential-algebraic equations. The proposed approach is based on the sequential design of the local controllers by using a centralized controller design algorithm. In this sequential design approach, the local controller to be designed at each step is determined depending on the mobility of the rightmost modes with respect to the controllers that have not yet been designed and closed with the system. Since no predefined sequence is followed, a sequence that can target the least effort and dimension for each agent can be aimed. Also, in the proposed approach, a base controller effort can be targeted for each control agent, so that the effort required to stabilize the system can be distributed among the local controllers. In the centralized controller design algorithm used for the design of each local controller, the parameters of the controllers are changed stepwise in a quasi-continuous way to shift the targeted rightmost modes towards the stable area. For a time-delay controller, the desired mode placement can be achieved by applying small changes stepwise to the elements of the matrices and the time-delays of the controller while time-delays remain always non-negative. The effect of small perturbations on the time-delays in the open-loop system or to be added by the controller to be designed is taken into account to ensure some degree of robustness against all possible perturbations on the delays. The effectiveness of the proposed design approach is demonstrated by a numerical example.
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Liu, Zongcheng, Hanqiao Huang, Sheng Luo, Wenxing Fu, and Qiuni Li. "Fully Distributed Control for a Class of Uncertain Multi-Agent Systems with a Directed Topology and Unknown State-Dependent Control Coefficients." Applied Sciences 11, no. 23 (November 29, 2021): 11304. http://dx.doi.org/10.3390/app112311304.
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To address the control of uncertain multi-agent systems (MAS) with completely unknown system nonlinearities and unknown control coefficients, a global consensus method is proposed by constructing novel filters and barrier function-based distributed controllers. The main contributions are as follows. Firstly, a novel two-order filter is designed for each agent to produce informational estimates from the leader, such that a connectivity matrix is not used in the controller’s design, solving the difficultly caused by the time-varying control coefficients in a MAS with a directed graph. Secondly, combined with the novel filters, barrier functions are used to construct the distributed controller to deal with the completely unknown system nonlinearities, resulting in the global consensus of the MAS. Finally, it is rigorously proved that the consensus of the MAS is achieved while guaranteeing the prescribed tracking-error performance. Two examples are given to verify the effectiveness of the proposed method, in which the simulation results demonstrate the claims.
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Menighed, Kamel, Joseph Julien Yamé, and Issam Chekakta. "A Non-Cooperative Distributed Model Predictive Control Using Laguerre Functions for Large-Scale Interconnected Systems." Journal Européen des Systèmes Automatisés 55, no. 5 (November 30, 2022): 555–72. http://dx.doi.org/10.18280/jesa.550501.
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This paper deals with a new non-cooperative distributed controller for linear large-scale systems based on designing multiple local Model Predictive Control (MPC) algorithms using Laguerre functions to enhance the global performance of the overall closed-loop system. In this distributed control scheme, that does not require a coordinator, local MPC algorithms might transmit and receive information from other sub-controllers by means of the communication network to perform their control decisions independently on each other. Thanks to the exchanged information, the sub-controllers have in this way the ability to work together in a collaborative manner towards achieving a good overall system performance. To decrease drastically the computational load in the small-size optimization problem with a short prediction horizon, discrete-time Laguerre functions are used to tightly approximate the optimal control sequence. For evaluating the proposed distribution control framework, a simulation example is proposed to show the effectiveness of the proposed scheme and its applicability for large-scale interconnected systems. The obtained simulation results are provided to demonstrate clearly that the proposed Non-Cooperative Distributed MPC (NC-DMPC) outperforms Decentralized MPC (De-MPC) and achieves performance comparable to centralized MPC with a reduced computing time. The system performance of the proposed distributed model predictive control is given.
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Yasuda, Gen’ichi. "Model Based Design and Implementation of Hierarchical and Distributed Control for Robotic Flexible Manufacturing System Cells Using Petri Nets." Advanced Materials Research 211-212 (February 2011): 856–60. http://dx.doi.org/10.4028/www.scientific.net/amr.211-212.856.
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This paper deals with the modeling and control of discrete event robotic manufacturing cells using Petri nets, and proposes a methodology of model based design and implementation of hierarchical and distributed control. Hierarchical Petri net models are adopted; conceptual Petri net model and detailed Petri net model. The overall detailed Petri net model is decomposed into local Petri net models which are used by the local machine controllers. The upper level station controller coordinates the distributed local controllers so that the aggregate behavior of decomposed subnets is the same as that of the original Petri net. The overall control system is implemented using multithreaded programming based on Petri net based multitask processing. Simulation experiments show that the distributed Petri net model based control system can perform the overall multitask processing control by coincidence of the behavior of the real system with the local Petri net models.
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Fusco, Giuseppe, and Mario Russo. "A Procedure to Determine the Droop Constants of Voltage Controllers Coping with Multiple DG Interactions in Active Distribution Systems." Energies 13, no. 8 (April 15, 2020): 1935. http://dx.doi.org/10.3390/en13081935.
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In modern distribution systems, the presence of an increasing amount of Distributed Generation (DG) systems causes over-/under-voltage problems, due to the reverse power flows. To face these problems, the voltage-reactive power droop controllers of DG systems are commonly used for their simplicity and are required by international standards. On the other hand, the interaction among voltage droop controllers of different DG systems may introduce instability. The paper presents an effective procedure to determine the droop constants of voltage-reactive power controllers for multiple DG systems. Firstly, a multi-input multi-output model of the distribution system is introduced. Then, using the concept of the interaction measure under decentralized control, a simple constraint is added to the single-input single-output design of each droop controller. Such a constraint guarantees stability with respect to the interaction among the voltage droop controllers of all the DG systems. Eventually, the proposed procedure is applied to an LV test system with 24 nodes and six photovoltaic systems; the results of numerical simulations are presented, giving evidence of the effectiveness of the proposed procedure in various operating conditions of the distribution system.
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Oleiwi, Wed Kadhim, and Alharith A. Abdullah. "Design and Implementation of Distributed Controller Clustering for Solving the Issue of Single Failure in SDN Networks." Webology 18, no. 2 (December 30, 2021): 1365–78. http://dx.doi.org/10.14704/web/v18i2/web18395.
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Abstract Software-Defined Networks (SDN) It is a centralized control structure in the network that opens up new possibilities that did not exist before. The significant characteristic of this innovative approach is the focus on the capability of proposing networks of high dynamicity and programmability to transform the intelligence of underlying systems to the networks via controllers. The main issue of the SDN approach is found in its security, mainly due to its central-controlling architecture since the entire network is controlled from a central point. This makes it very vulnerable to single-point failure. In this paper, a fully Distributed SDN controller is proposed for solving the one point failure which exists within the single SDN controller. In general, the concept involves forming cluster of distributed controllers whereby each controller controls its domain and can thereby share the load within the network. The experimental results of the proposed system show an increase and enhancement in the performance of the network. The single-point failure issues have been overcome. The throughput of the proposed system increased with 20% while the packet loss rate was minimize with 33%.
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Xiao, Mengmeng, and Shaorong Wang. "Coordination Control Method Suitable for Practical Engineering Applications for Distributed Power Flow Controller (DPFC)." Energies 11, no. 12 (December 4, 2018): 3406. http://dx.doi.org/10.3390/en11123406.
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To control multiple series units of distributed power flow controller (DPFC), a hierarchical control method is proposed. This coordination control system consists of a coordination controller and multiple series unit controllers. According to the demand of power flow ordered by a dispatch center, the corresponding series-compensated voltage is calculated by a high-level controller and transferred to each series unit controller. Comparing the targeted compensated voltage with actual injected voltage, the modulation signal of the converter will be modified to change the power flow accurately. The DPFC system model is built in Power Systems Computer Aided Design/ Electromagnetic Transients including DC (PSCAD/EMTDC). The simulation result indicates that the proposed hierarchical control method is effective and can be considered as an option for practical engineering applications in the future.
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KING, BELINDA B. "NONUNIFORM GRIDS FOR REDUCED BASIS DESIGN OF LOW ORDER FEEDBACK CONTROLLERS FOR NONLINEAR CONTINUOUS SYSTEMS." Mathematical Models and Methods in Applied Sciences 08, no. 07 (November 1998): 1223–41. http://dx.doi.org/10.1142/s0218202598000561.
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In this paper, we discuss the use of nonuniform grids in reduced basis design for developing low order nonlinear feedback controllers for hybrid distributed parameter systems. The reduced basis approach was presented in an earlier paper by Burns and King; therein, all approximations were based upon uniform grids. In this paper, we explore the effect on control design of using nonuniform grids in the fundamental step of approximating the functional controller gains. We illustrate the process using a weakly nonlinear distributed parameter system.
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Rajabpour, Leila, Hazlina Selamat, Alireza Barzegar, and Mohamad Fadzli Haniff. "Design of a robust active fuzzy parallel distributed compensation anti-vibration controller for a hand-glove system." PeerJ Computer Science 7 (October 29, 2021): e756. http://dx.doi.org/10.7717/peerj-cs.756.
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Undesirable vibrations resulting from the use of vibrating hand-held tools decrease the tool performance and user productivity. In addition, prolonged exposure to the vibration can cause ergonomic injuries known as the hand-arm vibration syndrome (HVAS). Therefore, it is very important to design a vibration suppression mechanism that can isolate or suppress the vibration transmission to the users’ hands to protect them from HAVS. While viscoelastic materials in anti-vibration gloves are used as the passive control approach, an active vibration control has shown to be more effective but requires the use of sensors, actuators and controllers. In this paper, the design of a controller for an anti-vibration glove is presented. The aim is to keep the level of vibrations transferred from the tool to the hands within a healthy zone. The paper also describes the formulation of the hand-glove system’s mathematical model and the design of a fuzzy parallel distributed compensation (PDC) controller that can cater for different hand masses. The performances of the proposed controller are evaluated through simulations and the results are benchmarked with two other active vibration control techniques-proportional integral derivative (PID) controller and active force controller (AFC). The simulation results show a superior performance of the proposed controller over the benchmark controllers. The designed PDC controller is able to suppress the vibration transferred to the user’s hand 93% and 85% better than the PID controller and the AFC, respectively.
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Anderson, A. J. "Adaptive Pole Placement Control Using Multiple Transputers." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 206, no. 1 (February 1992): 63–71. http://dx.doi.org/10.1243/pime_proc_1992_206_308_02.
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The paper details the implementation of an adaptive pole placement algorithm on a multiple transputer system. The controller makes use of the extended least squares parameter estimation algorithm and is controlled at the local level by a supervisor task which monitors the behaviour of the control system to ensure robust operation under a variety of environmental conditions. This enhances the integrity of the controller in real-time operations. The adaptive controller is also configured to be used as a node within a distributed control system such that a central network interface can configure a number of individual controllers within the distributed control network. The controller is demonstrated dealing with a plant with changing parameters and disturbances.
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Aluko, Anuoluwapo, Elutunji Buraimoh, Oluwafemi Emmanuel Oni, and Innocent Ewean Davidson. "Advanced Distributed Cooperative Secondary Control of Islanded DC Microgrids." Energies 15, no. 11 (May 28, 2022): 3988. http://dx.doi.org/10.3390/en15113988.
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In an islanded DC microgrid with multiple distributed generators (DGs), the droop control is employed to realize proportional current sharing among the DGs in the microgrid. The action of the droop control causes a deviation in the DC bus voltage which is exacerbated by the line impedance between the DG and the DC bus. In this paper, an advanced distributed secondary control scheme is proposed to simultaneously achieve accurate voltage regulation and cooperative current sharing in the islanded DC microgrid system. The proposed distributed secondary controller is introduced in the cyber layer of the system, and each controller shares information with neighbouring controllers via a communication network. The distributed technique maintains the reliability of the overall system if some part of the communication link fails. The proposed controller uses the type-II fuzzy logic scheme to adaptively select the secondary control parameters for an improved response of the controller. The sufficient conditions to guarantee the stability of the proposed controller are derived using the Lyapunov method. Comprehensive tests under different operating scenarios are conducted to demonstrate the robustness of the proposed control scheme.
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Lee, S., and Y. Kim. "Distributed persistent coverage control and performance evaluation of multi-agent system." Aeronautical Journal 123, no. 1268 (May 3, 2019): 1701–23. http://dx.doi.org/10.1017/aer.2019.11.
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ABSTRACTThe persistent coverage control problem is formulated based on cell discretisation of two-dimensional mission space and time-increasing cell ages. A new performance function is defined to represent the coverage level of the mission space, and time behaviour is evaluated by the probabilistic method based on the detection model of agents. For comparison, persistent coverage controllers are designed by a target-based approach and a reactive approach. Both controllers are designed in a distributed manner using Voronoi tessellation and Delaunay graph-based local information sharing. Numerical simulation is performed to analyse the evaluated mean age of cells and evaluated coverage level over time for the designed persistent coverage controllers. The differences between the evaluation model and simulation situation are discussed.
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Chen, Wei Min, and Cai Hui. "Design on a Micro-Grid System without Inverse-Power-Flow Based on Distributed Generation." Applied Mechanics and Materials 321-324 (June 2013): 1342–46. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.1342.
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Recent years, traditional radiate passive power distribution will become an active power with many medium or small power sources and loads, when distributed generation by new energy (such as wind power or photovoltaic power) are connected to power grid more and more. This change of power distribution brings large harm to security of power grid. This paper proposed a micro-grid system without inverse-power-flow based on distributed generation, which center controller and load controller are deployed, and distribution powers, loads and load controllers are partitioned into different domains connected to micro-grid by controllable switch. The function of main units of micro-grid is discussed; as well as the operation strategy of micro grid based on distributed generation is studied. Finally, the experiment results show the feasibility of the proposed micro-grid system.