Constrained coordinated distributed control of smart grid with asynchronous information exchange

Smart grid constrained optimal control is a complex issue due to the constant growth of grid complexity and the large volume of data available as input to smart device control. In this context, traditional centralized control paradigms may suffer in terms of the timeliness of optimization results due to the volume of data to be processed and the delayed asynchronous nature of the data transmission. To address these limits of centralized control, this paper presents a coordinated, distributed algorithm based on distributed, local controllers and a central coordinator for exchanging summarized global state information. The proposed model for exchanging global state information is resistant to fluctuations caused by the inherent interdependence between local controllers, and is robust to delays in information exchange. In addition, the algorithm features iterative refinement of local state estimations that is able to improve local controller ability to operate within network constraints. Application of the proposed coordinated, distributed algorithm through simulation shows its effectiveness in optimizing a global goal within a complex distribution system operating under constraints, while ensuring network operation stability under varying levels of information exchange delay, and with a range of network sizes.

Design of robust distributed control for interconnected microgrids

Microgrids are currently controlled independently, according to local requirements and aims, often based on local control strategies and without coordination with other microgrids [1], [2]. However, it is anticipated that future sub-transmission and distribution systems will be composed of several interconnected microgrids and form a complex elec-tric network. Interconnecting together multiple microgrids can lead to undesirable dynamic behaviors, which have not been adequately examined so far. In particular, this paper dis-cusses power oscillations arising from multiple interconnected microgrids and proposes a control scheme based on a robust distributed control approach.

Distributed agent-based control scheme for single-phase parallel inverters in microgrids with photovoltaic systems

In this paper, an agent-based distributed control scheme is presented to control single-phase parallel inverters in solar photovoltaic (PV) systems connected to microgrids. A communication assisted multi-agent framework is developed within microgrids where agents perform their tasks in a distributed manner with an aim of stabilizing load voltage and current under normal and faulted conditions through the asymptotic tracking of the reference current signal. The distributed agent-based control scheme requires information from the neighboring agents through communication network to decide control actions. The proposed control scheme utilizes Ziegler-Nichols (Z-N) tuning approach to design proportional integral (PI) controllers for controlling inverters within the multi-agent system (MAS). A microgrid with parallel inverter-connected solar PV systems is considered for simulations under normal and faulted conditions where results show the excellency of the proposed agent-based scheme in comparison to the conventional scheme without MAS.

Fuzzy neural networks for control of dynamic systems

This thesis provides a unified and comprehensive treatment of the fuzzy neural networks as the intelligent controllers. This work has been motivated by a need to develop the solid control methodologies capable of coping with the complexity, the nonlinearity, the interactions, and the time variance of the processes under control. In addition, the dynamic behavior of such processes is strongly influenced by the disturbances and the noise, and such processes are characterized by a large degree of uncertainty. Therefore, it is important to integrate an intelligent component to increase the control system ability to extract the functional relationships from the process and to change such relationships to improve the control precision, that is, to display the learning and the reasoning abilities. The objective of this thesis was to develop a self-organizing learning controller for above processes by using a combination of the fuzzy logic and the neural networks. An on-line, direct fuzzy neural controller using the process input-output measurement data and the reference model with both structural and parameter tuning has been developed to fulfill the above objective. A number of practical issues were considered. This includes the dynamic construction of the controller in order to alleviate the bias/variance dilemma, the universal approximation property, and the requirements of the locality and the linearity in the parameters. Several important issues in the intelligent control were also considered such as the overall control scheme, the requirement of the persistency of excitation and the bounded learning rates of the controller for the overall closed loop stability. Other important issues considered in this thesis include the dependence of the generalization ability and the optimization methods on the data distribution, and the requirements for the on-line learning and the feedback structure of the controller. Fuzzy inference specific issues such as the influence of the choice of the defuzzification method, T-norm operator and the membership function on the overall performance of the controller were also discussed. In addition, the e-completeness requirement and the use of the fuzzy similarity measure were also investigated. Main emphasis of the thesis has been on the applications to the real-world problems such as the industrial process control. The applicability of the proposed method has been demonstrated through the empirical studies on several real-world control problems of industrial complexity. This includes the temperature and the number-average molecular weight control in the continuous stirred tank polymerization reactor, and the torsional vibration, the eccentricity, the hardness and the thickness control in the cold rolling mills. Compared to the traditional linear controllers and the dynamically constructed neural network, the proposed fuzzy neural controller shows the highest promise as an effective approach to such nonlinear multi-variable control problems with the strong influence of the disturbances and the noise on the dynamic process behavior. In addition, the applicability of the proposed method beyond the strictly control area has also been investigated, in particular to the data mining and the knowledge elicitation. When compared to the decision tree method and the pruned neural network method for the data mining, the proposed fuzzy neural network is able to achieve a comparable accuracy with a more compact set of rules. In addition, the performance of the proposed fuzzy neural network is much better for the classes with the low occurrences in the data set compared to the decision tree method. Thus, the proposed fuzzy neural network may be very useful in situations where the important information is contained in a small fraction of the available data.

Cooperative hunting by distributed mobile robots based on local interaction

This paper proposes a distributed control approach called local interactions with local coordinate systems (LILCS)to multirobot hunting tasks in unknown environments, where a team of mobile robots hunts a target called evader, which will actively try to escape with a safety strategy. This robust approach can cope with accumulative errors of wheels and imperfect communication networks. Computer simulations show the validity of the proposed approach.

Robust nonlinear distributed controller design for active and reactive power sharing in islanded microgrids

This paper presents a robust nonlinear distributed controller design for islanded operation of microgrids in order to maintain active and reactive power balance. In this paper, microgrids are considered as inverter-dominated networks integrated with renewable energy sources (RESs) and battery energy storage systems (BESSs), where solar photovoltaic generators act as RESs and plug-in hybrid electric vehicles as BESSs to supply power into the grid. The proposed controller is designed by using partial feedback linearization and the robustness of this control scheme is ensured by considering structured uncertainties within the RESs and BESSs. An approach for modeling the uncertainties through the satisfaction of matching conditions is also provided in this paper. The proposed distributed control scheme requires information from local and neighboring generators to communicate with each other and the communication among RESs, BESSs, and control centers is developed by using the concept of the graph theory. Finally, the performance of the proposed robust controller is demonstrated on a test microgrid and simulation results indicate the superiority of the proposed scheme under different operating conditions as compared to a linear-quadratic-regulator-based controller.

Benchmark generation algorithm for stochastic mixed model assembly shop simulation and optimization

The Operations Research (OR) community have defined many deterministic manufacturing control problems mainly focused on scheduling. Well-defined benchmark problems provide a mechanism for communication of the effectiveness of different optimization algorithms. Manufacturing problems within industry are stochastic and complex. Common features of these problems include: variable demand, machine part specific breakdown patterns, part machine specific process durations, continuous production, Finished Goods Inventory (FGI) buffers, bottleneck machines and limited production capacity. Discrete Event Simulation (DES) is a commonly used tool for studying manufacturing systems of realistic complexity. There are few reports of detail-rich benchmark problems for use within the simulation optimization community that are as complex as those faced by production managers. This work details an algorithm that can be used to create single and multistage production control problems. The reported software implementation of the algorithm generates text files in eXtensible Markup Language (XML) format that are easily edited and understood as well as being cross-platform compatible. The distribution and acceptance of benchmark problems generated with the algorithm would enable researchers working on simulation and optimization of manufacturing problems to effectively communicate results to benefit the field in general.

Geometric formations in swarm aggregation: an artificial formation force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding inter-member collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc.

Decentralized and robust target tracking with sensor networks

In this paper we address the problem of decentralized and robust linear filtering for target tracking using networks of (radar) sensors taking nonlinear range and bearing measurements. The algorithm introduced in this paper permits efficient data fusion from multiple sensors through a summation style fusion architecture. Moreover, we prove that the state estimation error for the linear filtering algorithm is bounded.

Finite-time consensus algorithm of multi-agent networks

This paper is concerned with leader-follower finite-time consensus control of multi-agent networks with input disturbances. Terminal sliding mode control scheme is used to design the distributed control law. A new terminal sliding mode surface is proposed to guarantee finite-time consensus under fixed topology, with the common assumption that the position and the velocity of the active leader is known to its neighbors only. By using the finite-time Lyapunov stability theorem, it is shown that if the directed graph of the network has a directed spanning tree, then the terminal sliding mode control law can guarantee finite-time consensus even under the assumption that the time-varying control input of the active leader is unknown to any follower.

Intelligent 3D programmable surface

Creating a highly programmable surface operating at relatively high speed and in real time is an area of research with many challenges. Such a system has applications in the field of optical telescopes, product manufacturing, and giant 3D-screens and billboards for advertising and artwork. This paper covers certain aspects of a keynote presentation at ISDT 2010 including system design, modularity, programmability and the system control intelligence. An overview of the system architecture, actuator design, electronics and distributed control will provide an insight into how the system is controlled and self-tuned for a number of applications. A simulation environment that has been developed to streamline system reconfiguration will also be presented, demonstrating translation of complex mathematical functions into 3D shapes virtually before being displayed on the physical surface.

Intelligent energy management for plug-in hybrid electric vehicles : the role of ITS infrastructure in vehicle electrification

The desire to reduce carbon emissions due to transportation sources has led over the past decade to the development of new propulsion technologies, focused on vehicle electrification (including hybrid, plug-in hybrid and battery electric vehicles). These propulsion technologies, along with advances in telecommunication and computing power, have the potential of making passenger and commercial vehicles more energy efficient and environment friendly. In particular, energy management algorithms are an integral part of plug-in vehicles and are very important for achieving the performance benefits. The optimal performance of energy management algorithms depends strongly on the ability to forecast energy demand from the vehicle. Information available about environment (temperature, humidity, wind, road grade, etc.) and traffic (traffic density, traffic lights, etc.), is very important in operating a vehicle at optimal efficiency. This article outlines some current technologies that can help achieving this optimum efficiency goal. In addition to information available from telematic and geographical information systems, knowledge of projected vehicle charging demand on the power grid is necessary to build an intelligent energy management controller for future plug-in hybrid and electric vehicles. The impact of charging millions of vehicles from the power grid could be significant, in the form of increased loading of power plants, transmission and distribution lines, emissions and economics (information are given and discussed for the US case). Therefore, this effect should be considered in an intelligent way by controlling/scheduling the charging through a communication based distributed control.

Formations of robotic swarm: an artificial force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding intermember collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc. Also the performance of the proposed distributed swarm control architecture was investigated in the presence of realistic implementation issues such as localization errors, communication range limitations, boundedness of forces etc.