基于自适应模型预测控制的柔性互联配电网优化调度

针对柔性互联配电网中源荷不确定性问题,提出了一种基于改进模型预测控制的优化调度方法。建立基于模型预测控制的柔性互联配电网日内优化调度模型,采用自适应动态权重方法处理包含综合供电成本和电压偏差的多目标优化问题,在预测模型部分采用动态场景生成及K-means聚类场景削减方法对源荷预测误差进行处理,针对经典模型预测控制滚动优化部分域参数恒定问题,提出一种域参数自适应调整的滚动优化方法。通过四馈线互联的33节点系统仿真算例验证了所提优化调度方法的有效性。     

时滞离散系统的鲁棒稳定新判据及控制器设计

针对一类具有多重状态时滞和多面体不确定性的离散时间系统，提出了一个新的参数依赖型Lya—punov稳定条件，并基于此条件设计了系统的鲁棒镇定状态反馈控制器，采用线性矩阵不等式(LMI)技术，将控制器存在的充分条件转化为LMI的解存在条件，可以采用较为有效的内点方法进行求解，与已有的基于二次稳定的结果相比，表明所提出的方法具有较低的保守性，通过数值仿真验证了所提出算法的可行性和优越性。     

Adaptive backstepping control for an n-degree of freedom robotic manipulator based on combined state augmentation

The aim of this paper is to improve the tracking performance of a robotic manipulator by designing an adaptive controller and implementing it on the system. The proposed controller guarantees the system stability as well as good tracking performance in existence of nonlinearity and parameter uncertainties. The requirement to decrease the system response overshoot and steady state error as well as increasing speed of tracking for manipulators is essential to many manufacturers. To this mean, in this paper, the tracking error equations for an n-DOF manipulator are derived and the response characteristics are improved by augmenting a new state to the system equations. The stability of the closed-loop system is guaranteed based on the Lyapunov theory via backstepping control approach. The robotic manipulator model contains parametric uncertainties and many of the parameter values are unknown. To solve the problem, an adaption law is proposed via adaptive backstepping mechanism. Different experiments are carried out for a 2-DOF manipulator to show the effectiveness of the proposed approach and the results are compared with four of the recently revealed researches on control. Experimental results present the superiority of the state augmented adaptive backstepping in tracking the desired joint angles. Moreover, in order to present the industrial application of the proposed control method, it is simulated for a large industrial Scara manipulator.     

Taguchi-factorial type-2 fuzzy random optimization model for planning conjunctive water management with compound uncertainties

In this study, a type-2 fuzzy random optimization (TFRO) method is developed for planning conjunctive water management system associated with compound uncertainties. TFRO can effectively address compound uncertainties expressed as type-2 fuzzy sets, probability distributions, and type-2 fuzzy random variables. Solution algorithm based on the degree of probability and the information of plausibility is proposed to transform nonlinear objective function and constraints into their linear equivalents. A real case of water-resources allocation problem in Zhangweinan River Basin (China) is employed to demonstrate the applicability of the proposed method. A Taguchi-factorial type-2 fuzzy random model is also formulated through introducing Taguchi design and ANOVA technique into the TFRO framework. Results obtained can help reveal the relationship among multiple impact factors of economic, environmental and resource (water conveyance efficiency, water delivery cost, and system violation risk), as well as quantify their contributions to the variability of system benefit and water allocation schemes.     

一类不确定非线性系统的状态参考自适应滑模控制

针对一类非匹配不确定非线性系统。基于状态参考自适应控制算法和滑模控制策略。提出了状态参考自适应反演滑模控制方案，实现了不确定非线性系统的鲁棒输出跟踪。与现有的控制器设计相比，大大降低了控制系统阶次，允许系统存在非参数化的不确定性和未知扰动，增强了控制系统鲁棒性。仿真算例证明了理论研究成果的正确性和鲁棒性。     

Sensitivity of expected exceedance rate of SDOF-system response to statistical uncertainties of loading and system parameters

The effects of the statistical uncertainties of the loading and system parameters on the mean exceedance rate of a particular threshold are investigated for a linear SDOF-system with viscous damping. For this purpose the structural loading is described by the well-known stationary Kanai-Tajimi-earthquake model. The analysis is simplified by utilizing an approximate solution for the threshold-crossing rate, for which the error with respect to the exact solution is shown to be small. Each of the parameters involved in the expression for the mean exceedance rate of the stationary response of the structure is considered a random variable. The respective effects of the statistical uncertainties of the parameters on the threshold-crossing rate, as expressed by the first- and second moments, are shown explicitely in the numerical examples.     

不确定随机变时滞神经网络的全局渐进稳定性

采用It(o)'s微分公式和不等式分析技巧,研究了一类不确定随机变时滞神经网络的全局渐进稳定性问题.该模型同时考虑了神经网络模型的两种扰动因素,即随机扰动与不确定性扰动.不确定性参数是时变且范数有界的.通过构造适当的Lyapunov泛函,以线性矩阵不等式形式给出了平衡点在均方根意义下的全局渐进稳定性判据,能够利用LMI工具箱很容易地进行检验.此外,仿真示例证明了结论的有效性.     

Robust Stability of Multivariate Polynomials, Part 2: Polytopic Coefficient Variations

This paper deals with robustness of stability propety of a class of multivariate polynomials, recently introduced in kharjt. The aim is to show the use of this class when analyzing stability of mutivariate polynomial families with polytopic coefficient variations. This study is developed on the basis of some known stability results for polytopic families of scattering Hurwitz stable (SHS) as well as strict sense stable (SSS) multivariate polynomials.     

Robust PID control of fully-constrained cable driven parallel robots

In this paper dynamic analysis and robust PID control of fully-constrained cable driven parallel manipulators are studied in detail. Since in this class of manipulators cables should remain in tension for all maneuvers in their workspace, feedback control of such robots becomes more challenging than that of conventional parallel robots. In this paper, structured and unstructured uncertainties in dynamics of the robot are considered and a robust PID controller is proposed for the cable robot. To ensure that all cables remain in tension internal force concept is used in the proposed PID control algorithm. Then, robust stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov direct method and it is shown that by suitable selection of the PID controller gains, the closed-loop system would be robustly stable. Finally, the effectiveness of the proposed PID algorithm is examined through experiments on a planar cable driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.     

Risk analysis: Casing-while-Drilling (CwD) and modeling approach

In today's volatile economy and uncertain drilling environment, managers are encouraged to reduce well cost and time and have implemented Casing-while-Drilling (CwD) to improve operational excellence. Risk analysis is another valid tool that can be used to improve drilling operations. This paper discusses CwD as a new technology and how its benefits can be strengthened by including risk analysis as a complementary technique. A modeling approach is presented to demonstrate how risk analysis can be applied to CwD programs and to discuss the main concerns a well planner must address to achieve a successful drilling program. The integration of both CwD and risk analysis will add value to the overall excellence of the well operation. Very little work has been done on this integration, and the hope is that this approach will be a standard practice in the future.