A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with ...A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.展开更多
The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication faults.All the agents must follow t...The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication faults.All the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the agents.Linear matrix inequalities(LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization error.Based on the closed-loop system,an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy consumption.The proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles(UAVs)under communication faults.A comparison between a state-of-the-art technique and the proposed technique has been provided,demonstrating the performance improvement brought by the proposed approach.展开更多
Time synchronization is one of the base techniques in wireless sensor networks(WSNs).This paper proposes a novel time synchronization protocol which is a robust consensusbased algorithm in the existence of transmissio...Time synchronization is one of the base techniques in wireless sensor networks(WSNs).This paper proposes a novel time synchronization protocol which is a robust consensusbased algorithm in the existence of transmission delay and packet loss.It compensates for transmission delay and packet loss firstly,and then,estimates clock skew and clock offset in two steps.Simulation and experiment results show that the proposed protocol can keep synchronization error below 2μs in the grid network of 10 nodes or the random network of 90 nodes.Moreover,the synchronization accuracy in the proposed protocol can keep constant when the WSN works up to a month.展开更多
由于可再生能源的间歇性特点,储能单元广泛应用于孤岛直流微电网中。为保护储能单元,防止过度充放,需要对储能单元的荷电状态(state of charge,SOC)实行均衡控制,然而各储能单元线路阻抗及容量存在的差异将对SOC均衡造成影响。针对这一...由于可再生能源的间歇性特点,储能单元广泛应用于孤岛直流微电网中。为保护储能单元,防止过度充放,需要对储能单元的荷电状态(state of charge,SOC)实行均衡控制,然而各储能单元线路阻抗及容量存在的差异将对SOC均衡造成影响。针对这一问题,提出了一种基于一致性算法及自适应下垂控制的储能单元SOC均衡控制策略。首先,通过定义电流比例系数,建立了各储能单元下垂系数与SOC之间的函数关系式,实现了储能单元自适应SOC均衡,并通过劳斯判据证明了系统的稳定性。其次,将所提控制策略与其他文献控制方法进行对比,并且考虑了4种不同工况对SOC均衡的影响。最后,通过Matlab/Simulink进行了仿真分析,验证了所提控制策略的有效性。展开更多
传统有功功率-频率(P-f)下垂控制应用范围广,但无法自均衡微电网磷酸铁锂电池能量状态(state of energy,SOE)。现有的SOE均衡方案均未解决P-f下垂控制下SOE均衡问题。针对此问题,提出一种基于P-f下垂控制孤岛微电网磷酸铁锂电池SOE均衡...传统有功功率-频率(P-f)下垂控制应用范围广,但无法自均衡微电网磷酸铁锂电池能量状态(state of energy,SOE)。现有的SOE均衡方案均未解决P-f下垂控制下SOE均衡问题。针对此问题,提出一种基于P-f下垂控制孤岛微电网磷酸铁锂电池SOE均衡方案。研究了下垂控制和SOE之间的内在联系,对传统P-f控制参数进行重新设计,并引进一致性算法得到SOE均衡调节项,使得磷酸铁锂电池逆变器输出的有功功率根据磷酸铁锂电池SOE初始状态进行重复分配,在少通信和确保良好频率质量的前提下实现孤岛微电网磷酸铁锂电池组充放电过程中的SOE均衡。此外,通过分析所提方案的小信号模型,对不同控制参数下系统的稳定性进行了研究。最后,PSCAD仿真结果验证所提方案能够使磷酸铁锂电池在充放电过程中的SOE自均衡,具有良好的可扩展性,对通信中断具有良好的鲁棒性。展开更多
针对现存锂电池组内串联单体锂电池健康状态(state of health,SOH)均衡方案需要集中控制器和全局通信、系统建设成本居高不下等问题,提出一种基于一致性算法的锂电池组内单体锂电池SOH主动均衡方案。分析了SOH参数、放电深度(depth of d...针对现存锂电池组内串联单体锂电池健康状态(state of health,SOH)均衡方案需要集中控制器和全局通信、系统建设成本居高不下等问题,提出一种基于一致性算法的锂电池组内单体锂电池SOH主动均衡方案。分析了SOH参数、放电深度(depth of discharge,DOD)和有功功率三者之间的内在联系,设计了有功功率分配和控制算法切换法则。利用一致性算法求解DOD平均值,以达到在无需集中控制器和减少通信信号数量的前提下,实现锂电池组内单体锂电池SOH均衡的控制目标,提高锂电池容量利用率,降低锂电池维护成本。最后,Matlab/Simulink仿真结果说明,所提方案在负荷变化、通信中断、锂电池块数增加和DOD出现测量误差的情况下,均能使锂电池组内串联单体锂电池SOH自均衡。展开更多
基金supported by the National Natural Sciences Foundation of China (60974146)
文摘A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.
文摘The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication faults.All the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the agents.Linear matrix inequalities(LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization error.Based on the closed-loop system,an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy consumption.The proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles(UAVs)under communication faults.A comparison between a state-of-the-art technique and the proposed technique has been provided,demonstrating the performance improvement brought by the proposed approach.
文摘Time synchronization is one of the base techniques in wireless sensor networks(WSNs).This paper proposes a novel time synchronization protocol which is a robust consensusbased algorithm in the existence of transmission delay and packet loss.It compensates for transmission delay and packet loss firstly,and then,estimates clock skew and clock offset in two steps.Simulation and experiment results show that the proposed protocol can keep synchronization error below 2μs in the grid network of 10 nodes or the random network of 90 nodes.Moreover,the synchronization accuracy in the proposed protocol can keep constant when the WSN works up to a month.
文摘由于可再生能源的间歇性特点,储能单元广泛应用于孤岛直流微电网中。为保护储能单元,防止过度充放,需要对储能单元的荷电状态(state of charge,SOC)实行均衡控制,然而各储能单元线路阻抗及容量存在的差异将对SOC均衡造成影响。针对这一问题,提出了一种基于一致性算法及自适应下垂控制的储能单元SOC均衡控制策略。首先,通过定义电流比例系数,建立了各储能单元下垂系数与SOC之间的函数关系式,实现了储能单元自适应SOC均衡,并通过劳斯判据证明了系统的稳定性。其次,将所提控制策略与其他文献控制方法进行对比,并且考虑了4种不同工况对SOC均衡的影响。最后,通过Matlab/Simulink进行了仿真分析,验证了所提控制策略的有效性。
文摘传统有功功率-频率(P-f)下垂控制应用范围广,但无法自均衡微电网磷酸铁锂电池能量状态(state of energy,SOE)。现有的SOE均衡方案均未解决P-f下垂控制下SOE均衡问题。针对此问题,提出一种基于P-f下垂控制孤岛微电网磷酸铁锂电池SOE均衡方案。研究了下垂控制和SOE之间的内在联系,对传统P-f控制参数进行重新设计,并引进一致性算法得到SOE均衡调节项,使得磷酸铁锂电池逆变器输出的有功功率根据磷酸铁锂电池SOE初始状态进行重复分配,在少通信和确保良好频率质量的前提下实现孤岛微电网磷酸铁锂电池组充放电过程中的SOE均衡。此外,通过分析所提方案的小信号模型,对不同控制参数下系统的稳定性进行了研究。最后,PSCAD仿真结果验证所提方案能够使磷酸铁锂电池在充放电过程中的SOE自均衡,具有良好的可扩展性,对通信中断具有良好的鲁棒性。
文摘针对现存锂电池组内串联单体锂电池健康状态(state of health,SOH)均衡方案需要集中控制器和全局通信、系统建设成本居高不下等问题,提出一种基于一致性算法的锂电池组内单体锂电池SOH主动均衡方案。分析了SOH参数、放电深度(depth of discharge,DOD)和有功功率三者之间的内在联系,设计了有功功率分配和控制算法切换法则。利用一致性算法求解DOD平均值,以达到在无需集中控制器和减少通信信号数量的前提下,实现锂电池组内单体锂电池SOH均衡的控制目标,提高锂电池容量利用率,降低锂电池维护成本。最后,Matlab/Simulink仿真结果说明,所提方案在负荷变化、通信中断、锂电池块数增加和DOD出现测量误差的情况下,均能使锂电池组内串联单体锂电池SOH自均衡。
