Control Constraints Research Articles

Robust Control of Electrical Machines in Renewable Energy Systems: Challenges and Solutions

The increasing global demand for energy driven by population growth necessitates a shift towards renewable energy sources to address sustainability and environmental concerns. Renewable energy sources and how they function in tandem with electrical equipment to generate power are covered extensively in this study. Renewable sources like solar-thermal, hydro, wind, wave, tidal, geothermal, and biomass-thermal utilize electric machines to convert various forms of stored energy into electricity. The paper classifies these machines based on their design and application in renewable systems, highlighting the most common types, including DC, induction, and synchronous machines. It also evaluates their performance according to efficiency, power density, and cost-effectiveness. A primary focus is on the challenges associated with controlling electrical machines in renewable energy systems, including issues related to intermittency, grid integration, nonlinear dynamics, fault tolerance, harmonics, efficiency optimization, thermal management, scalability, real-time control, and cost constraints. The paper concludes by discussing the need for advanced control strategies and solutions to address these challenges, aiming to enhance a reliability, efficiency, and performance of renewable energy systems.

Validation of a Model Predictive Control Strategy on a High Fidelity Building Emulator

In recent years, advanced controllers, including Model Predictive Control (MPC), have emerged as promising solutions to improve the efficiency of building energy systems. This paper explores the capabilities of MPC in handling multiple control objectives and constraints. A first MPC controller focuses on the task of ensuring thermal comfort in a residential house served by a heat pump while minimizing the operating costs when subject to different pricing schedules. A second MPC controller working on the same system tests the ability of MPC to deal with demand response events by enforcing a time-varying maximum power usage limitation signal from the electric grid. Furthermore, multiple combinations of the control parameters are tested in order to assess their influence on the controller performance. The controllers are tested on the BOPTEST framework, which offers standardized test cases in high-fidelity emulation models, and pre-defined baseline control strategies to allow fair comparisons also across different studies. Results show that MPC is able to handle multi-objective optimal control problems, reducing thermal comfort violations by between 66.9% and 82% and operational costs between 15.8% up to 20.1%, depending on the specific scenario analyzed. Moreover, MPC proves its capability to exploit the building thermal mass to shift heating power consumption, allowing the latter to adapt its time profile to time-varying constraints. The proposed methodology is based on technologically feasible steps that are intended to be easily transferred to large scale, in-field applications.

Adaptive Saturated Obstacle Avoidance Trajectory Tracking Control for Euler–Lagrange Systems With Velocity Constraints

ABSTRACTThis article pays attention to the obstacle avoidance trajectory tracking control problem for uncertain Euler–Lagrange (EL) systems subject to velocity constraints and input saturation. The existing obstacle avoidance results do not consider velocity constraints under input saturation, which means that an EL system may not be able to obtain sufficient control inputs to avoid a collision with an obstacle if it has a high speed when approaching the obstacle. Therefore, the velocity constraints in the obstacle avoidance tracking control are considered in this paper. A novel velocity constraint function that depends on the distance between the system and the obstacle is proposed. Integral‐multiplicative Lyapunov‐barrier functions (LBFs) are constructed and incorporated into the backstepping procedure to design an adaptive fuzzy obstacle avoidance tracking control scheme. Moreover, an auxiliary dynamic system is designed by constructing a bounded nonlinear vector related to an auxiliary variable to compensate for the effects of saturation. Through the Lyapunov method and boundedness analysis for the barrier function, it is shown that the protocol achieves obstacle avoidance for the EL system without violating the velocity constraints inside the obstacle detection region, while also guaranteeing the ultimate uniform boundedness of all the closed‐loop signals. Numerical simulations are presented to demonstrate the efficacy of the proposed control strategy.

On the Method for Constructing Null-Controllable Sets for Linear Discrete-Time Systems with Summary Control Constraints

On the Method for Constructing Null-Controllable Sets for Linear Discrete-Time Systems with Summary Control Constraints

Bad data identification method considering the on-load tap changer model

With the connection and integration of renewable energy, the on-load tap-changer (OLTC) has become an important device for regulating voltage in distribution networks. However, due to non-smooth and non-linear characteristics of OLTC, traditional bad data identification and state estimation methods for transmission network are limited when applied to the distribution network. Therefore, the nonlinearity and droop control constraints of the OLTC model are considered in this paper. At the same time, the quadratic penalty function is introduced to realize the fast normalization of the tap position. It proposes a two-stage bad data identification method based on mixed-integer linear programming. In the first stage, suspicious measurements are identified using projection statistics and maximum normalized residual methods for preprocessing the measurement data. In the second stage, a linearization approach utilizing hyhrid data-physical driven is applied to handle nonlinear constraints, leading to the development of a bad data identification model based on mixed-integer linear programming. Finally, the proposed methodology is validated using a modified IEEE-33 node test feeder example, demonstrating the accuracy and efficiency of bad data identification.

Moreau-Yosida regularization to optimal control of the monodomain model with pointwise control and state constraints in cardiac electrophysiology

In this work, we study the optimal control problem of a coupled reaction-diffusion system, which is a monodomain model in cardiac electrophysiology with pointwise bilateral control and state constraints. We adopt the Moreau-Yosida regularization as a penalization technique to deal with the state constraints. The regularized problem’s first-order optimality condition is derived. In addition, sufficient second-order optimality condition is derived for the regularized problem using the virtual control concept by proving equivalence between Moreau-Yosida regularization and the virtual control concept. The convergence of optimal controls of the regularized problems to the optimal control of the original problem is proved. Moreover, the semi-smooth Newton method for numerically finding the optimal solution to the regularization problem is presented. Finally, numerical experiments are conducted, and the results allow us to understand the extinction of the wave excitation in cardiac defibrillation in the presence of both control and state constraints.

Nonlinear model predictive control for maximum wind energy extraction of semi-submersible floating offshore wind turbine based on simplified dynamics model

The application of floating offshore wind turbines means better exploitation of offshore wind resources. However, the six-degree of freedom motion characteristics of floating platforms bring greater challenges to control system design. Based on the dynamic characteristics of semi-submersible floating offshore wind turbines, this paper establishes a simplified nonlinear dynamic model for control system design. On this basis, a complete framework for nonlinear model predictive control of maximum wind energy extraction for semi-submersible floating offshore wind turbines considering wind and wave disturbances is developed. Based on the previewed wind and wave, a dynamic optimization problem with both state and control constraints is constructed, considering maximum wind energy extraction and torque fluctuation. Then, an improved equilibrium optimizer is proposed to address the nonlinear non-convex dynamic optimization problems, which achieves a better trade-off between exploitation and exploration. Simulation results verify the superiority of the proposed nonlinear model predictive control framework via the improved equilibrium optimizer, and the influences of different control algorithms on the platform motion state, power coefficient, and equivalent wind speed are analyzed.

Optimization of pressure management strategies for geological CO2 storage using surrogate model-based reinforcement learning

Injecting greenhouse gas (e.g. CO2) into deep underground reservoirs for permanent storage can inadvertently lead to fault reactivation, caprock fracturing and greenhouse gas leakage when the injection-induced stress exceeds the critical threshold. It is essential to monitor the evolution of pressure and the movement of the CO2 plume closely during the injection to allow for timely remediation actions or rapid adjustments to the storage design. Extraction of pre-existing fluids at various stages of the injection process, referred as pressure management, can mitigate associated risks and lessen environmental impact. However, identifying optimal pressure management strategies typically requires thousands of simulations, making the process computationally prohibitive. This paper introduces a novel surrogate model-based reinforcement learning method for devising optimal pressure management strategies for geological CO2 sequestration efficiently. Our approach comprises of two steps. The first step involves developing a surrogate model using the embed to control method, which employs an encoder-transition-decoder structure to learn dynamics in a latent or reduced space. The second step, leveraging this proxy model, utilizes reinforcement learning to find an optimal strategy that maximizes economic benefits while satisfying various control constraints. The reinforcement learning agent receives the latent state representation and immediate reward tailored for CO2 sequestration and choose real-time controls which are subject to predefined engineering constraints in order to maximize the long-term cumulative rewards. To demonstrate its effectiveness, this framework is applied to a compositional simulation model where CO2 is injected into saline aquifer. The results reveal that our surrogate model-based reinforcement learning approach significantly optimizes CO2 sequestration strategies, leading to notable economic gains compared to baseline scenarios.

Optimal visual control of tendon-sheath-driven continuum robots with robust Jacobian estimation in confined environments

Accurate control of continuum robots in confined environments presents a significant challenge due to the need for a precise kinematic model, which is susceptible to external interference. This paper introduces a model-less optimal visual control (MLOVC) method that enables a tendon-sheath-driven continuum robot (TSDCR) to effectively track visual targets in a confined environment while ensuring stability. The method allows for intraluminal navigation of TSDCRs along narrow lumens. To account for the presence of external outliers, a robust Jacobian estimation method is proposed, wherein improved iterative reweighted least squares with sliding windows are used to online calculate the robot’s Jacobian matrix from sensing data. The estimated Jacobian establishes the motion relationship between the visual feature and the actuation. Furthermore, an optimal visual control method based on quadratic programming (QP) is designed for visual target tracking, while considering the robot’s physical constraint and control constraints. The MLOVC method for visual tracking provides a reliable alternative that does not rely on the precise kinematics of TSDCRs and takes into consideration the impact of outliers. The control stability of the proposed approach is demonstrated through Lyapunov analysis. Simulations and experiments are conducted to evaluate the effectiveness of the MLOVC method, and the results demonstrate that it enhances tracking performance in terms of accuracy and stability.

Population differences in putty-nosed monkey (Cercopithecus nictitans) call order.

Non-human primates generally lack the ability to learn new call structures or to substantially modify existing ones, suggesting that callers need alternative mechanisms to convey information. One way to escape the constraints of limited vocal control is by assembling calls into variable sequences, as has been documented in various animal species. Here, we were interested in the flexibility with which different calls might be assembled in a species known for its meaningful call order, putty-nosed monkeys (Cercopithecus nictitans). Since most information comes from studies conducted at Gashaka Gumti National Park (Nigeria), we tested two further populations in the Nouabalé-Ndoki National Park (Republic of the Congo) and Taï National Park (Côte d'Ivoire) in how males responded to common threats, leopards, and crowned eagles. As predicted, callers produced the same basic call types as seen elsewhere-long 'pyow', short 'pyow' ('kek'), 'hack'-but populations differed in how males assembled calls. To leopards, males from both populations started with 'pyows' and 'keks', with occasional hacks later, as already reported from Gashaka. To crowned eagle, however, Nouabalé-Ndoki males consistently initiated their responses with 'pyows', whereas neither Taï nor Gashaka males ever did, demonstrating that nonhuman primates have some control over sequence production. We discuss possible mechanisms to account for the population differences, predation pressure, and male-male competition, and address implications for linguistic theories of animal call order, notably the Urgency and Informativity Principles.

Output feedback stabilization of logical dynamical systems with state‐dependent control constraints

Output feedback stabilization of logical dynamical systems with state‐dependent control constraints

Fault tolerant control of uncertain hydraulic system against actuator fault based on redesign Lyapunov approach

The design of stabilizing controller for uncertain nonlinear systems with control constraints is a challenging problem. This paper proposes the design of fault tolerant control for a class of uncertain nonlinear systems with actuator faults based on Lyapunov redesign principle. First, an assumption is introduced to design the control of the nominal system. Then, a new control law has been introduced to handle the difficulty caused by actuator failures. It is shown that the actuator faults can be completely compensated by the proposed nonlinear controller. Finally, the method will be applied to a hydraulic system to show its effectiveness.

Optimizing Room Temperature Control: A Comparative Analysis of Deep Reinforcement Learning and Contextual Bayesian Optimization Methods

Building temperature control presents significant modeling challenges due to the complexity of internal systems and varied usage patterns. Consequently, black box modeling has become a prevalent approach in this domain. This technique broadly encompasses deep learning and Bayesian optimization methods, each offering unique mechanisms for deriving optimal control parameters. Deep learning methods iteratively refine control parameters using extensive datasets, whereas Bayesian optimization employs Gaussian process regression and acquisition functions to pinpoint optimal solutions. This paper conducts a comparative analysis of two innovative methods within these branches: the application of Deep Reinforcement Learning (DRL) for integrated control of household temperature and electric vehicle charging, and the Primal-Dual Contextual Bayesian Optimization (PDCBO) method for adaptive thermal control in buildings. The study reveals that the DRL approach, integrated with electric vehicle charging systems, excels in responsiveness and reducing energy consumption. In contrast, the PDCBO method enhances control by allowing for the artificial definition and continuous optimization of constraints on energy usage and comfort during the operation, facilitated by algorithmic design. By synthesizing the strengths of both methods and considering electric vehicle integration and tailored adaptive control constraints, enhanced outcomes are achievable. This paper proposes that specific control strategies be developed for different building types to address diverse real-world requirements effectively.

Adaptive sliding mode control with nonlinear MPC-based obstacle avoidance using LiDAR for an autonomous surface vehicle under disturbances

This manuscript proposes a path-following and collision avoidance guidance and control system for an autonomous surface vehicle operating in cluttered environments under perturbations. A nonlinear model predictive control strategy handles the state and control constraints for obtaining a guidance law. The approach considers the vessel sideslip angle to provide the desired heading angle, satisfying path-following and obstacle avoidance. Additionally, to solve the nonlinear optimization problem for obtaining the guidance law in real-time, the acados software package is used. Furthermore, in order to guarantee that the vehicle tracks the guidance in presence of model uncertainties and external disturbances, a robust adaptive sliding mode low-level controller is adopted. This controller is finite time convergent, and dynamically adapts its control gain to use only the necessary control inputs. Furthermore, a low-memory and computationally-light obstacle detection strategy employing a LiDAR sensor is presented and proven to run in real-time. Simulation and experimental tests conducted using a customized prototype validate the advantages of the proposed strategy and demonstrate the effectiveness of the path following while evading multiple obstacles in the presence of external disturbances and model discrepancies.

Robust Invariance Conditions of Uncertain Linear Discrete Time Systems Based on Semidefinite Programming Duality

This article proposes a novel robust invariance condition for uncertain linear discrete-time systems with state and control constraints, utilizing a method of semidefinite programming duality. The approach involves approximating the robust invariant set for these systems by tackling the dual problem associated with semidefinite programming. Central to this method is the formulation of a dual programming through the application of adjoint mapping. From the standpoint of semidefinite programming dual optimization, the paper presents a novel linear matrix inequality (LMI) conditions pertinent to robust positive invariance. Illustrative examples are incorporated to elucidate the findings.

Eigenstructure assignment of constrained second-order linear systems: an optimised positively-invariant set control approach

Second-order systems constitute a mathematical model class used to represent a variety of physical processes to be controlled, such as vehicle damping systems, hydraulic pump flow, and robot manipulators. Due to the practical limitation inherent to physical systems (or their mathematical representation) and constraints on the input variables, the constrained control theory became an important research field. In this work, based on set-invariance theory, we propose an eigenstructure assignment optimisation using a state-feedback control law that guarantees the respect of state and control constraints for second-order systems. Positive invariance is the property of keeping the trajectory of the system states inside the set. This characteristic is incorporated into the analysis and design of the control law to ensure local stability and constraint fulfilment.

A safe reinforcement learning algorithm for supervisory control of power plants

Traditional control theory-based methods require tailored engineering for each system and constant fine-tuning. In power plant control, one often needs to obtain a precise representation of the system dynamics and carefully design the control scheme accordingly. Model-free Reinforcement learning (RL) has emerged as a promising solution for control tasks due to its ability to learn from trial-and-error interactions with the environment. It eliminates the need for explicitly modeling the environment’s dynamics, which is potentially inaccurate. However, the direct imposition of state constraints in power plant control raises challenges for standard RL methods. To address this, we propose a chance-constrained RL algorithm based on Proximal Policy Optimization for supervisory control. Our method employs Lagrangian relaxation to convert the constrained optimization problem into an unconstrained objective, where trainable Lagrange multipliers enforce the state constraints. Our approach achieves the smallest distance of violation and violation rate in a load-follow maneuver for an advanced Nuclear Power Plant design.

Reinforcement learning-based satellite formation attitude control under multi-constraint

As the complexity of space missions increases, the constraints on satellite attitude control become more stringent, particularly for satellites working in orbit formation. This paper introduces a novel method, based on the categorization and modeling of different constraints, for attitude control of satellite formations under multiple constraints. The method employs the Phased Priority Reinforcement Learning (PPRL) approach, which utilizes Deep Deterministic Policy Gradient (DDPG) technology. Considering the complexity of constraints and the challenge posed by the high control dimensionality due to multi-satellite coordination, the method addresses these challenges through a two-step training strategy. The first step addresses the multi-constraint issue for individual satellites and increases the priority of single-satellite training experience data in the experience replay buffer of the second step to enhance data utilization efficiency. To address the issue of reward sparsity in complex high-dimensional constraint models, a detailed reward mechanism is proposed, incorporating both local and global constraints into the reward function, thereby achieving both efficient and effective attitude control. This approach not only meets dynamic, state, and performance constraints but also demonstrates adaptability and robustness through numerical simulations. Compared to traditional methods, this approach achieves significant improvements in control performance and constraint satisfaction, offering a novel solution pathway for high-dimensional control problems in multi-constraint satellite formations.

Robust Hamiltonian Engineering for Interacting Qudit Systems

Dynamical decoupling and Hamiltonian engineering are well-established techniques that have been used to control qubit systems. However, designing the corresponding methods for qudit systems has been challenging due to the lack of a Bloch sphere representation, more complex interactions, and additional control constraints. By identifying several general structures associated with such problems, we develop a formalism for the robust dynamical decoupling and Hamiltonian engineering of strongly interacting qudit systems. Our formalism significantly simplifies qudit pulse-sequence design while naturally incorporating robustness conditions necessary for experimental practicality. We experimentally demonstrate these techniques in a strongly interacting, disordered ensemble of spin-1 nitrogen-vacancy centers, achieving more than an order-of-magnitude improvement in coherence time over existing pulse sequences. We further describe how our techniques enable the engineering of exotic many-body phenomena such as quantum many-body scars, and open up new opportunities for quantum metrology with enhanced sensitivities. These results enable wide-reaching new applications for dynamical decoupling and Hamiltonian engineering in many-body physics and quantum metrology. Published by the American Physical Society 2024

A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators

AbstractThis paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. The proposed differentiable modeling comprises two major components. First, the dynamic model of the mobile manipulator is derived, which differs from the state‐of‐the‐art in two aspects: (1) the model parameters, including magnetic flux, link mass, inertia, and center‐of‐mass, are represented as analytical functions of actuator design parameters; (2) the dynamic coupling between the base and the manipulator is captured. Second, the state and control constraints, such as maximum angular velocity and torque capacity, are established as analytical functions of actuator design parameters. This paper further showcases two typical use cases of the proposed differentiable modeling work: integrated locomotion and manipulation planning; simultaneous actuator design and motion planning. Numerical experiments demonstrate the effectiveness of differentiable modeling. That is, for motion planning, it can effectively reduce computation time as well as result in shorter task completion time and lower energy consumption, compared with an established sequential motion planning approach. Furthermore, actuator design and motion planning can be jointly optimized toward higher performance.