Cooperative Control System Research Articles

Analisis Efektifitas Pengelolaan dan Sistem Pengendalian Piutang pada Koperasi Makmur Mandiri di Rengasdengklok

Cooperatives, as business entities, are always encouraged to play an active role in providing credit services needed by the community. By providing credit to small and medium businesses, it is hoped that this sector can improve the quality of its activities. This research aims to test and analyze the effectiveness of the Receivables Management and Control System at the Makmur Mandiri Cooperative in Rengasdengklok. The research method used is descriptive with a qualitative approach, with data collection techniques in the form of interviews, observation and documentation. The analytical methods used include analysis of Receivable Turn Over (RTO), Average Collection Period (ACP), Arrears Ratio, Collection Ratio, as well as evaluation of the cooperative control system. The research results show that internal control of receivables at the Makmur Mandiri Cooperative has been implemented in accordance with COSO standards. Although providing credit to cooperatives from 2018 to 2022 is considered quite effective, it still fluctuates every year due to the significant impact of Covid-19 which causes economic uncertainty, resulting in many cooperative members experiencing delays in paying loans at maturity.

Identification methods for ordinal potential differential games

This paper introduces two new identification methods for linear quadratic (LQ) ordinal potential differential games (OPDGs). Potential games are notable for their benefits, such as the computability and guaranteed existence of Nash Equilibria. While previous research has analyzed ordinal potential static games, their applicability to various engineering applications remains limited. Despite the earlier introduction of OPDGs, a systematic method for identifying a potential game for a given LQ differential game has not yet been developed. To address this gap, we propose two identification methods to provide the quadratic potential cost function for a given LQ differential game. Both methods are based on linear matrix inequalities (LMIs). The first method aims to minimize the condition number of the potential cost function’s parameters, offering a faster and more precise technique compared to earlier solutions. In addition, we present an evaluation of the feasibility of the structural requirements of the system. The second method, with a less rigid formulation, can identify LQ OPDGs in cases where the first method fails. These novel identification methods are verified through simulations, demonstrating their advantages and potential in designing and analyzing cooperative control systems.

Cooperative voltage control in distribution networks considering multiple uncertainties in communication

Delays, jitter, and packet loss in communication networks can impact the performance of cooperative voltage control systems in distribution networks. In distribution systems with a high penetration of renewable energy sources that do not respond promptly, these issues can even lead to system destabilization when voltage surges occur. Considering the interdependence of delay, jitter, and packet loss, the current direct approach of accumulating information entropy may result in the deterioration of dynamic control performance. Based on Copula entropy theory, a new multivariate communication uncertainty metric model is proposed. Using the multivariate Epanechnikov kernel function model, a method has been developed to estimate the multivariate non-independent uncertainty of a communication system. Accurate state estimation is integrated into event-triggered sliding mode control (ETSMC) of the distribution network to facilitate coordinated voltage control and enhance resilience against communication uncertainty. Design criteria for the controller and observer parameters are provided based on Lyapunov stability theory. Simulation results confirm that the proposed ETSMC offers significant improvements in control performance and system resilience to external power disturbances and multivariate communication uncertainty events.

Finite-time fuzzy cooperative control for multi-AUV systems under cyber-attacks with hybrid unknown nonlinearities

In this paper, we investigate the fuzzy cooperative control and collision-free problems of discrete-time multiple autonomous underwater vehicles (AUVs) systems subject to unknown nonlinearities and constrained communication under cyber-attacks. A cooperative controller composed of three components is proposed for each AUV follower. The first component maneuvers the position and velocity for tracking desired signals by the feedback information. The repulsion part protects the AUV from collision with environmental obstacles or other vehicles. The remaining nonlinearities compensation term is employed to compensate for the system’s nonlinearities. Notably, the fuzzy logic systems (FLSs) approximate the hybrid unknown term constituted by external disturbances, unmodeled dynamics and deceptive signals. Then, the unknown terms identification and cooperative control problems are transformed into an error system stability problem. Inequality conditions for finite-time bounded error signals are presented through stability analysis. Also, it is theoretically proven that the cooperative control objective with collision avoidance can be accomplished by using suitable controller parameters. Lastly, the simulation results demonstrate the effectiveness of the complete control framework. Comparisons of various scenarios also affirm the significance of the FLSs and repulsion control for the multi-AUV cooperative control system.

Human–Machine Cooperative Driving and Real-Time Algorithm Implementation Based on Double-Loop Control System

The double loop structure has been implemented to verify the feasibility of human-machine cooperative control in real environment in this paper, which can fully reflect the performance of the controller and realization of the sharing steering control between human driver and automatic control system. The outer loop adopts fuzzy proportional-integral-derivative(PID) controller to deal with different working conditions, on which the complexity of the algorithm is reduced and the real-time performance of the controller is improved. The inner loop adopts the active disturbance rejection controller (ADRC), which can effectively suppress the interference such as drivers’ faulty operations etc. and improve the tracking accuracy and system performance. The stability for extended state observe(ESO) and ADRC is described in theory to ensure the feasibility of the controller in the real world environment. The experiment results show that the human-machine cooperative control system based on the double-loop controller can effectively reduce the lateral error of the vehicle and the steering torque of the driver in the process. And the control performance of the vehicle is improved.

Sampled-Data Cooperative Adaptive Cruise Control for String-Stable Vehicle Platooning with Communication Delays: A Linear Matrix Inequality Approach

This study aims to propose a sampled-data control technique, utilizing a linear matrix inequality (LMI) approach, to achieve string-stable vehicle platooning in a cooperative adaptive cruise control (CACC) system with communication delays. To do this, a decentralized sampled-data controller design technique that combines one controller using sensor measurements and another one utilizing vehicle-to-vehicle (V2V) communication, ensuring both individual and string stability, is proposed first. Next, a memory sampled-data control (MSC) approach is presented to account for transmission delays in V2V communication. Additionally, an improved Lyapunov–Krasovskii functional (LKF) is presented to improve computational complexity and sampling performance. The design conditions are formulated as linear matrix inequalities (LMIs) in the time domain, facilitating efficient stability analysis and optimization. Finally, vehicle platooning simulations are provided to validate the effectiveness and feasibility of the proposed technique.

A cooperative interaction strategy for vehicle platoons to obtain merging gaps in connected environments

Vehicle platoons can significantly improve traffic throughput and reduce fuel consumption and emissions. In the formation of platoons, it is crucial to generate safe merging gaps. This process requires appropriate cooperative management and control strategies. This study proposes a cooperative interaction strategy for vehicle platoons, including a communication management system and vehicle control strategies. These strategies can reduce velocity fluctuation in the process of gap generation and improve traffic performance. First, a communication management system within a platoon was developed, according to the standard communication protocol (SAE J2735), ensuring that external vehicles can join the platoon efficiently and orderly. Next, a cooperative adaptive cruise control (CACC) system was designed, which adopts feedforward and feedback control. Furthermore, the influence of increasing gaps on the stability of the platoon was considered. A cooperative control strategy for a virtual guiding vehicle (VGV) was introduced to switch the following target and linearly change the distance input of the controller. In this way, the downstream vehicles were guided to smoothly generate a safe merging gap, which can reduce speed fluctuation, and ensure the stability and safety of the platoon. Finally, the entire process of interaction in a vehicle platoon was tested in a simulation environment. The results showed that, compared with the parameter adaptive control strategy, the maximum velocity overshoot of the platoon vehicles was reduced by 56%, recovery stabilization time was reduced by 47%, and vehicle jitter was reduced by 43%. The driving security and platoon stability were both within the control boundaries set for evaluation.

Cooperative Control of Path Tracking and Driving Stability for Intelligent Vehicles on Potholed Road

When a vehicle hits a pothole, the reaction force of the pothole on the tire causes an imbalance in the driving forces on both sides of the vehicle and may cause the wheels to jump, potentially resulting in path deviation and roll instability. To address these issues, a cooperative control system for path tracking and driving stability is proposed. Roll stability is achieved by the roll moment generated by reasonably distributing the driving torque among the four IWMs. The necessary roll moment is calculated by the designed robust sliding mode control (RSMC), which enhances the transient performance of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H_∞</i> by 48.9%. The path tracking is ensured by active front steering (AFS) based on model predictive control (MPC), and the front wheel angle is used as the disturbance of the stability control. Simulation and bench test results demonstrate that the developed controller can maintain vehicle stability even when the greatest path deviation is 0.03 m, whereas conventional direct yaw-moment control (DYC) and AFS controllers fail to achieve the same level of control. These findings provide a theoretical foundation and serve as a reference for cooperative control on potholed roads.

Distributed adaptive control for multiple unmanned aerial vehicles with state constraints and input quantization

AbstractThis paper investigates the distributed fault‐tolerant tracking control (FTTC) problem for multiple unmanned aerial vehicles (UAVs) in the presence of state constraints, input quantization and actuator failures. The unified barrier function (UBF) is first developed to convert the original constrained system model into an unconstrained one, which accomplishes the dynamic constraints of all states. Moreover, a cerebellar model neural network (CMNN) is introduced to estimate the lumped effect of unknown disturbances and actuator failures. Then, a distributed formation flight fault‐tolerant controller (FTC) is designed to guide the UAVs along the desired trajectories based on sliding mode manifold and dynamic surface control technique. Meanwhile, the unknown input chattering and hysteresis quantizer errors in the UAVs system are simultaneously handled by adding the compensation term of FTC. Furthermore, the finite time stability analysis is implemented for all tracking errors and synchronization errors of the cooperative flight control system (CFCS). Finally, a comparative simulation is conducted to demonstrate the effectiveness of the FTTC scheme proposed in this study.

Peranan Teknologi Informasi Dalam Efektivitas Sistem Pengendalian Intern Koperasi Bina Citra Wanita

This study aims to analyze the effect of the use of information technology on the effectiveness of the internal control system in the Bina Citra Women's Cooperative in Menganti Gresik. The research method used is qualitative, involving cooperative heads, cooperative treasurers, and cooperative members as informants. Data collection techniques were carried out through interviews with cooperative members and management, direct observation of activities in cooperatives, and study of documents such as cooperative SOPs, financial reports, and information technology usage policies. The results of the study show that cooperative members have a positive perception of the influence of the use of information technology in increasing the effectiveness of the cooperative's internal control system. Information technology helps in prioritizing customer service, preventing fraud, and reducing the risk of fraud

A Review of Multi-vehicle Cooperative Control System in Intelligent Transportation

Review A Review of Multi-vehicle Cooperative Control System in Intelligent Transportation Songtao Xie 1, Zhenhong Li 1, Farshad Arvin 2, and Zhengtao Ding 1,* 1 Department of Electrical and Electronic Engineering, The University of Manchester, Manchester M13 9PL, UK 2 Swarm &amp; Computational Intelligence Laboratory (SwaCIL), Department of Computer Science, Durham University, Durham DH1 3LE, UK * Correspondence: zhengtao.ding@manchester.ac.uk Received: 25 April 2023 Accepted: 19 September 2023 Published: 25 September 2023 Abstract: Multi-vehicle cooperative control (MVCC) system has the potential to improve traffic flow, reduce congestion, and increase safety. This paper reviews the progress achieved by researchers worldwide regarding different aspects of MVCC systems. Research works of MVCC system architectures and strategies are reviewed, which explain how this system works. Several control methodologies utilized in the MVCC system and their related issues are discussed and compared, and research achievements about string stability and system degradation caused by unreliable communication are also reviewed. Applications of the MVCC system are demonstrated with detailed literature, which draws an overall landscape of the MVCC system and points out current opportunities and challenges. Finally, future research directions for the MVCC system are proposed based on the latest social and technological developments.

Virtual Coupling-Based H∞ Active Fault-Tolerant Cooperative Control for Multiple High-Speed Trains With Unknown Parameters and Actuator Faults

This paper investigates the cooperative control problem of multiple high-speed trains subject to unknown parameters and actuator faults. The cooperative operation of multiple high-speed trains is modeled as a coupled control system. On the basis of the virtual coupling technique, the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> active fault-tolerant cooperative control scheme is established to guarantee the desired tracking performances and cooperative performances. The adaptive control technique is adopted to estimate the unknown Davis’ coefficients and the fault parameters and linear matrix inequalities are utilized to derive the control gain of the cooperative control protocols for the trains. Rigorous analysis is provided to corroborate the closed-loop stability of the cooperative train control system and numerical simulation is conducted to verify the effectiveness and feasibility of the proposed results.

Cooperation of robot manipulators with motion constraint by real-time RNN-based finite-time fault-tolerant control

The nonlinear cooperative dynamics of m robots with motion constraint and faulty input saturation is addressed. To the best of our knowledge, the motion constraint for the cooperative control of multiple robots is first discussed as one of the designed concepts such that the proposed cooperative control system is more practical and its performance is also improved. Together with a finite-time concept, a real-time recurrent-neural-network-based finite-time fault-tolerant cooperation constraint control (RT-RNN-FTFTCCC) is designed to tackle the aggregately dynamic uncertainties brought about by motion constraint error, cooperation uncertain dynamics, disturbance torque, faulty input saturation, unsatisfying skew-symmetric matrix condition, and others. Moreover, the stabilized learning law includes two terms to cover all the range of filtering cooperation errors such that learning weights converge even in uncertain circumstances. Finally, the stability analysis of the overall cooperation control system is achieved by Lyapunov stability theory. In comparison to adaptive compensation control, recurrent-neural-network-based control without the motion constraint compensation, and different stabilized learning laws, the cooperative control of bi-robotic arms of 3-link in-plane with new constraint validates the improvement and robustness of the proposed control.

Cloud-Edge Cooperative Control System in Continuous Annealing Processes

This study proposes a cloud-edge collaboration framework for temperature regulation in continuous annealing processes. A multiobjective optimization is formulated by ensuring the control accuracy of the temperature to reduce energy consumption and increase efficiency with cloud computing. Based on process analytics, a framework for clustering operating conditions with high real-time requirements is proposed. Further, a recommendation mechanism for furnace temperatures with low real-time requirements is developed in the cloud. Compared with traditional architectures, the cloud-edge collaboration approach improves energy savings and control stability, which demonstrates its effectiveness and practicality.

A nonlinear disturbance observer based super twisting control for cooperative adaptive cruise control system affected by communication imperfections

A cooperative adaptive cruise control system utilizes vehicle-to-vehicle communication in addition to onboard sensors. Vehicle-to-vehicle communication is established by a short-range wireless network, which is susceptible to communication delay or loss of communication frequently. It would result in higher inter-vehicle distance to maintain the string stability of a platoon. In this paper, a nonlinear observer-based super twisting control is proposed to retain the property of string stability in various practical scenarios of communication delay, complete loss of communication, and parametric uncertainty. It ensures asymptotic convergence of the spacing error. The stability of an individual vehicle and the string stability of a platoon is derived. The performance of the proposed scheme is compared with two well-known methods for controlling a platoon of cooperative adaptive cruise control and adaptive cruise control vehicles.

Editorial: Model-based methods for human–machine cooperative and shared control systems

Editorial: Model-based methods for human–machine cooperative and shared control systems

Event-triggered fixed-time distributed output feedback sliding mode cooperative control for multiple surface vessels with input saturation

Aiming at the problems of cooperative control for multiple surface vessels (MSVs), such as unknown environmental disturbances, unavailable velocities, model uncertainties, actuator saturation, and limited action times of the actuator, an event-triggered fixed-time distributed output feedback sliding mode cooperative control method with input saturation is proposed. The scheme ensures the practical fixed-time stability of the cooperative control system. First, a fixed-time extended state observer (FxESO) is designed to provide the estimations of velocities and lumped disturbances including unknown environmental disturbances and model uncertainties. Second, to deal with the actuator saturation, a fixed-time auxiliary dynamic system is designed. Third, a fixed-time non-singular terminal sliding mode manifold (FxNTSMM) is introduced to effectively eliminate singularity and improve chattering of the system. Finally, an event-triggered distributed controller based on FxNTSMM and FxESO is proposed. An event-triggered condition can avoid unnecessary actions of the actuator, and Zeno phenomenon is avoided by theoretical proof. In addition, the upper bound of the convergence time is independent of the initial state. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.

An Adaptive Traffic-Flow Management System with a Cooperative Transitional Maneuver for Vehicular Platoons

Globally, the increases in vehicle numbers, traffic congestion, and road accidents are serious issues. Autonomous vehicles (AVs) traveling in platoons provide innovative solutions for efficient traffic flow management, especially for congestion mitigation, thus reducing accidents. In recent years, platoon-based driving, also known as vehicle platoon, has emerged as an extensive research area. Vehicle platooning reduces travel time and increases road capacity by reducing the safety distance between vehicles. For connected and automated vehicles, cooperative adaptive cruise control (CACC) systems and platoon management systems play a significant role. Platoon vehicles can maintain a closer safety distance due to CACC systems, which are based on vehicle status data obtained through vehicular communications. This paper proposes an adaptive traffic flow and collision avoidance approach for vehicular platoons based on CACC. The proposed approach considers the creation and evolution of platoons to govern the traffic flow during congestion and avoid collisions in uncertain situations. Different obstructing scenarios are identified during travel, and solutions to these challenging situations are proposed. The merge and join maneuvers are performed to help the platoon's steady movement. The simulation results show a significant improvement in traffic flow due to the mitigation of congestion using platooning, minimizing travel time, and avoiding collisions.

PELATIHAN AKUNTANSI BAGI PENGELOLA KOPERASI DI DINAS PERDAGANGAN DAN KOPERASI (DINDAGKOP) UKM KABUPATEN DEMAK

The purpose of the financial statements is to provide an overview of the financial position and measure the financial performance of an entity in the period concerned. The main task of a financial manager is to help companies organize, manage, plan, evaluate matters related to company finances. The tools for analyzing financial reports are liquidity ratios, solvency ratios, and profitability ratios. Financial analysis and reports will later be used as a basis for making the right financial decisions. The problem with Cooperatives in Demak Regency is that there are still managers or administrators who are unable or lack mastery in compiling and analyzing their financial reports. The limited competence of human resources is one of the reasons for the low quality of the financial reports presented. This will have an impact on the postponement of the implementation of the Annual Member Meeting as well as decision making related to the performance of cooperative financial reports. The obligation of administrators to organize Annual Member Meeting becomes commonplace every year, in order to submit management and supervisor accountability reports to members for the management and supervision of cooperatives. Cooperatives require more understanding and training regarding the preparation of financial reports and performance analysis. The priority solutions are first, facilitating cooperatives in preparing cooperative financial reports, second, technical training in analyzing the performance of financial reports that are more adequate, and third, how to implement a cooperative's internal control system. Keywords: Financial Report Performance, Liquidity Ratios, Solvency and Profitability

An Evolutionary Learning Framework of Lane-Changing Control for Autonomous Vehicles at Freeway Off-Ramps

This paper proposes a lateral control strategy for autonomous vehicles (AVs) and develops an evolutionary learning framework for off-ramps. Random forest (RF) and back-propagation neural network (BPNN) integrated with model predictive control (MPC) algorithm are respectively used to capture the decision-making and trajectory characteristics during the lane-changing maneuver based on the Next Generation Simulation (NGSIM) dataset. Then, a running cost function is calculated to optimize the trajectory dataset. Finally, the numerical simulation is conducted to investigate the characteristics of the proposed framework. Simulation results indicate that the performance of our method is much better than some other methods in lane-changing gap choice and trajectory execution. Moreover, the traffic system controlled by the evolutionary algorithms reaches the highest capacity and safest level when all vehicles are equipped with cooperative adaptive cruise control (CACC) systems. On the contrary, the scenario with 50% CACC vehicles shows the lowest travel efficiency and the worst safety because of the CACC vehicles’ degradation. Furthermore, three iterations and 500 vehicle trajectories at each optimization cycle are recommended for the application in the off-ramp traffic control.