Coordination Control Research Articles

Active suspension and steering system control of emergency rescue vehicle based on sliding mode dual robust coordination control

Active suspension and steering system control of emergency rescue vehicle based on sliding mode dual robust coordination control

Research on Distributed Coordination Control Method for Microgrid System Based on Finite-Time Event-Triggered Consensus Algorithm

Research on Distributed Coordination Control Method for Microgrid System Based on Finite-Time Event-Triggered Consensus Algorithm

Coordinated Control of the Onboard and Wayside Energy Storage System of an Urban Rail Train Based on Rule Mining

There are three major challenges to the broad implementation of energy storage systems (ESSs) in urban rail transit: maximizing the absorption of regenerative braking power, enabling online global optimal control, and ensuring algorithm portability. To address these problems, a coordinated control framework between onboard and wayside ESSs is proposed in this study, and the related control strategy is obtained by transforming the global optimization problem into a combination of rule-based and local optimization problems. The design process of the strategy is divided into three parts: offline optimization, rule extraction, and local optimization. First, a genetic algorithm is used to optimize the charge/discharge threshold curves under typical operational conditions. Then, the rules of offline optimization results are obtained from an expert system, and the nonlinear rules are mined with local optimization methods. Finally, a coordinated strategy is presented based on the outcomes of the three parts. A power hardware-in-the-loop (PHIL) experimental platform based on RTLAB is built, and the above coordination strategy is verified based on data for the Beijing Metro Batong Line. The experimental results show that the strategy can effectively improve the energy-saving rate and reduce the regeneration failure rate substantially, with the effect being close to the offline global optimal solution. The algorithm proposed in this paper achieves near global optimal energy-saving optimization results with lower computational costs, and has strong portability, providing a good solution for the large-scale application of onboard and wayside energy storage coordination control.

Fixed-time coordination control for 6-DOF attitude-orbit coupled spacecraft formation flying

This paper presents a distributed fixed-time control protocol for 6-DOF(degree-of-freedom) attitude-orbit coupled spacecraft formation flying with external disturbances. Firstly, the 6-DOF attitude-orbit coupled dynamics is established. The communication topology between the spacecraft in the formation is described by a directed graph. Secondly, a fixed-time disturbance observer (FxTDO) is designed to ensure that the estimation errors of the unknown external disturbances can converge to zero in fixed time. Thirdly, based on non-singular fixed-time terminal sliding mode (NFFTSM) surface, the fixed-time coordination control protocol is proposed combined with the fixed-time disturbance observer, which can guarantee that each spacecraft can track their desirable positions and attitudes in fixed time. The stability of the closed-loop system is proved through Lyapunuov method. Finally, simulation results for a formation with one virtual leader and five followers demonstrate the effectiveness of the proposed control scheme.

Research on lateral stability control strategy for distributed drive electric vehicles considering driving style

To improve the handling stability of distributed drive electric vehicle (DDEV), a lateral stability control strategy considering driving style is proposed. Firstly, a driving style recognition model based on support vector machines (SVM) was constructed to identify driving styles in different lateral motion scenarios. Then, a layered architecture is used to design a driver/Active Front Steering (AFS)/Direct Yaw Control (DYC) stability coordination control strategy. The upper layer is based on the phase plane of the sideslip angle and extension control theory, dividing the vehicle operating range into classical, extension, and non domains. In the middle level, three control strategies are designed for different work domains. In the classical domain, a driver/AFS coordinated control strategy based on non-cooperative Nash games is constructed, and the weight coefficients in the AFS system cost function are modified based on driving characteristics; Construct a coordinated control strategy for AFS/DYC systems based on cooperative Pareto games in the extension domain; In non-domain, construct a direct yaw torque control strategy based on twin-delayed deep deterministic policy gradient (TD3) reinforcement learning. The lower layer aims to minimize tire utilization and optimizes the allocation of additional yaw moment. Finally, by establishing Hardware in the Loop (HIL) experiment platform, the effectiveness of the proposed control strategy is verified in lane changing scenarios of different styles of drivers. Compared to DYC stability control based solely on TD3, the maximum yaw rate and standard deviation of the lateral stability control strategy considering driving style reduce by 2.4 % and 10.82 %, respectively, and the maximum and standard deviation of the sideslip angle reduce by 29.29 % and 39.24 %, respectively, thereby improving the vehicle's handling stability.

Coordinated discrete-time super-twisting sliding mode controller coupled with time-delay estimator for PWR-based nuclear steam supply system

The coordination control problem for the core thermal power of the nuclear reactor (NR) and the water level of the nuclear steam generator (SG) is a crucial challenge for real-time model-based control of a pressurized-water reactor (PWR)-based nuclear steam supply system (NSSS). In this paper, a new coordinated discrete-time super-twisting sliding mode controller (CDTSTSMC) coupled with time-delay estimators (TDEs) is proposed, tackling the coordination control problem for the core thermal power of the NR and the water level of the nuclear SG in the presence of unknown dynamics, such as unmeasured system states, model uncertainties, parameter perturbations, and disturbances. First of all, the continuous-time dynamical models of both the NR and the SG in the PWR-based NSSS are described with consideration of unknown dynamics and then are transformed into discrete-time forms using the Euler approximation method. Two TDEs capable of estimating the unknown dynamics existing in the NR and the SG, respectively, are developed, which rely merely on the measurements of the PWR-based NSSS without the upper bounds of the uncertain dynamics being known. After that, a CDTSTSMC strategy, based on the discrete-time dynamical models describing both the NR and the SG, is proposed, allowing the core thermal power to be driven to a desired value while at the same time maintaining the desired water level in the SG with the help of TDEs. It is proved from stability analysis using a Lyapunov approach that under the proposed CDTSTSMC strategy coupled with the TDEs, the stability of the controlled PWR-based NSSS can be ensured in a wide range of load, where the control errors of both the NR and the SG are driven to a neighbor of zero. Finally, the proposed CDTSTSMC strategy coupled with the TDEs is compared with the previous discrete-time optimized proportional–integral–derivative controller (DTOPIDC) and fuzzy weighting controller (FWC). The simulation results reveal that the proposed CDTSTSMC strategy coupled with the TDEs outperforms the DTOPIDC and the FWC, particularly in rejecting unknown dynamics while maintaining both the core thermal power in the NR and the water level in the SG in their desired ranges.

RBS and ABS Coordinated Control Strategy Based on Explicit Model Predictive Control.

During the braking process of electric vehicles, both the regenerative braking system (RBS) and anti-lock braking system (ABS) modulate the hydraulic braking force, leading to control conflict that impacts the effectiveness and real-time capability of coordinated control. Aiming to enhance the coordinated control effectiveness of RBS and ABS within the electro-hydraulic composite braking system, this paper proposes a coordinated control strategy based on explicit model predictive control (eMPC-CCS). Initially, a comprehensive braking control framework is established, combining offline adaptive control law generation, online optimized control law application, and state compensation to effectively coordinate braking force through the electro-hydraulic system. During offline processing, eMPC generates a real-time-oriented state feedback control law based on real-world micro trip segments, improving the adaptiveness of the braking strategy across different driving conditions. In the online implementation, the developed three-dimensional eMPC control laws, corresponding to current driving conditions, are invoked, thereby enhancing the potential for real-time braking strategy implementation. Moreover, the state error compensator is integrated into eMPC-CCS, yielding a state gain matrix that optimizes the vehicle braking status and ensures robustness across diverse braking conditions. Lastly, simulation evaluation and hardware-in-the-loop (HIL) testing manifest that the proposed eMPC-CCS effectively coordinates the regenerative and hydraulic braking systems, outperforming other CCSs in terms of braking energy recovery and real-time capability.

Key technologies and applications of cloud-edge collaborative integrated low and medium voltage distributed photovoltaic coordination control

The large-scale distributed photovoltaic access leads to overvoltage, equipment overload, and difficulty in on-site consumption, which causes power to be sent back to the high voltage level, posing hidden dangers to the safe operation of the distribution network. This article proposes optimizing the medium-voltage distribution network at the cloud side with the goal of maximum consumption and operating cost, forming a rolling strategy adjustment based on load forecasting within the day. At the edge side, the distributed photovoltaic control in the low-voltage distribution network within the jurisdiction is adjusted based on the daily adjustment strategy issued by the cloud side, completing the optimization and regulation of distributed photovoltaics on a distribution substation unit basis to achieve the control and integration of distributed power sources and consumption, coordination between operation and side, and coordinated control in the integrated medium and low-voltage zoning, achieving autonomous distribution substations and feeder lines. Field applications have proven that this solution solves problems such as line and transformer overload, and voltage quality caused by distributed photovoltaic power generation.

Advancing women's pelvic floor muscle function diagnosis: the EFSMAP examination and its reliability evaluation

BackgroundThe accurate diagnosis of pelvic floor muscle impairments is essential. The plethora of terms and the lack of evidence to support widely used pelvic floor muscle function (PFMF) measurements hinder diagnostic labels. ObjectiveTo structure an examination of PFMF using visual observation and digital palpation and terms consistent with the ICF terminology, and to test its intra and interrater reliability/agreement. MethodsA panel of 9 physical therapists applied Delphi method to structure the PFMF exam under ICF terminology and to verify its measurements reproducibility. For reliability and agreement, a convenience sample of women aged 51.2 ± 14.7 years had the sensitivity to pressure, pain, muscle tone, involuntary movement reaction, control of voluntary movement (contraction/relaxation), coordination, strength, and endurance examined by two raters, in the same day for interrater (n = 40), and one week apart, for intrarater reliability (n = 25). Percent agreement, linear weighted kappa, intraclass correlation coefficient, and Bland-Altman's limits of agreement were calculated (alpha = 0.05). ResultsFour round Delphi discussion structured the PFMF exam, named EFSMAP (Exame das Funções Sensoriais e Motoras do Assoalho Pélvico/Examination of Pelvic Floor Sensory and Motor Functions), set a list of concepts and instructions targeted at reproducibility and established PFMF diagnostic labels. Reliability, except for pain and tone, were moderate to excellent (Kw= 0.67–1.0 and ICC=0.48–0.82). Agreement was substantial for most PFMF features (0.64–1.00), except pain. ConclusionsThe EFSMAP was successfully developed as a valid and reliable exam to be used in research and clinical practice; it provides labels for the diagnosis of pelvic floor muscle impairments. It might be easily adopted worldwide as it uses ICF terminology.

Semiglobal interval observer‐based robust coordination control of multi‐agent systems with input saturation

AbstractThis paper investigates the problem of robust coordination control based on interval observers for multi‐agent systems in the presence of input saturation and disturbances. Firstly, in the scenario where the system state is not directly measurable, two types of interval observers are, respectively, constructed by resorting to the upper and lower bounds on external perturbances as well as the output information. Secondly, a parametric Lyapunov equation‐based low‐gain feedback control method is proposed to guarantee semiglobal bounded consensus. In contrast to the conventional approach based on parametric algebraic Riccati equations, the proposed method offers the advantage of allowing the parameters to be determined in advance. Finally, a simulation example and a practical electrical circuit model are conducted to verify the theoretical results.

Attitude consensus coordination algorithm for spacecraft formation under compound disturbance

To address the attitude coordination and consensus tracking problem in the multi-spacecraft system, a distributed attitude-coordinated strategy based on the Fixed-time theory is proposed. An observer based on second-order integral sliding mode is designed to accurately estimate the compound disturbance, which consists of external disturbance and inertia uncertainties. On the basis of the observed information, a distributed Fixed-time attitude coordination controller is proposed, which can guarantee the attitude tracking errors converge to zero in a fixed time. System stability is analyzed by using the Lyapunov function. Finally, simulations and comparison analysis demonstrate the effectiveness and superiority of the proposed control scheme.

Risks in Volunteer Activities during the War in Ukraine

The significant role of volunteer activities in social development and solving socially significant problems is recognized internationally and nationally. Now, volunteerism serves as an expression of civic maturity, contributing to stabilizing and regulating social relations. In the context of a full-scale war in Ukraine, the role of volunteering in providing the army with essential support is continuously increasing. However, volunteer activities are characterized by a high degree of risk in such circumstances. The article aims to analyze the risks of volunteer activities during the war in Ukraine. The article explores the fundamental features and directions of volunteer activities in Ukraine, including support for the army, assistance to internally displaced persons and refugees, and other relevant social issues. It identifies the transformation of the volunteer environment in the country from chaotic to structured and professional since the onset of the full-scale invasion. The article also highlights the challenges faced by volunteer organizations, including reduced aid volumes, volunteer safety issues, lack of coordination and effective control over donated property, and others. The paper analyzes the principal negative aspects of volunteer activities that may pose risks, including the expenditure of internal resources, globalization and hyperbolization of activities, elevated demands on the surrounding community, overestimation of one's significance, savior complex, object of aid incapacitation, and authoritarianism. It is noted that volunteerism can be particularly hazardous in terms of emotional burnout since volunteers need to provide not only their time and resources but also emotional support. Risks associated with postponing the right to enjoy life and immersing the volunteer in the role of a "savior" that can lead to alienation from others are also considered. In this regard, volunteerism may become a source of conflict. The article suggests ways to address the risks and negative aspects of volunteer activities in Ukraine's war conditions. Emphasis is placed on controlling emotions, motivation, and relationships; monitoring mental health; comparing assigned tasks with personal resources; realistically understanding one's capabilities; and not postponing essential moments. Keywords: volunteering, exhaustion, emotional burnout, savior complex, psyche, problems, risks.

Modeling and analysis of vehicle stability region based on Lyapunov and coordinated control

The timely intervention of the assisted driving system is the key to improving the handling stability and roll stability of the vehicle, and the vehicle stability region serves as the core basis for determining the intervention timing of the assisted driving system. With the aim of modeling and analyzing the vehicle stability region, a three-degree-of-freedom (3-DOF) vehicle dynamics model including yaw, roll, and lateral motions, as well as a nonlinear Magic Formula tire model are established in this paper. Based on this, a simplified but improved cubic tire model is developed to accurately fit the tire lateral force of Magic Formula tire model within a larger range of slip angles. Subsequently, using the Lyapunov method, the roll stability region and the yaw stability region are respectively constructed, and the accuracy verification and robustness analysis of the established stability region are conducted in the Matlab/Simulink environment. Finally, a model-free adaptive control method is employed to keep the vehicle state within the stability region, without tracking specific vehicle state objectives. The study in this paper can provide theoretical support for stability boundary determination, formulation of intervention timing for assisted driving stability control, and coordination control of vehicle stability and anti-rollover with local compatibility or even conflicts.

The relationships between motor skills and executive functions in children with and without autism spectrum disorder.

To date, information on associations between motor skills and executive functions (EF) in autistic children is limited. The purpose of this study was to compare motor skills and EF performance between autistic children and typically developing (TD) children and to examine the relationships between motor skills and EF in these two groups. Forty-eight autistic children and 48 TD children aged 6 to 12 years were recruited for this study. Motor skills were measured with the Bruininks-Oseretsky Test of Motor Proficiency-2 (BOT-2). EF was assessed with the Stroop Color and Word Test, the Wisconsin Card Sorting Task (WCST), and the Test of Attentional Performance: Go/No-go test. Independent sample t-tests were used to compare the BOT-2 scores and EF measures between autistic children and TD children. Pearson product-moment correlation and regressions were conducted to assess the relationships between the BOT-2 scores and the EF measures for each group. Results showed that autistic children scored significantly lower than TD children on all four BOT-2 composite scores and a total motor composite. Autistic children also demonstrated significantly lower levels of performance on all EF measures than TD children. Further, autistic children showed more significant associations between motor skills and EF than TD children, particularly pronounced in the domains of fine manual control and manual coordination to cognitive flexibility, as well as manual coordination and inhibitory control. Continued development of motor skills and EF in autistic children is important. The relationships between motor skills and EF were significant among autistic children, suggesting future research on promoting EF through motor skill interventions in autistic children is required.

Coordinated Control Strategy Based on Virtual Synchronous Generator Technology in New Energy System

The innovative system control strategy of chemical energy-based virtual synchronous generator technology combines the principles of energy storage and virtual synchronous generator techniques to achieve stable generation and transmission of electrical energy. With the increasing integration of new energy sources into the grid, the existing grid-connected inverters utilizing direct current control struggle to effectively regulate the load fluctuations of the grid. In this paper, a mathematical model is established that includes both the energy storage system and the integration of new energy sources. By integrating optimal coordination control theory with coordinated control regulations, a coordinated control regime is developed, including the design of a damping controller. Additionally, a control strategy based on communication delay is employed to ensure active involvement of the rectifier side of the direct current transmission line at the appropriate timing. Analysis reveals that as the power of the direct current transmission line increases, the coupling between the virtual synchronous generator and direct current transmission becomes stronger within specific frequency bands, which may lead to subsynchronous oscillations and result in system instability. Compared to traditional control strategies, the proposed chemical energy-based virtual synchronous generator technology presented in this paper effectively resolves the coupling challenges within specific frequency bands, suppresses subsynchronous oscillations, exhibits improved robustness, and allows the system to more flexibly respond to complex load fluctuations and new energy source fluctuations.

Permainan Edukasi Puzzle Math Untuk Menstimulasi Motorik Siswa

This service examines the necessity and pertinence of adopting a pedagogical approach that incorporates educational game components in order to promote motor development and enhance student engagement in the learning process. On November 18, 2023, this service activity was conducted at UPTD. SD Negeri 014672 Tanjung Alam. This activity is structured into three distinct phases during its execution: preparation, implementation, and practice. Based on empirical findings, engaging in direct interaction with mathematical puzzles has been found to enhance hand-motor coordination, finger dexterity, and precision control during object manipulation. Ninety-five percent of students were extremely interested in this educational game; eighty-five percent felt that math puzzle games improved their fine motor skills (hand and finger movements); and ninety-two percent intend to continue playing math puzzles on other materials in the future, according to the results of the questionnaire assessing the experience of playing with math puzzles. Students' fine motor skills improved significantly as a result of the implementation of this game, it was concluded.

Role of the Cerebellum in the Construction of Functional and Geometrical Spaces.

The perceptual and motor systems appear to have a set of movement primitives that exhibit certain geometric and kinematic invariances. Complex patterns and mental representations can be produced by (re)combining some simple motor elements in various ways using basic operations, transformations, and respecting a set of laws referred to as kinematic laws of motion. For example, point-to-point hand movements are characterized by straight hand paths with single-peaked-bell-shaped velocity profiles, whereas hand speed profiles for curved trajectories are often irregular and more variable, with speed valleys and inflections extrema occurring at the peak curvature. Curvature and speed are generically related by the 2/3 power law. Mathematically, such laws can be deduced from a combination of Euclidean, affine, and equi-affine geometries, whose neural correlates have been partially detected in various brain areas including the cerebellum and the basal ganglia. The cerebellum has been found to play an important role in the control of coordination, balance, posture, and timing over the past years. It is also assumed that the cerebellum computes forward internal models in relationship with specific cortical and subcortical brain regions but its motor relationship with the perceptual space is unclear. A renewed interest in the geometrical and spatial role of the cerebellum may enable a better understanding of its specific contribution to the action-perception loop and behavior's adaptation. In this sense, we complete this overview with an innovative theoretical framework that describes a possible implementation and selection by the cerebellum of geometries adhering to different mathematical laws.

Distributed Optimization of Multi-Microgrid Integrated Energy System with Coordinated Control of Energy Storage and Carbon Emissions

The mutual optimization of a multi-microgrid integrated energy system (MMIES) can effectively improve the overall economic and environmental benefits, contributing to sustainability. Targeting a scenario in which an MMIES is connected to the same node, an energy storage coordination control strategy and carbon emissions management strategy are proposed, and an adaptive step-size method is applied to improve the distributed optimization of MMIESs based on the alternating direction multiplier method (ADMM). Firstly, the basic framework of MMIESs is established, and a coordinated control strategy limiting the time of charge and the discharge of the battery storage system (BSS) is proposed. Then a multi-objective optimization model based on operating and environmental cost is formulated. Considering that different microgrids may be managed by different operators and a different convergence speed of multi-objective optimization iteration, an adaptive step-size distributed iterative optimization method based on ADMM is used, which can effectively reduce the cost and protect the privacy of each microgrid. Finally, a system composed of three microgrids is taken as an example for simulation analysis. The results of distributed optimization are accurate, and the proposed coordinated control strategy can effectively enhance the revenue of ESS, which verifies the effectiveness of the proposed method.

Anionic Coordination Control in Building Cu-Based Electrocatalytic Materials for CO2 Reduction Reaction.

Renewable energy-driven conversion of CO2 to value-added fuels and chemicals via electrochemical CO2 reduction reaction (CO2RR) technology is regarded as a promising strategy with substantial environmental and economic benefits to achieve carbon neutrality. Because of its sluggish kinetics and complex reaction paths, developing robust catalytic materials with exceptional selectivity to the targeted products is one of the core issues, especially for extensively concerned Cu-based materials. Manipulating Cu species by anionic coordination is identified as an effective way to improve electrocatalytic performance, in terms of modulating active sites and regulating structural reconstruction. This review elaborates on recent discoveries and progress of Cu-based CO2RR catalytic materials enhanced by anionic coordination control, regarding reaction paths, functional mechanisms, and roles of different non-metallic anions in catalysis. Finally, the review concludes with some personal insights and provides challenges and perspectives on the utilization of this strategy to build desirable electrocatalysts.

Lateral Stability Control for Intelligent Commercial Vehicle Based on Reconstructed Objective Function Method

In this paper, a novel electric-hydraulic power steering (EHPS) system and a vehicle stability coordination control algorithm are proposed which can not only ensure the accuracy of the trajectory tracking but also solve the coordination control problem between the stability of the lateral control and the stability of the roll in the extreme condition. Firstly, the EHPS system is designed to provide accurate control input of front wheel angle for vehicle lateral dynamics control. Secondly, on the basis of optimal preview theory, a new trajectory tracking fusion controller combined with sliding mode control is proposed to improve the accuracy and stability of the system in the process of vehicle lateral trajectory tracking control. Then, the stability domain boundary function of the phase plane is determined according to the phase plane of the sideslip angle-yaw rate, and the stability margin of the phase plane is calculated during the steering process. Finally, considering the tracking accuracy, lateral stability and roll stability performance in the process of trajectory tracking, the linear weighted algorithm is used to coordinate above three objectives, and the HIL bench test and real vehicle experiment verify that the proposed algorithm has good reliability and effectiveness.