Hierarchical Control Strategy Research Articles

Hierarchical Coordinated Predictive Control of Multiagent Systems for Process Industries

Focusing on the requirements for efficient and accurate control in large-scale process industries with integrated “distributed-decentralized” characteristics, a novel hierarchical coordinated predictive control strategy for process industries is proposed with a multiagent system as the computational paradigm. This approach comprehensively considers the overall state of the system, the interactions of control actions among agents, the constraints of processes and energy consumption to solve the problems of poor flexibility of agent decision-making in the narrow consensus strategy and strong interaction of parts of the system. The proposed hierarchical control strategy requires each agent to perform three tasks at each time step. First, each agent iteratively obtains a consistent basis for closed-loop prediction in a distributed way. Then, each agent independently proposes a control scheme and determines its own priority by playing games based on the economic performance of the scheme. Next, each agent calculates its own optimal dynamic predictive control sequence in order of priority based on the system’s dynamic process model. Finally, by considering the temperature-control process of heating an alumina ceramic block in a high-power microwave reactor with six microwave sources, the effectiveness of the proposed hierarchical coordinated predictive control strategy is verified under different communication topologies by comparing it with the centralized model predictive control strategy.

Hierarchical intelligent energy-saving control strategy for fuel cell hybrid electric buses based on traffic flow predictions

Vehicles' perception capability of environmental situations has been enhanced in the connected environment. However, the utilization of abundant and diverse traffic information poses a challenge in the formulation of energy-efficient strategies for current connected vehicles. To address this challenge, a hierarchical intelligent energy-saving control strategy for fuel cell hybrid buses based on traffic flow prediction is proposed. Diverging from traditional approaches that rely on surrounding vehicles status information, a more macroscopic perspective is introduced by incorporating traffic flow prediction information into the formulation of energy-saving control strategies for the first time, which enhances the adaptability of strategies. At the upper layer, a multi-objective intelligent eco-driving control strategy is designed, encompassing driving safety, energy consumption costs, traffic efficiency, and ride comfort. At the lower layer, an intelligent energy management strategy is developed to reduce hydrogen consumption and maintain stable battery state of charge. Simultaneously, action variables serve as the information bridge between the upper and lower layer strategies, and comprehensive analyses and validations of strategic performance are conducted from various perspectives. The research findings indicate that the introduction of traffic flow information enhances the cognitive capabilities of the intelligent system towards the traffic environment with little impact on the convergence process. The model excels in energy efficiency, driving smoothness, and passenger comfort compared to the baseline model, while also having the opportunity to surpass the traffic efficiency of the IDM model. The developed energy management strategy demonstrates an energy-saving benefit of 92.07 % of the offline optimal benchmark, and closely approaches the theoretical optimal performance of MPC with a prediction horizon of 5s. Additionally, the proposed strategy demonstrates high computational efficiency and effectively mitigates the degradation of the vehicle lifespan, making it conducive to real-time online applications.

Active suspension hierarchical control with parameter uncertainty and external disturbance of electro-hydraulic actuators

In order to improve the ride comfort and handling stability of the electro-hydraulic active suspension system, a hierarchical control strategy is proposed. For the active suspension system with body mass uncertainty and safety constraints, an enhanced constraint adaptive backstepping controller is designed to generate the target force of body vertical motion. When dealing with constraints, nonlinear filters are introduced, backstepping technology and quadratic Lyapunov function are used to combine the control target and domain constraints, and the vertical displacement of the body and the suspension deflection control index are synthesized into a single controlled variable, so that the control variable converging to zero meets the suspension dynamic displacement limit. The ride comfort and safety of the active suspension system are improved. Secondly, stability analysis is conducted on the zero dynamic error system to ensure that all safety performance indicators are bounded. The effects of external disturbances, parameter uncertainties and modelling errors on the force tracking accuracy of asymmetric cylinder electrohydraulic systems are addressed. A backstepping dynamic surface control method based on a nonlinear perturbation observer is proposed, which estimates the composite perturbation terms such as modelling error and external perturbation, and uses the estimated value of the nonlinear observer to design a feedforward compensating control term to offset the effect of the composite perturbation on the system performance. In addition, the dynamic surface control method is used to calculate the derivative of the target force input, which avoids the derivative explosion phenomenon and reduces the computational complexity of the system. Simulation test results show that this method reduces the computational complexity of the system and improves the control performance. And under random and bumpy road conditions, the root-mean-square value of sprung mass acceleration performance index is reduced by 48.354 % and 72.677 % compared with passive suspension, which improves the ride comfort of the vehicle.

Secondary Control Strategies in the DC Microgrids

Now, DC microgrids have become more popular for several reasons, including the lack of issues related to reactive power and frequency control, the direct integration of energy storage devices and solar photovoltaic, and the higher utilization of DC loads. A DC microgrid using several sources (distributed generation) is a popular research area. The main issue in such a DC microgrid is to provide good voltage regulation and proportional power sharing among all sources. Control strategy is very important to solve the above issue in order to maintain the reliability and stability of DC microgrids. Hence, a comprehensive review of DC microgrid control techniques is essential. Compared to other methods, hierarchical control is widely used to solve the aforementioned issue. It consists of three layers of control: primary control, secondary control, and tertiary control. At the primary level, to improve current sharing performance, droop control is usually applied. Secondary control is used for voltage regulation of the DC bus. A tertiary control is a higher-level control to achieve Optimization and economical grid operation. In traditional primary control, it is not possible to attain accurate power sharing and voltage regulation simultaneously. Thus, secondary control is required. So, this paper reviews the secondary level control techniques in the hierarchical control strategy for DC microgrids. Precisely, Centralized, distributed, and decentralized approach-based secondary control are reviewed. Several secondary control techniques have been thoroughly examined in terms of their advantages and disadvantages making this an excellent resource for both academics and business executives.

A hierarchical LFFC control scheme for underactuated unmanned surface vessels based on unreliable communication interaction

A hierarchical LFFC control scheme for underactuated unmanned surface vessels based on unreliable communication interaction

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Real time aggregation control of P2H loads in a virtual power plant based on a multi-period stackelberg game

Power to Heat (P2H) technology is seen as an effective solution for integrating stochastic wind power. Particularly in real-time electricity markets, high-precision wind power forecasts enable the load to better accommodate its fluctuations. Nonetheless, the shorter time scales of real-time trading pose challenges for efficiently aggregating a large, heterogeneous, and dispersed loads and fully harnessing the thermal storage capabilities of loads to follow wind power fluctuations across multiple periods. Against this backdrop, this paper proposes an aggregation control approach for P2H loads with considering multi-period Stackelberg game strategy within the framework of a load-oriented virtual power plant (VPP). For multi-period real-time trading, a Stackelberg game model based on a dynamic price ceiling is established with considering dynamic supply-demand balance between wind power and P2H loads; To enhance load aggregation effectiveness, a dynamically updated temperature-power aggregation model is developed by employing model order reduction, variables continuousization, and linear superposition on second-order equivalent thermodynamic model; To improve load decomposition efficiency, a hierarchical and multi-step control strategy encompassing the continuousization of discrete variables is utilized to simplify the problem. Finally, a simulation example is presented using actual data from a power grid in northern China to validate the effectiveness of the proposed method.

Secondary Control Strategy without Communications for Unbalanced Isolated Microgrids

In the context of the energy transition, electrical microgrids have become a key energy solution for isolated zones. For this type of application, low-voltage networks with unbalanced loads are commonly connected. Despite this, many of the hierarchical control strategies presented in the literature have been designed to operate properly only in the presence of balanced loads. For this reason, it is relevant to study how control strategies can be adapted to this scenario, especially those that reduce the dependence on communications to enhance flexibility and reliability. In this sense, this paper presents a secondary layer control strategy that does not require the use of communications to operate in isolated microgrids with unbalanced loads. The strategy guarantees proper performance in terms of power-sharing between the distributed generators of the microgrid. Simulations on Matlab/Simulink are presented to validate the response of proposal.

A hybrid brain-muscle-machine interface for stroke rehabilitation: Usability and functionality validation in a 2-week intensive intervention.

Introduction: The primary constraint of non-invasive brain-machine interfaces (BMIs) in stroke rehabilitation lies in the poor spatial resolution of motor intention related neural activity capture. To address this limitation, hybrid brain-muscle-machine interfaces (hBMIs) have been suggested as superior alternatives. These hybrid interfaces incorporate supplementary input data from muscle signals to enhance the accuracy, smoothness and dexterity of rehabilitation device control. Nevertheless, determining the distribution of control between the brain and muscles is a complex task, particularly when applied to exoskeletons with multiple degrees of freedom (DoFs). Here we present a feasibility, usability and functionality study of a bio-inspired hybrid brain-muscle machine interface to continuously control an upper limb exoskeleton with 7 DoFs. Methods: The system implements a hierarchical control strategy that follows the biologically natural motor command pathway from the brain to the muscles. Additionally, it employs an innovative mirror myoelectric decoder, offering patients a reference model to assist them in relearning healthy muscle activation patterns during training. Furthermore, the multi-DoF exoskeleton enables the practice of coordinated arm and hand movements, which may facilitate the early use of the affected arm in daily life activities. In this pilot trial six chronic and severely paralyzed patients controlled the multi-DoF exoskeleton using their brain and muscle activity. The intervention consisted of 2 weeks of hBMI training of functional tasks with the system followed by physiotherapy. Patients' feedback was collected during and after the trial by means of several feedback questionnaires. Assessment sessions comprised clinical scales and neurophysiological measurements, conducted prior to, immediately following the intervention, and at a 2-week follow-up. Results: Patients' feedback indicates a great adoption of the technology and their confidence in its rehabilitation potential. Half of the patients showed improvements in their arm function and 83% improved their hand function. Furthermore, we found improved patterns of muscle activation as well as increased motor evoked potentials after the intervention. Discussion: This underscores the significant potential of bio-inspired interfaces that engage the entire nervous system, spanning from the brain to the muscles, for the rehabilitation of stroke patients, even those who are severely paralyzed and in the chronic phase.

Hierarchical-power-flow-based energy management for alternative/direct current hybrid microgrids

Modern microgrids are systems comprising both Alternative Current (AC) and Direct Current (DC) subgrids, integrated with Distributed Generations (DGs), storage systems, and Electric Vehicles (EVs) parking facilities. Achieving stable and reliable load flow control amidst varying load, generation, and charging/discharging strategies requires a hierarchical control scheme. This paper proposes an hourly power flow (PF) analysis within an Energy Management System (EMS) for AC/DC Hybrid Microgrids interconnected via an Interlinking Converter (IC) in both grid-connected and islanded modes. The framework operates within a two-level hierarchically controlled platform. Tertiary control at the top level optimizes DGs' reference power for generation and consumption, minimizing power purchase costs and load shedding in grid-connected and islanded modes, respectively. DG converters employ current control mode to share their power references as the primary controller. While no secondary controller is adopted in this scheme, the Battery Energy Storage System (BESS) in islanded mode utilizes P/Q droop control to maintain voltage and frequency in the AC subsystem. Power sharing between AC and DC subgrids through IC is determined by the difference between AC grid frequency and DC link voltage. Integration of controlled converters’ buses into PF equations enables solving the unified system using the traditional Newton-Raphson (NR) method. A segment of a real distribution grid planned for installation in Italy under the HYPERRIDE project serves as a case study. Comparison with MATLAB/Simulink results confirms the effectiveness, precision, and convergence speed of the proposed model and control schemes, demonstrating efficient load distribution and voltage/frequency restoration in islanded mode.

A dynamic data access control scheme for hierarchical structures in big data

Ciphertext-Policy Attribute-Based Encryption (CP-ABE) is a promising solution to address the issues of data leakage and sharing in big data. When multiple files are shared, they often have hierarchical access relationships. However, existing hierarchical data CP-ABE schemes can only support simple hierarchical access structures. The limitation arises, necessitating the generation of multiple access structures to meet hierarchical access requirements, resulting in the wastage of computational and storage resources. Therefore, in this paper, we carefully design a dynamic hierarchy access control that allows its level nodes to flexibly participate in the decryption of other nodes, enabling the realization of complex hierarchical data relationships. Building upon this, we construct the Attribute-based Dynamic Hierarchical data Access Control (ADHAC) scheme, achieving efficient and dynamic access control for multiple datasets. Subsequently, we apply our scheme in distributed computing, which enables efficient access control for individuals and institutions over multiple data sets and fine-grained computation. Security analysis indicates that our scheme can resist chosen plaintext attack (CPA). Both theoretical and experimental analyses demonstrate that our scheme has impressive advantages in terms of computational efficiency and storage costs compared to existing schemes.

Neuro-Inspired Motion Control of a Soft Myriapod Robot

Centipedes exploit soft structures to move efficiently in complex environments. These abilities have promoted scientists to develop centipede-like robots with soft robot technologies. In this paper, a centipede-like robot constructed by multiple body segments connected in series is designed. Each body segment features a pair of antagonistic artificial muscles and four electro-adhesive feet, which plays the role of the basic motion unit of the centipede-like robot and can be regarded as a soft myriapod robot. To accomplish the desired movement tasks for the soft myriapod robot, this paper proposes a neuro-inspired hierarchical motion control scheme according to the functions of the centipede brain. In the proposed control scheme, a mushroom-body-inspired controller with an error-based learning mechanism is adopted for the soft actuator motion control, and a central-complex-inspired deep reinforcement learning algorithm is designed for the robot motion selection. At last, the effectiveness of the proposed motion control scheme is verified via both numerical studies and experiments.

Cascade NMPC-PID control strategy of active heave compensation system for ship-mounted offshore crane

In this paper, the problem associated with active heave motion compensation during heavy-lift operations performed by ship-mounted offshore cranes beneath rough marine environment is investigated. To effectively decouple the correlated motion of the suspended payload from the support vessel via the secondary regulated active heave compensation (SRAHC) system, a novel hierarchical control strategy is proposed by integrating a cascade control structure with an adaptive robust control scheme that incorporates a vertical motion forecast algorithm based on autoregressive integrated moving average (ARIMA) model, a conventional proportional-integral-derivative (PID) framework, and a nonlinear model predictive control (NMPC) method. The introduction of the cascade structure is motivated by its prompt error response against control lag and efficient system order reduction for computational burden alleviation, which forms a crucial foundation for the NMPC-based real-time regulation of PID gains, ensuring optimal evolution of the SRAHC system while improving its practical feasibility. Furthermore, the enhancements in heave compensation and trajectory tracking performance, noise resistance, constraint satisfaction, and engineering application potential of the proposal are demonstrated through a thorough comparative analysis conducted in a practical co-simulation research system.

Aerial transportation control of suspended payloads with multiple agents

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton–Euler formalism, for n UAVs transporting a load, where the cables are supposed to be rigid and mass-less. The control problem is stated as a trajectory tracking directly on the load. To do so, a hierarchical control scheme is proposed based on the attractive ellipsoid method, where a virtual controller is calculated for tracking the position of the load, with this, the desired position for each vehicle along with their desired cable tensions are estimated, and used to compute the virtual controller for the position of each vehicle. This results in an underdetermined system, where an infinite number of drones’ configurations comply with the desired load position, thus additional constrains can be imposed to obtain a unique solution. Furthermore, this information is used to compute the attitude reference for the vehicles, which are feed to a quaternion based attitude control. The stability analysis, using an energy-like function, demonstrated the practical stability of the system, it is that all the error signals are attracted and contained in an invariant set. Hence, the proposed scheme assures that, given well posed initial conditions, the closed-loop system guarantees the trajectory tracking of the desired position on the load with bounded errors. The proposed control strategy is evaluated in numerical simulations for 3 and 4 agents following a smooth desired trajectory on the load, showing good performance. Preliminary experimental results with 2 UAVs are provided to further validate the proposed transportation system.

Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

With the increase in the number of stroke patients, there is a growing demand for rehabilitation training. Robot-assisted training is expected to play a crucial role in meeting this demand. To ensure the safety and comfort of patients during rehabilitation training, it is important to have a patient-cooperative compliant control system for rehabilitation robots. In order to enhance the motion compliance of patients during rehabilitation training, a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed. A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory. At the high-level, an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot. The results of the patient–robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory, with a decrease of 76.45% in the dimensionless squared jerk (DSJ) and a decrease of 15.38% in the normalized root mean square deviation (NRMSD) when using the adaptive admittance controller. The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements, thereby ensuring the safety and comfort of patients during rehabilitation training.

Research on autonomous operation and mutual aid strategy of AC/DC hybrid microgrid cluster

In order to address the challenge of ensuring convergence and stability in AC/DC hybrid microgrid cluster with self/mutual communication delay, this study proposes a hierarchical control strategy. By leveraging the finite-time consistency algorithm, this strategy facilitates autonomous operation of sub-microgrids and enables mutual aid and assistance within the microgrid cluster. The proposed control strategy consists of two levels: the sub-microgrid level and the microgrid cluster level. Both levels utilize primary control along with a secondary adjustment term based on improved finite-time consistency. This strategy aims to ensure frequency and voltage stability, power equalization in the sub-microgrids, and economic allocation of power in the microgrid cluster. The proposed control strategy improves the traditional finite-time consistency protocol, considers the effect of time delay on system stability. It also introduces the convergence coefficient to strike a balance between system economy and stability objectives. Through a comparison with the traditional consistency algorithm, simulation results demonstrate that the proposed control strategy enhances the robustness of the system, enables coordinated control of frequency and voltage in sub-microgrids, facilitates economic power allocation in the microgrid cluster, and achieves faster convergence speed.

Numerical investigation on cooling performance and control effect of a novel evaporation-driven cooling unit for Mars extravehicular space suit application

The special environment of Mars brings new challenges to the thermal control of spacecraft on Mars missions. The outstanding advantages of water evaporation cooling technology make it promising for use in the thermal control system of the Mars spacecraft. This paper proposes a novel concept of evaporation cooling hardware that integrates heat collection, heat transfer and heat rejection, namely evaporation-driven cooling unit. The evaporation-driven cooling unit has a simple structure, high evaporation efficiency and the potential to simplify the system topology. Furthermore, an expert hierarchical coordination control strategy applied to the Mars extravehicular space suit cooling loop with an evaporation-driven cooling unit as its heat sink is proposed. The dynamics model of this cooling loop is also constructed using the lumped parameter method. The numerical results have shown that the expert hierarchical coordination control strategy can achieve precise temperature control and reduce the water consumption of the system. The average water consumption rate during extravehicular activity is 0.6975 kg/h when the mean heat load is 572 W (including member metabolic heat and electronic waste heat). Compared to the open-loop case with the same input heat load, a typical extravehicular activity lasting 8 h will save about 11.5 g water if the expert hierarchical coordination control is applied. The proposed evaporation-driven cooling unit will provide more choices for heat rejection of extravehicular space suits. It is expected that the evaporation-driven cooling unit and expert hierarchical coordination control have potential applications in thermal control systems for other space vehicles in near-Earth orbit, on the surface of the Moon and Mars.

Enhancing voltage profile in islanded microgrids through hierarchical control strategies

This paper presents a novel approach aimed at enhancing the voltage profile of an islanded microgrid (MG) through the utilization of Phasor Measurement Units (PMUs) and a hierarchical control system for Distributed Generators (DGs). Recognizing the criticality of maintaining an optimal voltage profile for essential loads within an MG, we assume that PMUs are strategically placed across the MG based on existing placement methodologies to ensure the observability of load buses. The synchrophasor measurements captured by these PMUs are leveraged within an offline-designed tertiary control layer of the hierarchical framework, which in turn sets the voltage reference for the secondary control layer of DGs across the MG. This approach effectively enhances the voltage profile of vital load buses within the MG. The proposed hierarchical strategy encompasses primary, secondary, and tertiary levels of control, responsible for stabilizing voltage and frequency, computing power references, and managing power flow, respectively. PMU measurements play a crucial role in the secondary control level by continuously monitoring deviations. By ensuring the effective placement of PMUs, the proposed framework enables efficient control, leading to notable improvements in the voltage profile and power management. To evaluate the effectiveness of our approach, five test networks were used: 14-bus, 30-bus, 39-bus, 57-bus, and 118-bus test networks. Simulation results demonstrate an impressive over 80 % enhancement in the MG's voltage profile achieved by our proposed method. Additionally, our heuristic strategy efficiently assigns the closest load bus to each DG while aggregating equidistant bus deviations. Collectively, our research underscores the significant impact of PMU measurements and a well-structured hierarchical voltage control system in substantially improving the voltage profile of MGs.

Systematic Design and Implementation Method of Battery-Energy Comprehensive Management Platform in Charging and Swapping Scenarios

Batteries are one of the most crucial energy storage devices today, and battery-energy management technology has an extremely significant impact on the performance and lifespan of batteries. The traditional design approach for battery-energy management platforms often neglects considerations for charging and discharging scenarios. Additionally, functional modules are designed independently, leading to incompatibility issues between hardware and control units, thereby limiting the system’s performance. To address these challenges and enhance system coordination, this paper proposes a systematic design and implementation method for a battery-energy comprehensive management platform applied in charging and swapping scenarios. The method consists of four parts: hardware design, a dynamic load charging-balance control strategy, a composite micro-source hierarchical coordination control strategy, and a system emergency-response and protection strategy. The proposed method has been successfully applied to a design and has been used to build a battery-energy comprehensive management platform. Finally, through experiments, it has been demonstrated that this system can achieve energy scheduling, battery-energy balance, mode switching, and fault protection in a stable and reliable manner.

Analysis and Control of Cascaded Energy Storage System for Energy Efficiency and Power Quality Improvement in Electrified Railways

Energy-efficient and grid-friendly railway power system is critical for the sustainable development of electrified railways. In this paper, a cascaded energy storage system (CESS) is investigated for energy efficiency and power quality improvement of the railway power system. First, the detailed operation principles of the CESS for multiple control objectives, including regenerative braking energy (RBE) utilization, reactive power compensation, and negative sequence current suppression, are analyzed. On this basis, a hierarchical power flow control strategy is developed for achieving the power flow management and control of multiple objectives for CESS. Specifically, a multi-objective power flow management strategy is designed in the system layer to allocate the power references for the CESS under sufficient and insufficient capacity scenarios. In the sufficient capacity scenario, the power references are directly obtained by the operation principles. In the insufficient capacity scenario, the power references are allocated through a three-stage optimization method considering the power shaving rate, grid power factor, and grid imbalance degree. Subsequently, the power references from the system layer are tracked in the converter layer to achieve power flow control. Finally, the effectiveness of the proposed hierarchical power flow control strategy is verified through experimental results. The results show that the proposed CESS can achieve superior performance on RBE utilization and power quality improvement under complex operating conditions in electrified railways.