10,717 research outputs found
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
This paper presents a formal framework for collision avoidance in multi-robot
systems, wherein an existing controller is modified in a minimally invasive
fashion to ensure safety. We build this framework through the use of control
barrier functions (CBFs) which guarantee forward invariance of a safe set;
these yield safety barrier certificates in the context of heterogeneous robot
dynamics subject to acceleration bounds. Moreover, safety barrier certificates
are extended to a distributed control framework, wherein neighboring agent
dynamics are unknown, through local parameter identification. The end result is
an optimization-based controller that formally guarantees collision free
behavior in heterogeneous multi-agent systems by minimally modifying the
desired controller via safety barrier constraints. This formal result is
verified in simulation on a multi-robot system consisting of both cumbersome
and agile robots, is demonstrated experimentally on a system with a Magellan
Pro robot and three Khepera III robots.Comment: 8 pages version of 2016ACC conference paper, experimental results
adde
Robust Scale-Free Synthesis for Frequency Control in Power Systems
The AC frequency in electrical power systems is conventionally regulated by
synchronous machines. The gradual replacement of these machines by asynchronous
renewable-based generation, which provides little or no frequency control,
increases system uncertainty and the risk of instability. This imposes hard
limits on the proportion of renewables that can be integrated into the system.
In this paper we address this issue by developing a framework for performing
frequency control in power systems with arbitrary mixes of conventional and
renewable generation. Our approach is based on a robust stability criterion
that can be used to guarantee the stability of a full power system model on the
basis of a set of decentralised tests, one for each component in the system. It
can be applied even when using detailed heterogeneous component models, and can
be verified using several standard frequency response, state-space, and circuit
theoretic analysis tools. Furthermore the stability guarantees hold
independently of the operating point, and remain valid even as components are
added to and removed from the grid. By designing decentralised controllers for
individual components to meet these decentralised tests, every component can
contribute to the regulation of the system frequency in a simple and provable
manner. Notably, our framework certifies the stability of several existing
(non-passive) power system control schemes and models, and allows for the study
of robustness with respect to delays.Comment: 10 pages, submitte
Distributed Robust Stability Analysis of Interconnected Uncertain Systems
This paper considers robust stability analysis of a large network of
interconnected uncertain systems. To avoid analyzing the entire network as a
single large, lumped system, we model the network interconnections with
integral quadratic constraints. This approach yields a sparse linear matrix
inequality which can be decomposed into a set of smaller, coupled linear matrix
inequalities. This allows us to solve the analysis problem efficiently and in a
distributed manner. We also show that the decomposed problem is equivalent to
the original robustness analysis problem, and hence our method does not
introduce additional conservativeness.Comment: This paper has been accepted for presentation at the 51st IEEE
Conference on Decision and Control, Maui, Hawaii, 201
Distributed Robustness Analysis of Interconnected Uncertain Systems Using Chordal Decomposition
Large-scale interconnected uncertain systems commonly have large state and
uncertainty dimensions. Aside from the heavy computational cost of solving
centralized robust stability analysis techniques, privacy requirements in the
network can also introduce further issues. In this paper, we utilize IQC
analysis for analyzing large-scale interconnected uncertain systems and we
evade these issues by describing a decomposition scheme that is based on the
interconnection structure of the system. This scheme is based on the so-called
chordal decomposition and does not add any conservativeness to the analysis
approach. The decomposed problem can be solved using distributed computational
algorithms without the need for a centralized computational unit. We further
discuss the merits of the proposed analysis approach using a numerical
experiment.Comment: 3 figures. Submitted to the 19th IFAC world congres
Robust Stability Analysis of Sparsely Interconnected Uncertain Systems
In this paper, we consider robust stability analysis of large-scale sparsely
interconnected uncertain systems. By modeling the interconnections among the
subsystems with integral quadratic constraints, we show that robust stability
analysis of such systems can be performed by solving a set of sparse linear
matrix inequalities. We also show that a sparse formulation of the analysis
problem is equivalent to the classical formulation of the robustness analysis
problem and hence does not introduce any additional conservativeness. The
sparse formulation of the analysis problem allows us to apply methods that rely
on efficient sparse factorization techniques, and our numerical results
illustrate the effectiveness of this approach compared to methods that are
based on the standard formulation of the analysis problem.Comment: Provisionally accepted to appear in IEEE Transactions on Automatic
Contro
Strategies for sustainable socio-economic development and mechanisms their implementation in the global dimension
The authors of the book have come to the conclusion that it is necessary to effectively use modern approaches to developing and implementation strategies of sustainable socio-economic development in order to increase efficiency and competitiveness of economic entities. Basic research focuses on economic diagnostics of socio-economic potential and financial results of economic entities, transition period in the economy of individual countries and ensuring their competitiveness, assessment of educational processes and knowledge management. The research results have been implemented in the different models and strategies of supply and logistics management, development of non-profit organizations, competitiveness of tourism and transport, financing strategies for small and medium-sized enterprises, cross-border cooperation. The results of the study can be used in decision-making at the level the economic entities in different areas of activity and organizational-legal forms of ownership, ministries and departments that promote of development the economic entities on the basis of models and strategies for sustainable socio-economic development. The results can also be used by students and young scientists in modern concepts and mechanisms for management of sustainable socio-economic development of economic entities in the condition of global economic transformations and challenges
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