Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

Smart microgrids and virtual power plants in a hierarchical control structure

In order to achieve a coordinated integration of distributed energy resources in the electrical network, an aggregation of these resources is required. Microgrids and virtual power plants (VPPs) address this issue. Opposed to VPPs, microgrids have the functionality of islanding, for which specific control strategies have been developed. These control strategies are classified under the primary control strategies. Microgrid secondary control deals with other aspects such as resource allocation, economic optimization and voltage profile improvements. When focussing on the control-aspects of DER, VPP coordination is similar with the microgrid secondary control strategy, and thus, operates at a slower time frame as compared to the primary control and can take full advantage of the available communication provided by the overlaying smart grid. Therefore, the feasibility of the microgrid secondary control for application in VPPs is discussed in this paper. A hierarchical control structure is presented in which, firstly, smart microgrids deal with local issues in a primary and secondary control. Secondly, these microgrids are aggregated in a VPP that enables the tertiary control, forming the link with the electricity markets and dealing with issues on a larger scale

On the Impact of Wireless Jamming on the Distributed Secondary Microgrid Control

The secondary control in direct current microgrids (MGs) is used to restore the voltage deviations caused by the primary droop control, where the latter is implemented locally in each distributed generator and reacts to load variations. Numerous recent works propose to implement the secondary control in a distributed fashion, relying on a communication system to achieve consensus among MG units. This paper shows that, if the system is not designed to cope with adversary communication impairments, then a malicious attacker can apply a simple jamming of a few units of the MG and thus compromise the secondary MG control. Compared to other denial-of-service attacks that are oriented against the tertiary control, such as economic dispatch, the attack on the secondary control presented here can be more severe, as it disrupts the basic functionality of the MG

Study of vortex valve for medium temperature solid propellants

Fluid state vortex valve secondary injection control system shows considerable promise for future application to solid propellant rocket engine thrust vector control. The single axis injection system tested would be capable of providing secondary injection thrust vector control using 2000 deg F gas

Distributed Secondary Frequency Control through MTDC Transmission Systems

In this paper, we present distributed controllers for sharing primary and secondary frequency control reserves for asynchronous AC transmission systems, which are connected through a multi-terminal HVDC grid. By using Lyapunov arguments, the equilibria of the closed-loop system are shown to be globally asymptotically stable. We quantify the static errors of the voltages and frequencies, and give upper bounds for these errors. It is also shown that the controllers have the property of power sharing, i.e., primary and secondary frequency control reserves are shared fairly amongst the AC systems. The proposed controllers are applied to a high-order dynamic model of of a power system consisting of asynchronous AC grids connected through a six-terminal HVDC grid.Comment: arXiv admin note: text overlap with arXiv:1409.801

Control Function Assisted IPW Estimation with a Secondary Outcome in Case-Control Studies

Case-control studies are designed towards studying associations between risk factors and a single, primary outcome. Information about additional, secondary outcomes is also collected, but association studies targeting such secondary outcomes should account for the case-control sampling scheme, or otherwise results may be biased. Often, one uses inverse probability weighted (IPW) estimators to estimate population effects in such studies. However, these estimators are inefficient relative to estimators that make additional assumptions about the data generating mechanism. We propose a class of estimators for the effect of risk factors on a secondary outcome in case-control studies, when the mean is modeled using either the identity or the log link. The proposed estimator combines IPW with a mean zero control function that depends explicitly on a model for the primary disease outcome. The efficient estimator in our class of estimators reduces to standard IPW when the model for the primary disease outcome is unrestricted, and is more efficient than standard IPW when the model is either parametric or semiparametric

Optimized Hierarchical Power Oscillations Control for Distributed Generation Under Unbalanced Conditions

Control structures have critical influences on converter-interfaced distributed generations (DG) under unbalanced conditions. Most of previous works focus on suppressing active power oscillations and ripples of DC bus voltage. In this paper, the relationship between amplitudes of the active power oscillations and the reactive power oscillations are firstly deduced and the hierarchical control of DG is proposed to reduce power oscillations. The hierarchical control consists of primary and secondary levels. Current references are generated in primary control level and the active power oscillations can be suppressed by a dual current controller. Secondary control reduces the active power and reactive power oscillations simultaneously by optimal model aiming for minimum amplitudes of oscillations. Simulation results show that the proposed secondary control with less injecting negative-sequence current than traditional control methods can effectively limit both active power and reactive power oscillations.Comment: Accepted by Applied Energ