Adaptive Cruise Control Utilizing Noisy Multi-Leader Measurements: A Learning-Based Approach

A substantial number of vehicles nowadays are equipped with adaptive cruise control (ACC), which adjusts the vehicle speed automatically. However, experiments have found that commercial ACC systems which only detect the direct leader amplify the propagating disturbances in the platoon. This can cause severe traffic congestion when the number...

Controlled Power System Separation Using Generator PMU Data and System Kinetic Energy

With the growing number of severe system disturbances and blackouts around the world, controlled system separation is becoming an increasingly important system integrity protection scheme (SIPS) to save the electric power system from a complete or partial disintegration. A successful controlled splitting approach should at least tackle the...

A General Hierarchical Control System to Model ACC Systems: An Empirical Study

Urged by a close future perspective of a traffic flow made of a mix of human-driven vehicles and automated vehicles (AVs), research has recently focused on studying the traffic flow characteristics of Adaptive Cruise Controls (ACCs), the most typical AV. However, in most works, the ACC system is studied under a simplifying and unrealistic...

Representer Theorem for Learning Koopman Operators

In this work, we consider the problem of learning the Koopman operator for discrete-time autonomous systems. The learning problem is formulated as a generic constrained regularized empirical loss minimization in the infinite-dimensional space of linear operators. We show that a representer theorem holds for the introduced learning problem...

On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the...

Robustness Analysis of Platoon Control for Mixed Types of Vehicles

Currently, with the development of driving technologies, driverless vehicles gradually are becoming more and more available. Therefore, there would be a long period of time during which self-driving vehicles and human-driven vehicles coexist. However, for a mixed platoon, it is hard to control the formation due to the existence of the manual...

Adaptive Nonlinear Incremental Flight Control for Systems with Unknown Control Effectiveness

This article exposes that although some sensor-based nonlinear fault-tolerant control frameworks including incremental nonlinear dynamic inversion control can passively resist a wide range of actuator faults and structural damage without requiring an accurate model of the dynamic system, their stability heavily relies on a sufficient...

Payoff distribution in robust coalitional games on time-varying networks

In this article, we consider a sequence of transferable utility coalitional games, where the actual coalitional values are unknown but vary within known bounds. As a solution to the resulting family of games, we formalize the notion of 'robust core.' Our main contribution is to design two distributed algorithms, namely 1) distributed payoff...

Filtered Split-Path Nonlinear Integrator: A Hybrid Controller for Transient Performance Improvement

The filtered split-path nonlinear integrator (F-SPANI) is a generic nonlinear controller designed to improve the transient performance of linear (motion) systems in terms of overshoot. The main idea underlying F-SPANI is that the amplitude and phase of an integrator can be tuned using independent filters, resulting in more efficient use of...

Transient Stable Corrective Control Using Neural Lyapunov Learning

This paper proposes a method to compute corrective control actions for dynamic security in real-time and quantifies the economic value of corrective control. Lowered inertia requires fast control methods in real-time to correct system operation and maintain system security when equipment fails. However, using corrective control beyond such...

Wide-Area Damping Control Resilience towards Cyber-Attacks: A Dynamic Loop Approach

By increasingly relying on network-based operation for control, monitoring, and protection functionalities, modern wide-area power systems have also become vulnerable to cyber-attacks aiming to damage system performance and/or stability. Resilience in state-of-the-art methods mostly relies on known characteristics of the attacks and static...

Stability Analysis of High-Frequency Interactions Between a Converter and HVDC Grid Resonances

This paper analyzes high-frequency interactions between a Modular Multilevel Converter (MMC) and High Voltage Direct Current (HVDC) grid resonances by studying their effect on the system stability. The recent appearance of converter-related instabilities due to high-frequency oscillations at the converter's ac side raises concerns about whether...

Hardware-in-the-loop based testing of wind turbine controllers for transient stability enhancement

Traditionally, electrical power systems have been based on fossil-fuel fired generation plants to satisfy the load demand. However, due to environmental targets for significant CO2 reduction, a gradual decommission of the aforementioned plants is observed whereas renewable energy sources are gaining gradually increasing momentum, which entails...

Dichotomy and stability of disturbed systems with periodic nonlinearities

Systems that can be decomposed as feedback interconnections of stable linear blocks and periodic nonlinearities arise in many physical and engineering applications. The relevant models e.g. describe oscillations of a viscously damped pendulum, synchronization circuits (phase, frequency and delay locked loops) and networks of coupled power...

Stability and Decentralized Control of Plug-and-Play DC Distribution Grids

Changes in distribution grids pose significant challenges with respect to the control and management of these grids. Stability and decentralized control are vital to ensure the availability and accessibility of plug-and-play dc distribution grids that are (temporarily) without communication. Therefore, this paper presents guidelines for these...

Stability margins in adaptive mixing control via a Lyapunov-based switching criterion

This paper proposes a Lyapunov-based switching logic within the framework of adaptive mixing control (AMC), where a weighted combination of a family of candidate controllers can be inserted in the loop to regulate the output of an uncertain plant. The proposed AMC scheme employs a bank of parallel estimators, or multiple estimators, together...

ON OFFSHORE SCOUR AND SCOUR PROTECTION with the Ekofisk site as an example

The physics of scour is briefly examined both for unidirectional currents and for waves. The feeble experience from ocean structures is cited. For the Ekofisk site estimates show bottom velocities to grossly exceed existing stability criteria. If the site is swept by a current with a persistent direction scour is likely to occur within a...

Stability of double gimballed momentum wheels

Due to the finite stiffness of rotor- and gimbal-suspensions, a double gimballed momentum wheel will oscillate with high natural frequencies. The stability of these oscillations is studied, in order to obtain requirements for the stiffness of the suspensions and/or the gimbal inertia properties. From energy considerations, it is concluded that...