Robust active yaw control for offshore wind farms using stochastic predictive control based on online adaptive scenario generation

Wind energy has been drawing considerable attention in recent years. However, due to the random nature of wind and high failure rate of wind energy conversion systems (WECSs), how to implement fault-tolerant WECS control is becoming a significant issue. This paper addresses the fault-tolerant control problem of a WECS with a probable actuator fault. A new stochastic model predictive control (SMPC) fault-tolerant controller with the Conditional Value at Risk (CVaR) objective function is proposed in this paper. First, the Markov jump linear model is used to describe the WECS dynamics, which are affected by many stochastic factors, like the wind. The Markov jump linear model can precisely model the random WECS properties. Second, the scenario-based SMPC is used as the controller to address the control problem of the WECS. With this controller, all the possible realizations of the disturbance in prediction horizon are enumerated by scenario trees so that an uncertain SMPC problem can be transformed into a deterministic model predictive control (MPC) problem. Finally, the CVaR object function is adopted to improve the fault-tolerant control performance of the SMPC controller. CVaR can provide a balance between the performance and random failure risks of the system. The Min-Max performance index is introduced to compare the fault-tolerant control performance with the proposed controller. The comparison results show that the proposed method has better fault-tolerant control performance.

Stochastic linear Model Predictive Control with chance constraints – A review

The domain of attraction is central to stability and recursive feasibility of model predictive control (MPC). For stochastic linear systems, this paper addresses the problem of enlarging the domain of attraction of stochastic MPC (SMPC) for offset-free tracking. The proposed SMPC strategy relies on using an artificial steady-state target to enlarge the domain of attraction while ensuring recursive feasibility. The key advantage of the proposed strategy is that it alleviates the computation of an additional robust control invariant set to greatly simplify the SMPC design. Furthermore, the proposed SMPC strategy for offset-free tracking circumvents feasibility loss due to target changes since the feasible region is independent of the desired steady-state target. The SMPC strategy is demonstrated on a benchmark DC-DC converter case study, where its performance is compared to that of standard SMPC for regulation based on tighter constraints and a recently proposed SMPC strategy with a first-step constraint.

The efficacy of control systems for distribution grids can be influenced by different sources of uncertainty. Stochastic Model Predictive Control (SMPC) can be employed to compensate for such uncertainties by integrating their probability distribution into the control problem. An efficient SMPC algorithm for online control applications is the stochastic tube SMPC, which is able to treat the evaluation of the chance constraints analytically. However, this approach is efficient only when the calculation of the constraint back-off is applied to a linear model. To address this issue, this work employs Gaussian Processes to approximate the nonlinear part of the power flow equations based on offline training, which is integrated into the SMPC formulation. The resulting SMPC is first validated and then tested on a benchmark system, comparing the results with Deterministic MPC and SMPC that excludes Gaussian Processes. The proposed SMPC proves to be more efficient in terms of cost minimization, reference tracking and voltage violation reduction.

In conventional full-duplex communications, dedicated symbols are transmitted to estimate both the self-interference channel and the desired signal channel in order to perform self-interference cancellation (SIC) and to detect the desired signal. However, inaccurate channel estimation will produce residual self-interference and degrade the detection performance. In this paper, we exploit Gaussian mixture model (GMM) clustering to design a full-duplex transceiver (FDT), which is able to detect the desired signal without requiring digital domain channel estimations and SIC. The frame structure of the designed FDT contains two successive phases: labelling phase and data transmission phase. In particular, the designed FDT performs cluster labelling in the labelling phase and performs GMM clustering based on expectation-maximization (EM) algorithm in the data transmission phase. Furthermore, the labelling symbol design is optimized for the overhead reduction and clustering accuracy improving. Finally, simulation results show that, the bit error rate (BER) of the designed FDT is closed to the performance of the FDT with a maximum likelihood (ML) detector and perfect channel knowledge, meanwhile is superior to the BER performance of the FDT with a ML detector and a least square (LS) channel estimator.

Connectivity technologies in intelligent transportation systems offer unprecedented opportunities to enhance mobility, fuel economy, and safety for automotive systems. However, the uncertain driving behavior of surrounding vehicles in real-world traffic scenarios can significantly undermine these benefits. To tackle this challenge, this article develops a stochastic predictive-adaptive cruise control (P-ACC) system that effectively addresses uncertainties and automatically adapts to various driving scenarios. The proposed system employs a Gaussian process (GP)-based velocity predictor as its foundation, accurately capturing the driving dynamics of the preceding vehicle while accounting for prediction uncertainty using variances. The real-time feasibility is assessed in a dSPACE rapid prototyping system. In addition, the developed stochastic-model predictive control (S-MPC) approach incorporates the predicted velocity variance into the probabilistic chance constraints, conservatively narrowing the optimization space of the velocity planning domain, thereby enabling more reliable control. To further enhance the system’s performance in adapting to different driving conditions, a scenario-based parameter self-learning (PSL) technique is introduced in the S-MPC controller, utilizing Bayesian optimization (BO). Finally, the performance of the proposed controller is comprehensively evaluated by leveraging a high-fidelity simulator and on-board actual vehicle testing data. Simulation results demonstrate that the proposed method achieved a boost in tracking performance and driving comfort while maintaining fuel-saving benefits.

We introduce a method based on Gaussian mixture model (GMM) clustering and level-set to automatically detect intraretina fluid on diabetic retinopathy (DR) from spectral domain optical coherence tomography (SD-OCT) images in this paper. First, each B-scan is segmented using GMM clustering. The original clustering results are refined using location and thickness information. Then, the spatial information among every consecutive five B-scans is used to search potential fluid. Finally, the improved level-set method is used to obtain the accurate boundaries. The high sensitivity and accuracy demonstrated here show its potential for detection of fluid.

In this work we propose a strategy to jointly estimate activity and borders of oncological lesions in PET/CT. The starting step is constituted by a lesion contouring on PET image volume and by a Gaussian Mixture Model (GMM) clustering which individuates a set of regions in the lesion area (lesion, uncertainty, lesion spillout, organ). A maximum likelihood (A WOSEM) reconstruction step refines regions' borders and estimates a mean convergence activity for the lesion region. It applies a model of the scanner Point Spread Function (PSF) to recover blurring and it contemporaneously works on regional basis functions and single voxels. The area outside the four regions is frozen (i.e. not updated). The algorithm was validated on an anthropomorphic phantom in which lesions have been simulated with zeolites (clinoptilolite samples, volume 0.6 - 5.2 ml) loaded with 18F-FDG. Zeolite borders for ground truth definition were derived segmenting zeolites on coregistered CT images. For each zeolite, three different initial contouring were considered, corresponding to volumes about 100%, 60% and 140% of the true volume: the GMM clustering was able to robustly delineate regions independently from the initial contouring (variations 0.75) and in estimating zeolite activity (activity error 1ml). Suboptimal results were found for zeolites at the border of the axial FOV, since the PSF model, supposed invariant to axial shift, was inadequate at the axial borders. The proposed strategy appears promising and can be proposed as a general approach for a semi-automatic quantification and segmentation of lesions previously detected on standard clinical images. It will be further validated on data sets provided with a ground truth.

ABSTRACTThis article proposes a parallel algorithm of stochastic model predictive control (SMPC) for linear discrete‐time systems. The proposed algorithm uses multiple threads to solve respective optimization problems at different time steps in parallel, without inter‐thread communication during each optimization. Each thread sequentially solves a stochastic optimal control problem (SOCP) for optimizing closed‐loop performance against future disturbances and a partial minimization problem for optimizing a subset of decision variables of the SOCP. The partial minimization problem computes the control input according to the last measured state to satisfy chance constraints and can be solved much faster than the original SOCP. Consequently, the proposed algorithm can reduce the implementable minimum sampling period compared to the original SMPC. A numerical example of controlling room temperature showed that the proposed algorithm achieves control performance almost identical to that of closed‐loop SMPC, which optimizes closed‐loop performance. However, the implementable minimum sampling period of the proposed algorithm is much shorter than that of the closed‐loop SMPC, even with parallelization overhead.

Stochastic Model Predictive Control (SMPC) has attracted increasing attention for autonomous driving in recent years, since it enables collision-free maneuvers and trajectory planning and can deal with uncertainties in a non-conservative way. Many promising strategies have been proposed on how to use SMPC to select appropriate maneuvers and plan safe trajectories in uncertain environments. The limitation of these approaches is that they focus on scenarios where only one vehicle is controlled by SMPC and is, thus, reacting to the surrounding vehicles; however, the surrounding vehicles do not react to the SMPC-controlled vehicle, which means there is no mutual interaction. However, when multiple autonomous vehicles are driving on the road, each individual vehicle will take the behavior of the other surrounding vehicles into account and adjust its individual decisions accordingly in trajectory planning. This paper, therefore, examines in simulations how the interactive control system of multiple SMPC-controlled vehicles behave based on a Distributed SMPC (DSMPC) framework. For a three-lane highway scenario, we first investigate the effects of the risk parameter of the collision avoidance probabilistic constraint on non-interactive and interactive vehicle systems and provide insights into how to parameterize the controllers in interactive vehicle systems.

A stochastic model predictive control (SMPC) method is proposed for trajectory tracking of quadrotor helicopters with stochastic disturbances. The stochastic disturbances are assumed to be Gaussian white noises. The existing robust control methods generally guarantee that the tracking performances under the worst-case disturbances satisfying given conditions. However, the worst-case disturbances may have a vanishingly small probability of occurrence in practice, so these methods show great conservative. In this paper, the tracking errors caused by the disturbances are limited in the acceptable range with the given probability. The hierarchical control structure is used. In the outer loop, the position loop, SMPC controllers are designed for position tracking. In the inner loop, the attitude loop, the nonlinear dynamics are linearized by the feedback linearization strategy, and an SMPC controller is designed for attitude tracking. Finally, simulation results verify the effectiveness of the proposed method.

A methodology has been developed for optimizing building supervisory control strategies, employing building models that incorporate stochastic models of occupant behaviour and serve as the objective function evaluator in a stochastic model predictive control (SMPC) architecture. The SMPC architecture accounts for variability in building performance due to occupant behaviour and is shown to generate a sequence of automatic window opening decisions for a mixed mode building which lead to more robust building performance in the face of occupant window use than a heuristic controller. A set of receding optimization time horizons are described which enable the use of complex building models in simulated SMPC. Results of a case study show that deterministic optimization predicts a 50% increase in building performance, while stochastic optimization leads to a more conservative and more reliable 33% performance improvement, which takes into consideration the impact of occupant behaviour.

This study aimed to assess the impact and vulnerability of climate change by classifying 26 clusters of meteorologically homogeneous regions. To determine the optimal clustering method, both K-means and Gaussian Mixture Model (GMM) clustering were analyzed using the effective storage capacity to watershed area ratio. The optimal number of clusters was derived based on several evaluation metrics, including the Silhouette Score, Calinski-Harabasz Index, Akaike Information Criterion (AIC), and Bayesian Information Criterion (BIC). Ultimately, GMM clustering was identified as the optimal method, with the best clustering results obtained at k = 4 for an effective storage capacity of 100,000 to 400,000 tons and k = 5 for an effective storage capacity of 400,000 to 10,000,000 tons. Additionally, standard reservoirs applicable to agricultural production infrastructure design standards were identified based on homogeneous weather region clusters, the optimal clustering method, and centroid results. The findings of this study can serve as fundamental data for the development and revision of design standards, contributing to more climate-resilient agricultural infrastructure.

우리나라 식생활에 밀접한 관련을 가지고 있는 채소인 양파의 수급불균형 해결을 위한 생산량 예측 모형 개발의 노력이 많은 연구를 통해 이뤄지고 있다. 하지만 양파의 수확기와 저장 가능성을 고려해 봤을 때 생산량 예측만으로는 수급불균형 해결이 어렵다. 따라서 본 논문에서는 양파의 생산량 정보와 가격의 다양한 요인이 포함되어 있으며 일상에서 쉽게 접할 수 있는 인터넷 기사를 이용하여 가격 예측을 위한 감성사전을 구축하고자 한다. 양파 기사는 2012년부터 2016년까지의 데이터를 사용하였고 도매시장 가격을 통한 문서구분을 통해 4가지 TF-IDF를 비교하여 적합한 TF-IDF를 사용하였다. 분석을 위하여 분할적 군집분석 중 k-means 군집, 밀도기반군집(DBSCAN; density based spatial cluster applications with noise), 가우시안혼합분포군집(GMM; Gaussian mixture model) 군집을 통하여 가격에 대한 긍정/부정 단어를 구분한 결과 GMM 군집이 의미 있는 긍정, 부정, 무정의 3개의 사전으로 구성되었다. 구축된 사전의 합리성을 비교하기 위하여 가격 상승 기사와 가격 하락 기사의 분류에 로지스틱 회귀분석을 적용한 결과 85.7%의 정확도로 구축된 사전의 합리성을 확인할 수 있었다.Many researches are accomplished as a result of the efforts of developing the production predicting model to solve the supply imbalance of onions which are vegetables very closely related to Korean food. But considering the possibility of storing onions, it is very difficult to solve the supply imbalance of onions only with predicting the production. So, this paper s purpose is trying to build a sentiment dictionary to predict the price of onions by using the internet articles which include the informations about the production of onions and various factors of the price, and these articles are very easy to access on our daily lives. Articles about onions are from 2012 to 2016, using TF-IDF for comparing with four kinds of TF-IDFs through the documents classification of wholesale prices of onions. As a result of classifying the positive/negative words for price by k-means clustering, DBSCAN (density based spatial cluster application with noise) clustering, GMM (Gaussian mixture model) clustering which are partitional clustering, GMM clustering is composed with three meaningful dictionaries. To compare the reasonability of these built dictionary, applying classified articles about the rise and drop of the price on logistic regression, and it shows 85.7% accuracy.

This study presents a closed‐loop hierarchical control strategy for a group of connected and autonomous hybrid electric vehicles (HEVs) with the purpose of optimising fuel economy while guaranteeing traffic mobility and vehicle safety. In the hierarchical control architecture, a decentralised stochastic model predictive control (SMPC)‐based higher level controller incorporating signal phase and timing information is formulated to optimise the velocity profile of each vehicle, and an adaptive equivalent consumption minimisation strategy based lower level controller is employed for the energy management control of the HEVs. Creatively, random errors of the control variable are considered in the SMPC framework. The errors are discretised and modelled as a Markov process and the state transition matrix of the errors is generated randomly to capture the error transition dynamics. To solve the SMPC problem more efficiently, a scenario‐based SMPC is employed. Moreover, the propulsion and recuperation efficiencies of the lower level controller are calculated at each time step with measurable variables, and fed back to the higher level controller for velocity optimisation in next time step. Simulation results validate the control effectiveness and advantages of the proposed control architecture.