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Register a new userDistributed Multi-Building Coordination for Demand Response
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Added by
Junyan Su
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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This paper presents a distributed optimization algorithm tailored for solving optimal control problems arising in multi-building coordination. The buildings coordinated by a grid operator, join a demand response program to balance the voltage surge by using an energy cost defined criterion. In order to model the hierarchical structure of the building network, we formulate a distributed convex optimization problem with separable objectives and coupled affine equality constraints. A variant of the Augmented Lagrangian based Alternating Direction Inexact Newton (ALADIN) method for solving the considered class of problems is then presented along with a convergence guarantee. To illustrate the effectiveness of the proposed method, we compare it to the Alternating Direction Method of Multipliers (ADMM) by running both an ALADIN and an ADMM based model predictive controller on a benchmark case study.
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This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject to both state and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. For each robot, the motion coordination strategy consists of three layers. An offline layer pre-computes the braking area for each region in the workspace, the controlled transition system, and a so-called potential function. An initialization layer outputs an initially safely satisfying trajectory. An online coordination layer resolves conflicts when one occurs. The online coordination layer is further decomposed into three steps. Firstly, a conflict detection algorithm is implemented, which detects conflicts with neighboring robots. Whenever conflicts are detected, a rule is designed to assign dynamically a planning order to each pair of neighboring robots. Finally, a sampling-based algorithm is designed to generate local collision-free trajectories for the robot which at the same time guarantees the feasibility of the specification. Safety is proven to be guaranteed for all robots at any time. The effectiveness and the computational tractability of the resulting solution is verified numerically by two case studies.
In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each agent has a private objective function and a constraint about its output. A neural network-based distributed controller is developed for each agent such that all agent outputs can reach the constrained minimal point of the aggregate objective function with bounded residual errors. Two examples are finally given to demonstrate the effectiveness of the algorithm.
In this paper, we investigate the problem of coordination between economic dispatch (ED) and demand response (DR) in multi-energy systems (MESs), aiming to improve the economic utility and reduce the waste of energy in MESs. Since multiple energy sources are coupled through energy hubs (EHs), the supply-demand constraints are nonconvex. To deal with this issue, we propose a linearization method to transform the coordination problem to a convex social welfare optimization one. Then a decentralized algorithm based on parallel Alternating Direction Method of Multipliers (ADMM) and dynamic average tracking protocol is developed, where each agent could only make decisions based on information from their neighbors. Moreover, by using variational inequality and Lyapunov-based techniques, we show that our algorithm could always converge to the global optimal solution. Finally, a case study on the modified IEEE 14-bus network verifies the feasibility and effectiveness of our algorithm.
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. Building on top of a cell decomposition, a conflict detection algorithm is presented first. Then, a rule is proposed to assign dynamically a planning order to each pair of neighboring robots, which is deadlock-free. Finally, a two-step motion planning process that combines fixed-path planning and trajectory planning is designed. The effectiveness of the resulting solution is verified by a simulation example.
As a foreseeable future mode of transport with lower emissions and higher efficiencies, electric vehicles have received worldwide attention. For convenient centralized management, taxis are considered as the fleet with electrification priority. In this work, we focus on the study on electric taxis dispatching, with consideration of picking up customers and recharging, based on real world traffic data of a large number of taxis in Beijing. First, the assumed electric taxi charging stations are located using the K mean method. Second, based on the station locations and the order demands, which are in form of origin-destination pairs and extracted from the trajectory data, a dispatching strategy as well as the simulation framework is developed with consideration of reducing customer waiting time, mitigating electric taxi charging congestion, and balancing order number distribution among electric taxis. The proposed method models the electric taxi charging behaviors temporally discretely from the aspects of charging demands and availability of chargers, and further incorporates a centralized and intelligent fleet dispatching platform, which is capable of handling taxi service requests and arranging electric taxis recharging in real time. The methodology in this paper is readily applicable to dispatching of different types of electric vehicle fleet with similar dataset available. Among the method, we use queueing theory to model the electric vehicle charging station waiting phenomena and include this factor into dispatching platform. Carbon emission is also surveyed and analyzed.
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