Reconfigurable Robot Manipulators (RRMs) have extensive applications in power grids, industrial 4.0 and flexible manufacturing, disaster rescue and exploration, as well as complex environments such as earthquakes and fires. This study examines the performance of reconfigurable robot manipulators operating in uncertain environments, addressing the challenge of mitigating interference noise in Harmonic Drive (HD) signal transmission. Furthermore, it presents a simplified robust Adaptive Dynamic Programming (ADP) framework to implement H∞ control for RRMs subject to unknown external disturbances. By representing the RRM dynamics as an integrated set of joint subsystem models, the corresponding control is formulated as zero-sum game, allowing a closed-form solution in robotic systems. The research results show that the ADP algorithm proposed in this paper is effective. Its contributions are primarily reflected in problem modeling, theoretical framework, and algorithmic implementation. The developed algorithm solves the HJI equation via a critic neural network, which facilitates direct adaptation of the H∞ control pair with assured convergence.
Qiao-Fan Shi, Xiao-Hong Zhu, Yu Zheng et al.· European Conference on Elect...· 0 citations
Artificial intelligence-driven signal feature analysis methods offer new technical pathways for fault location in power distribution networks. Addressing the accuracy limitations of traditional localization methods under weak ground fault conditions, this study constructs a dynamic ground fault location model for distribution systems based on frequencyenergy feature analysis. By modeling time-series data from multi-node sampled signals, the Fast Fourier Transform (FFT) is employed to extract energy characteristics across different frequency bands and form a frequency-energy feature vector. Building upon this, a feature-distance-weighted dynamic localization algorithm is designed, incorporating a multi-node time-series coordination mechanism to update location results. Tests conducted on a 10 kV, 20 km distribution line simulation system compared the proposed method with impedance and traveling wave techniques. Results show an average positioning error of 0.19 km—lower than the impedance method's 0.42 km and traveling wave method's 0.27 km—while achieving high accuracy within 0.038 s computation time. This validates the effectiveness of frequency-energy feature analysis for distribution ground fault location.
Ke-Yu Yue, Yu Zheng, Zhi-Gang Wang et al.· European Conference on Elect...· 0 citations
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