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The paper describes a risk constraint profit maximization model of a generator participating in day a-head electricity market under Availability Based Tariff regime (ABT) for Indian market. The Unscheduled Interchange (UI) mechanism introduced to control frequency deviation, thereby maintaining the security of the system in real time. The model described here considers the stochastic behavior of load...
For agile, accurate autonomous robotics, it is desirable to plan motion in the presence of uncertainty. The Partially Observable Markov Decision Process (POMDP) provides a principled framework for this. Despite the tremendous advances of POMDP-based planning, most can only solve problems with a small and discrete set of actions. This paper presents General Pattern Search in Adaptive Belief Tree (GPS-ABT),...
Due to intermittency and random nature of wind power generation over short time period, unit commitment problem becomes more complex. In this paper, wind power forecasting uncertainty is represented by wind scenarios generated using Monte Carlo simulation. The computational burden in stochastic models that require scenario representation is reduced by creating clusters of commitment of units associated...
Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian positional traces. A continuous probabilistic function is determined using Gaussian process learning and used to infer the direction a robot should take in different parts of the environment...
Model uncertainty complicates most kinodynamic motion planning and control approaches due to their reliance on accurate forward prediction. If the model uncertainty is significant, a generated path or control strategy based on forward simulation of this model is potentially invalid and expensive to track (if possible). This paper explores the use of system identification/estimation to tune model parameters...
This paper treats the question of control of a class of nonlinear systems which can be decoupled by state variable feedback. Based on variable structure system (VSS) theory, a discontinuous control law is derived which accomplishes asymptotic decoupled output trajectory following in the presence of uncertainty in the system. In the closed-loop system, the trajectories are attracted towards a chosen...
This paper considers control of a class of uncertain nonlinear systems which can be decoupled by state variable feedback. A variable structure control (VSC) law is derived such that in the closed-loop system the output variable asymptotically tracks a given output trajectory in spite of the uncertainty in the system. Based on this result, a control law is derived for the attitude control of an orbiting...
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