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- All Subjects: Systems science
- Creators: Zhang, Wenlong
- Member of: ASU Electronic Theses and Dissertations
Description
Coordination and control of Intelligent Agents as a team is considered in this thesis.
Intelligent agents learn from experiences, and in times of uncertainty use the knowl-
edge acquired to make decisions and accomplish their individual or team objectives.
Agent objectives are defined using cost functions designed uniquely for the collective
task being performed. Individual agent costs are coupled in such a way that group ob-
jective is attained while minimizing individual costs. Information Asymmetry refers
to situations where interacting agents have no knowledge or partial knowledge of cost
functions of other agents. By virtue of their intelligence, i.e., by learning from past
experiences agents learn cost functions of other agents, predict their responses and
act adaptively to accomplish the team’s goal.
Algorithms that agents use for learning others’ cost functions are called Learn-
ing Algorithms, and algorithms agents use for computing actuation (control) which
drives them towards their goal and minimize their cost functions are called Control
Algorithms. Typically knowledge acquired using learning algorithms is used in con-
trol algorithms for computing control signals. Learning and control algorithms are
designed in such a way that the multi-agent system as a whole remains stable during
learning and later at an equilibrium. An equilibrium is defined as the event/point
where cost functions of all agents are optimized simultaneously. Cost functions are
designed so that the equilibrium coincides with the goal state multi-agent system as
a whole is trying to reach.
In collective load transport, two or more agents (robots) carry a load from point
A to point B in space. Robots could have different control preferences, for example,
different actuation abilities, however, are still required to coordinate and perform
load transport. Control preferences for each robot are characterized using a scalar
parameter θ i unique to the robot being considered and unknown to other robots.
With the aid of state and control input observations, agents learn control preferences
of other agents, optimize individual costs and drive the multi-agent system to a goal
state.
Two learning and Control algorithms are presented. In the first algorithm(LCA-
1), an existing work, each agent optimizes a cost function similar to 1-step receding
horizon optimal control problem for control. LCA-1 uses recursive least squares as
the learning algorithm and guarantees complete learning in two time steps. LCA-1 is
experimentally verified as part of this thesis.
A novel learning and control algorithm (LCA-2) is proposed and verified in sim-
ulations and on hardware. In LCA-2, each agent solves an infinite horizon linear
quadratic regulator (LQR) problem for computing control. LCA-2 uses a learning al-
gorithm similar to line search methods, and guarantees learning convergence to true
values asymptotically.
Simulations and hardware implementation show that the LCA-2 is stable for a
variety of systems. Load transport is demonstrated using both the algorithms. Ex-
periments running algorithm LCA-2 are able to resist disturbances and balance the
assumed load better compared to LCA-1.
Intelligent agents learn from experiences, and in times of uncertainty use the knowl-
edge acquired to make decisions and accomplish their individual or team objectives.
Agent objectives are defined using cost functions designed uniquely for the collective
task being performed. Individual agent costs are coupled in such a way that group ob-
jective is attained while minimizing individual costs. Information Asymmetry refers
to situations where interacting agents have no knowledge or partial knowledge of cost
functions of other agents. By virtue of their intelligence, i.e., by learning from past
experiences agents learn cost functions of other agents, predict their responses and
act adaptively to accomplish the team’s goal.
Algorithms that agents use for learning others’ cost functions are called Learn-
ing Algorithms, and algorithms agents use for computing actuation (control) which
drives them towards their goal and minimize their cost functions are called Control
Algorithms. Typically knowledge acquired using learning algorithms is used in con-
trol algorithms for computing control signals. Learning and control algorithms are
designed in such a way that the multi-agent system as a whole remains stable during
learning and later at an equilibrium. An equilibrium is defined as the event/point
where cost functions of all agents are optimized simultaneously. Cost functions are
designed so that the equilibrium coincides with the goal state multi-agent system as
a whole is trying to reach.
In collective load transport, two or more agents (robots) carry a load from point
A to point B in space. Robots could have different control preferences, for example,
different actuation abilities, however, are still required to coordinate and perform
load transport. Control preferences for each robot are characterized using a scalar
parameter θ i unique to the robot being considered and unknown to other robots.
With the aid of state and control input observations, agents learn control preferences
of other agents, optimize individual costs and drive the multi-agent system to a goal
state.
Two learning and Control algorithms are presented. In the first algorithm(LCA-
1), an existing work, each agent optimizes a cost function similar to 1-step receding
horizon optimal control problem for control. LCA-1 uses recursive least squares as
the learning algorithm and guarantees complete learning in two time steps. LCA-1 is
experimentally verified as part of this thesis.
A novel learning and control algorithm (LCA-2) is proposed and verified in sim-
ulations and on hardware. In LCA-2, each agent solves an infinite horizon linear
quadratic regulator (LQR) problem for computing control. LCA-2 uses a learning al-
gorithm similar to line search methods, and guarantees learning convergence to true
values asymptotically.
Simulations and hardware implementation show that the LCA-2 is stable for a
variety of systems. Load transport is demonstrated using both the algorithms. Ex-
periments running algorithm LCA-2 are able to resist disturbances and balance the
assumed load better compared to LCA-1.
ContributorsKAMBAM, KARTHIK (Author) / Zhang, Wenlong (Thesis advisor) / Nedich, Angelia (Thesis advisor) / Ren, Yi (Committee member) / Arizona State University (Publisher)
Created2018
Description
This dissertation develops advanced controls for distributed energy systems and evaluates performance on technical and economic benefits. Microgrids and thermal systems are of primary focus with applications shown for residential, commercial, and military applications that have differing equipment, rate structures, and objectives. Controls development for residential energy heating and cooling systems implement adaptive precooling strategies and thermal energy storage, with comparisons made of each approach separately and then together with precooling and thermal energy storage. Case studies show on-peak demand and annual energy related expenses can be reduced by up to 75.6% and 23.5%, respectively, for a Building America B10 Benchmark home in Phoenix Arizona, Los Angeles California, and Kona Hawaii. Microgrids for commercial applications follow after with increased complexity. Three control methods are developed and compared including a baseline logic-based control, model predictive control, and model predictive control with ancillary service control algorithms. Case studies show that a microgrid consisting of 326 kW solar PV, 634 kW/ 634 kWh battery, and a 350 kW diesel generator can reduce on-peak demand and annual energy related expenses by 82.2% and 44.1%, respectively. Findings also show that employing a model predictive control algorithm with ancillary services can reduce operating expenses by 23.5% when compared to a logic-based algorithm. Microgrid evaluation continues with an investigation of off-grid operation and resilience for military applications. A statistical model is developed to evaluate the survivability (i.e. probability to meet critical load during an islanding event) to serve critical load out to 7 days of grid outage. Case studies compare the resilience of a generator-only microgrid consisting of 5,250 kW in generators and hybrid microgrid consisting of 2,250 kW generators, 3,450 kW / 13,800 kWh storage, and 16,479 kW solar photovoltaics. Findings show that the hybrid microgrid improves survivability by 10.0% and decreases fuel consumption by 47.8% over a 168-hour islanding event when compared to a generator-only microgrid under nominal conditions. Findings in this dissertation can increase the adoption of reliable, low cost, and low carbon distributed energy systems by improving the operational capabilities and economic benefits to a variety of customers and utilities.
ContributorsNelson, James Robert (Author) / Johnson, Nathan (Thesis advisor) / Stadler, Michael (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2019
Description
This work introduces self-organizing techniques to reduce the complexity and burden of coordinating distributed energy resources (DERs) and microgrids that are rapidly increasing in scale globally. Technical and financial evaluations completed for power customers and for utilities identify how disruptions are occurring in conventional energy business models. Analyses completed for Chicago, Seattle, and Phoenix demonstrate site-specific and generalizable findings. Results indicate that net metering had a significant effect on the optimal amount of solar photovoltaics (PV) for households to install and how utilities could recover lost revenue through increasing energy rates or monthly fees. System-wide ramp rate requirements also increased as solar PV penetration increased. These issues are resolved using a generalizable, scalable transactive energy framework for microgrids to enable coordination and automation of DERs and microgrids to ensure cost effective use of energy for all stakeholders. This technique is demonstrated on a 3-node and 9-node network of microgrid nodes with various amounts of load, solar, and storage. Results found that enabling trading could achieve cost savings for all individual nodes and for the network up to 5.4%. Trading behaviors are expressed using an exponential valuation curve that quantifies the reputation of trading partners using historical interactions between nodes for compatibility, familiarity, and acceptance of trades. The same 9-node network configuration is used with varying levels of connectivity, resulting in up to 71% cost savings for individual nodes and up to 13% cost savings for the network as a whole. The effect of a trading fee is also explored to understand how electricity utilities may gain revenue from electricity traded directly between customers. If a utility imposed a trading fee to recoup lost revenue then trading is financially infeasible for agents, but could be feasible if only trying to recoup cost of distribution charges. These scientific findings conclude with a brief discussion of physical deployment opportunities.
ContributorsJanko, Samantha Ariel (Author) / Johnson, Nathan (Thesis advisor) / Zhang, Wenlong (Committee member) / Herche, Wesley (Committee member) / Arizona State University (Publisher)
Created2019
Description
Energy projects have the potential to provide critical services for human well-being and help eradicate poverty. However, too many projects fail because their approach oversimplifies the problem to energy poverty: viewing it as a narrow problem of access to energy services and technologies. This thesis presents an alternative paradigm for energy project development, grounded in theories of socio-energy systems, recognizing that energy and poverty coexist as a social, economic, and technological problem.
First, it shows that social, economic, and energy insecurity creates a complex energy-poverty nexus, undermining equitable, fair, and sustainable energy futures in marginalized communities. Indirect and access-based measures of energy poverty are a mismatch for the complexity of the energy-poverty nexus. The thesis, using the concept of social value of energy, develops a methodology for systematically mapping benefits, burdens and externalities of the energy system, illustrated using empirical investigations in communities in Nepal, India, Brazil, and Philippines. The thesis argues that key determinants of the energy-poverty nexus are the functional and economic capabilities of users, stressors and resulting thresholds of capabilities characterizing the energy and poverty relationship. It proposes ‘energy thriving’ as an alternative standard for evaluating project outcomes, requiring energy systems to not only remedy human well-being deficits but create enabling conditions for discovering higher forms of well-being.
Second, a novel, experimental approach to sustainability interventions is developed, to improve the outcomes of energy projects. The thesis presents results from a test bed for community sustainability interventions established in the village of Rio Claro in Brazil, to test innovative project design strategies and develop a primer for co-producing sustainable solutions. The Sustainable Rio Claro 2020 initiative served as a longitudinal experiment in participatory collective action for sustainable futures.
Finally, results are discussed from a collaborative project with grassroots practitioners to understand the energy-poverty nexus, map the social value of energy and develop energy thriving solutions. Partnering with local private and non-profit organizations in Uganda, Bolivia, Nepal and Philippines, the project evaluated and refined methods for designing and implementing innovative energy projects using the theoretical ideas developed in the thesis, subsequently developing a practitioner toolkit for the purpose.
First, it shows that social, economic, and energy insecurity creates a complex energy-poverty nexus, undermining equitable, fair, and sustainable energy futures in marginalized communities. Indirect and access-based measures of energy poverty are a mismatch for the complexity of the energy-poverty nexus. The thesis, using the concept of social value of energy, develops a methodology for systematically mapping benefits, burdens and externalities of the energy system, illustrated using empirical investigations in communities in Nepal, India, Brazil, and Philippines. The thesis argues that key determinants of the energy-poverty nexus are the functional and economic capabilities of users, stressors and resulting thresholds of capabilities characterizing the energy and poverty relationship. It proposes ‘energy thriving’ as an alternative standard for evaluating project outcomes, requiring energy systems to not only remedy human well-being deficits but create enabling conditions for discovering higher forms of well-being.
Second, a novel, experimental approach to sustainability interventions is developed, to improve the outcomes of energy projects. The thesis presents results from a test bed for community sustainability interventions established in the village of Rio Claro in Brazil, to test innovative project design strategies and develop a primer for co-producing sustainable solutions. The Sustainable Rio Claro 2020 initiative served as a longitudinal experiment in participatory collective action for sustainable futures.
Finally, results are discussed from a collaborative project with grassroots practitioners to understand the energy-poverty nexus, map the social value of energy and develop energy thriving solutions. Partnering with local private and non-profit organizations in Uganda, Bolivia, Nepal and Philippines, the project evaluated and refined methods for designing and implementing innovative energy projects using the theoretical ideas developed in the thesis, subsequently developing a practitioner toolkit for the purpose.
ContributorsBiswas, Saurabh (Author) / Miller, Clark A. (Thesis advisor) / Wiek, Arnim (Committee member) / Janssen, Marcus A (Committee member) / Arizona State University (Publisher)
Created2020