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This paper deals with asymptotic swarm stabilization of fractional order linear time invariant swarm systems in the presence of two constraints: the input saturation constraint and the restriction on distance of the agents from final destination which should be less than a desired value. A feedback control law is proposed for asymptotic swarm stabilization of fractional order swarm systems which guarantees satisfying the above-mentioned constraints. Numerical simulation results are given to confirm the efficiency of the proposed control method  

In this paper, asymptotic swarm stability of fractional-order swarm systems in the presence of uniform time-delays is studied. By using a frequency domain approach, the necessary and sufficient condition on the values of time-delay is derived to guarantee the asymptotic swarm stability under a directed/undirected interaction graph. Numerical examples are given to confirm the obtained analytical results. © 2015 Informa UK Limited, trading as Taylor & Francis Group  

This study investigates the asymptotic swarm stabilisation of fractional-order swarm systems in the presence of two different kinds of model uncertainties and external disturbances while the upper bound of the uncertainties is a linear function of pseudo-states norms with unknown coefficients. To this end, first a fractional-integral sliding manifold is constructed and then an adaptive-robust sliding mode controller is designed to guarantee the asymptotic swarm stability in a fractional-order linear time-invariant swarm system. The stability analysis of the proposed control system is done based on the Lyapunov stability theorem. Using the proposed controller, the coefficients of the upper... 

In this comment, it is shown that there are some non-negligible big mistakes in the analyses and stability proof of the proposed controller in the quoted paper, which makes the main results of this paper to be incorrect. The main unavoidable mistakes in the stability analysis of the main theorem (Theorem 1) are stated and some remarks are also mentioned to fix some of them. © 2022 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd  

Fast finite time adaptive sliding mode control of a quadrotor in the presence of uncertainties and unbounded external disturbances is dealt in this paper. To this end, a fractional order sliding surface is first defined and then, an adaptive sliding mode controller is designed to guarantee finite time stability with fast convergence of quadrotor states to the desired trajectory. In this controller, it is assumed that the upper bound of the model uncertainties and external disturbances is a nonlinear function with unknown coefficients. These coefficients are estimated via stable adaptive laws. Finite time stability of the closed-loop system is analyzed using Lyapunov theorem. Simulation... 

Cooperative cloud providers in the form of cloud federations can potentially reduce their energy costs by exploiting electricity price fluctuations across different locations. In this environment, on the one hand, the electricity price has a significant influence on the federations formed, and, thus, on the profit earned by the cloud providers, and on the other hand, the cloud cooperation has an inevitable impact on the performance of the smart grid. In this regard, the interaction between independent cloud providers and the smart grid is modeled as a two-stage Stackelberg game interleaved with a coalitional game in this article. In this game, in the first stage the smart grid, as a leader... 

This paper presents an adaptive controller to achieve consensus tracking for the fractional-order linear time invariant swarm systems in which the matrices describing the agent dynamics and the interactive dynamics between agents are unknown. This controller consists of two parts: an adaptive stabilizer and an adaptive tracker. The adaptive stabilizer guarantees the asymptotic swarm stability of the considered swarm system. Also, the adaptive tracker enforces the system agents to track a desired trajectory while achieving consensus. Numerical simulation results are presented to show the effectiveness of the proposed controller. Copyright  

This paper deals with fractional-order linear time invariant swarm systems. Necessary and sufficient conditions for asymptotic swarm stability of these systems are presented. Also, based on a time response analysis the speed of convergence in an asymptotically swarm stable fractional-order linear time invariant swarm system is investigated and compared with that of its integer-order counterpart. Numerical simulation results are presented to show the effectiveness of the paper results  

In this paper, asymptotic swarm stability of fractional-order swarm systems in the presence of uniform time-delays is studied. By using a frequency domain approach, the necessary and sufficient condition on the values of time-delay is derived to guarantee the asymptotic swarm stability under a directed/undirected interaction graph. Numerical examples are given to confirm the obtained analytical results  

One of the challenges a transformer designer is faced with is to correctly model the different types of transformer windings for transient study. For a precise insulation design, determination of transformer transient responses is unavoidable. The basis of these studies is calculation of transient responses due to application of standard switching and lightning impulse wave to the transformer winding. In a previous work, a computer program was developed for determination of the layer and disk type windings transient model parameters based on design data. This program has all of the necessary capabilities for a detailed transient study. As a continuation of that work, in this paper a method... 

Partial discharges (PD) are recognized as the main cause of the inner insulation deterioration process in power transformers. Therefore, the optimum inner insulation design is one of the challenges a transformer designer is faced with. Transformer strength, especially during transient conditions, is a criterion for transformer insulation designers. This challenge has made designers initiate and employ other types of winding, for example, rather than ordinary layer and disc windings employ the multiple-α windings. Multiple-α windings have a more complicated structure and are comprised of various parts with different physical structures and electrical characteristics. Typical partial discharge... 

Partial discharges are well known as a source for insulation degradation in power transformers. A hybrid transformer model is introduced to simulate the transformer winding transient response. Transformer structural data is used to determine the hybrid model parameters. Calculations of the hybrid transient model parameters are based on the parameters of the lumped parameter equivalent transformer model and electromagnetic rules. Modern computation techniques and optimizations are employed beside this model for PD location using the multi conductor transmission line model and also to analyze its propagation aimed at achieving (i) more reliable simulation results (ii) less computational time... 

Power transformer inner insulation system is a very critical component. Its degradation may pose apparatus to fail while in service. On the other hand, experimental experiences prove that partial discharges are a major source of insulation failure in power transformers. If the deterioration of the insulation system caused by PD activity can be detected at an early stage, preventive maintenance measures may be taken. Because of the complex structure of the transformer, accurate PD location is difficult and is one of the challenges power utilities are faced with. This problem comes to be vital in open access systems. In this paper a theory for locating partial discharge and its propagation... 

In this paper a method for selecting optimal wavelet is introduced, which is implemented for evaluating electrical measured partial discharges on a 66 kV/25 MVA fully interleaved winding of a power transformer. Applying wavelet transform to a signal produces a wavelet detail coefficient distribution throughout the time-scale, which depends on the wavelet chosen. This method is based on the capability of the chosen wavelet for generating coefficients with maximal values. The basic idea of this method is described and applications to partial discharge studies are explored. The paper demonstrates that the wavelet based de-noising method proposed in the paper can be employed in extracting the PD... 

A mini-column was made by packing α-diphenylglyoxime (DPG), a known ligand for complexation with nickel ions, loaded on activated charcoal (AC). Water samples were buffered at the pH range 8-9 and then passed through the column. After the preconcentration step, the column was eluted with 0.2 M nitric acid into the atomic absorption spectrometer (AAS). Mixed-level orthogonal array design (OAD) was used as a chemometric approach to study the effect of various factors on recovery of extraction. Factors such as pH, amount of sorbent, flow rate of sample, concentration and volume of the sample were investigated. Effects of interference ions, i.e., Co, Cu, Bi, Fe(I1), Pt and Pd was also studied.... 

Power transformers are in service in different environmental, electrical and mechanical conditions. Many experiences have proved that the inner insulation system degradation may pose the transformer to fail while in service. On the other hand, partial discharges (PD) are recognized as the main cause of insulation deterioration process. Therefore, reaching the optimum inner insulation system is one of the challenges a transformer designer is faced with. The solution lies in the correct and accurate modelling of different types of transformer windings. Transformer strength especially during transient conditions is a criterion for transformer insulation designers. This challenge has made... 

Power transformer monitoring as a reliable tool for maintaining purposes of this valuable asset of power systems has always comprised partial discharge offline measurements and online monitoring. The reason lies in non-destructive feature of PD monitoring. Partial discharge monitoring helps to detect incipient insulation faults and prevent insulation failure of power transformers. This paper introduces a software package developed based on structural data of power transformer and discusses the results of the simulation on Abetti winding, which might be considered as a basic layer winding. A hybrid model is used to model the transformer winding, which has been developed by first author.... 

In this study, an arbitrary Lagrangian-Eulerian (ALE) approach is incorporated with a mixed finite-volume-element (FVE) method to establish a novel moving boundary method for simulating unsteady incompressible flow on non-stationary meshes. The method collects the advantages of both finite-volume and finite-element (FE) methods as well as the ALE approach in a unified algorithm. In this regard, the convection terms are treated at the cell faces using a physical-influence upwinding scheme, while the diffusion terms are treated using bilinear FE shape functions. On the other hand, the performance of ALE approach is improved by using the Laplace method to improve the hybrid grids, involving... 

Knowledge of potential and field distribution in the insulation system of a transformer during transient excitation is vital to its construction [1]. This paper deals with insulation design improvements of power transformers using electric field analysis. The calculation methods for electric field analysis, inside a power transformer impressed with impulse and power frequency voltages, are presented. Initially, a lumped parameter equivalent model is constructed by dividing transformer windings into several blocks and computing the electric circuit parameters of this model. Next, the electric field is determined by employing the results of the transformer transient model circuit analysis as...