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Fault-Tolerant Path Planning in Networked Vehicle Systems in Presence of Communication Failures

IFAC-PapersOnLine 2018年第23期51卷 82-87页

作者： Saraoglu, Mustafa Hart, Fabian Morozov, Andrey Janschek, Klaus Germany

This paper proposes a fault-tolerant path planning algorithm for autonomous and connected vehicle networks in urban traffic scenarios. Multiple vehicles try to reach their destinations in the shortest time, evaluating the information gathered by front sensors and vehicle-to-vehicle (V2V) communication. The algorithm uses an estimator and an embedded decision maker unit in order to choose safe and time-saving routes. The decision making part relies on the path plans of other vehicles received through the V2V communication. If the path plan of a vehicle is missing due to a communication failure, the algorithm makes the decision by solving a Bayesian game, taking the latest known position of the faulty vehicle into account. A dedicated simulator is developed in order to implement the algorithm and verify the results. It is shown that reasonable route decisions can be made in the presence of communication failures. Analytical solution of the Bayesian game is evaluated and the results are verified by simulations. © 2018

关键词： Vehicle to vehicle communications Decision making Decision theory Fault tolerance Game theory Intelligent vehicle highway systems Motion planning Vehicles Autonomous Vehicles Communication failure estimation algorithm Fault tolerant paths Networked vehicles Urban traffic scenarios V2V communications Vehicle to vehicle (V2V) communication

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Identification of two dimensional complex sinusoids in white noise: a state-space frequency approach

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IFAC-PapersOnLine 2018年第15期51卷 996-1001页

作者： Soverini, Umberto Söderström, Torsten Department of Electrical Electronic and Information Engineering University of Bologna Italy Department of Information Technology Uppsala University Sweden

This paper proposes a new frequency domain approach for identifying the parameters of two-dimensional complex sinusoids from a finite number of data, when the measurements are affected by additive and uncorrelated two-dimensional white noise. The new method extends in two dimensions a frequency identification procedure of complex sinusoids, originally developed for the one-dimensional case. The properties of the proposed method are analyzed by means of Monte Carlo simulations and its features are compared with those of other estimation algorithms. In particular the practical advantage of the method is highlighted. In fact the novel approach can operate just on a specified sub-area of the 2D spectrum. This area-selective feature allows a drastic reduction of the computational complexity, which is usually very high when standard time domain methods are used. © 2018

关键词： White noise Discrete Fourier transforms Frequency domain analysis Identification (control systems) Intelligent systems Monte Carlo methods One dimensional Time domain analysis Area selective Damped sinusoidal model estimation algorithm Finite number Frequency domain approaches Frequency identification Standard time Two dimension

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An automated instrumental variable method for rigid industrial robot identification

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IFAC-PapersOnLine 2018年第15期51卷 431-436页

作者： Brunot, M. Janot, A. Carrillo, F. ONERA 2 Avenue Edouard Belin Toulouse31055 France LGP ENI Tarbes 47 avenue d'Azereix BP 1629 Tarbes65016 France

Industrial robots must be operated in closed-loop since they are electro-mechanical systems with double integrator behaviour. Their mechanical model, called the Inverse Dynamic Identification Model (IDIM), is based on Newton's laws and has the advantage of being linear with respect to the parameters. The Instrumental Variable (IDIM-IV) method provides a robust solution to the closed-loop estimation problem. This method relies on a tailor-made prefiltering process in order to estimate accurate parameters. An alternative and automatic way of constructing the observation matrix has been recently introduced. If this methodology provides appropriate estimated parameters, it can fail to estimate the variances of those parameters. In this paper, an identification of the additive noise characteristics is included in the process to obtain correct and lower variances of the IDIM parameters. The evaluation of the new estimation algorithm on a one degree-of-freedom rigid robot shows that it improves statistical efficiency, while minimizing the a priori knowledge required from the practitioner. © 2018

关键词： Parameter estimation Additive noise Degrees of freedom (mechanics) Identification (control systems) Industrial robots Inverse problems Closed loop identification Electromechanical systems estimation algorithm Instrumental variable methods Instrumental variables Noise characteristic Robot dynamics Statistical efficiency

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New Constrained Predictive PID controller for packet dropouts in Wireless Networked Control Systems

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IFAC-PapersOnLine 2018年第4期51卷 811-816页

作者： Vásquez, Mercedes Chacón Katebi, Reza School of Electrical Engineering University of Costa Rica San José Costa Rica Industrial Control Centre University of Strathclyde Glasgow United Kingdom

A new constrained predictive PID controller is presented to achieve stability and performance robustness in Wireless Networked Control Systems (WNCS), where the communication is subject to dropouts in both communication directions: sensor to control and control to actuator transmission. The control strategy is based on a new PID controller with similar properties to Model-Based Predictive Control (MBPC). A Kalman filter used for output prediction and a consecutive dropouts compensator have also been added to the control scheme. The purpose of this approach is to develop an estimation algorithm and a control system that maintain information of the sensor packets and the control actions. Several experiments using the TrueTime network simulator showed that the predictive PID controller performs as good as the MBPC scheme with the advantage of having a simple structure. © 2018

关键词： Networked control systems Controllers Electric control equipment Model predictive control Packet loss Proportional control systems Robustness (control systems) Three term control systems Wireless sensor networks Control strategies estimation algorithm Model based predictive control Network simulators predictive PID Simple structures Stability and performance robustness Wireless networked control systems

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Effective recursive parallelotopic bounding for robust output-feedback control

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IFAC-PapersOnLine 2018年第15期51卷 1032-1037页

作者： Sharma, Udit Thangavel, Sakthi Gottu Mukkula, Anwesh Reddy Paulen, Radoslav Process Dynamics and Operations Group Technische Universität Dortmund Germany Faculty of Chemical and Food Technology Slovak University of Technology in Bratislava Slovakia

In this paper an approach is studied to guaranteed (set-membership) state estimation for robust output-feedback model predictive control (MPC) with hard input and state constraints. Uncertainties are assumed to arise in a dynamic system from unknown initial conditions of state variables and due to unknown-but-bounded measurement noise. The uncertainty in the state variables is represented as a parallelotopic set. The employed state-estimation algorithm recursively outbounds the feasible set that is given by an intersection of model predictions with obtained measurement information. Along with the well-known minimum-volume criterion for parallelotopic outbounding, three alternative criteria are proposed and studied. The aim is to identify the best outbounding approach for improving performance of the robust MPC. © 2018

关键词： Feedback Model predictive control Predictive control systems Robust control State estimation Uncertainty analysis estimation algorithm Improving performance Input and state constraints Measurement information Output feedback Robust output feedbacks State estimation algorithms Unknown but bounded

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Corner target positioning with unknown walls' positions

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JOURNAL OF ENGINEERING-JOE 2019年第19期2019卷 6143-6146页

作者： Fan, Shihao Cui, Guolong Guo, Shisheng Kong, Lingjiang Yang, Xiaobo Yuan, Xingsheng Univ Elect Sci & Technol China Sch Informat & Commun Engn Chengdu Sichuan Peoples R China Natl Univ Def Technol Coll Intelligent Sci Changsha Hunan Peoples R China

Here we consider a corner target positioning problem under the condition of unknown walls' positions using time-division multiple-input-multiple-output (MIMO) radar. Firstly, we propose an estimation algorithm for the walls' positions using the Back-Projection (BP) imaging algorithm. Then, after obtaining the BP image of target, we extract the focus regions produced by different multipaths. Finally, we obtain the position of the target based on the extracted walls' positions and the focus regions. Simulations and experiments results validate the proposed algorithm.

关键词： MIMO radar radar imaging radar detection object detection estimation theory focus regions corner target positioning problem time-division multiple-input-multiple-output radar BP image back-projection imaging algorithm unknown wall positions MIMO radar estimation algorithm

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Multi-missile Centralized Cooperative Guidance Law with Packet Loss

Multi-missile Centralized Cooperative Guidance Law with Pack...

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Chinese Automation Congress (CAC)

作者： Wu, Zihao Fang, Yangwang Fu, WenXing Northwestern Polytech Univ Collage Aerosp Xian 710072 Shanxi Peoples R China Northwestern Polytech Univ Collage Unmanned Syst Technol Xian 710072 Shanxi Peoples R China

ISBN: (纸本)9781728113128

At present, most collaborative guidance laws are not suitable for the network packet loss situation, leading to be applied difficultly in practical applications. This paper proposed a novel cooperative guidance law under network packet loss situation. Firstly, the discrete time cooperative guidance law was proposed in the case of network packet loss and the estimation algorithm of the time-to-go was derived. Secondly, the estimated error of the time-to-go was investigated and the convergence of the cooperative guidance law based on the estimated the time-to-go was proved. Finally, simulation results demonstrate the feasibility and effectiveness of the proposed cooperative guidance law.

关键词： Cooperative Guidance Law Packet Loss Time-to-go estimation algorithm

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H∞ Tracking Control for Unknown Nonlinear System Based on Augmented Matrix algorithm 9th

<i>H</i>∞ Tracking Control for Unknown Nonlinear System Bas...

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9th International Conference on Modelling, Identification and Control (ICMIC)

作者： Lv, Yongfeng Ren, Xuemei Li, Linwei Na, Jing Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Kunming Univ Sci & Technol Fac Mech & Elect Engn Kunming 650500 Yunnan Peoples R China

ISBN: (纸本)9789811072123;9789811072116

Based on the augmented matrix and approximate dynamic programming algorithms, the H infinity tracking control problem for unknown nonlinear system is addressed in this paper. An identifier NN is first used to approximate the unknown system. An augmented matrix based on the desired trajectory and system state is then constructed using the identifier, such that the tracking control problem is transformed into the regulation one. We use another NN to approximate the performance index function of the HJI equation, such that H infinity tracking control pairs are calculated without solving the HJI equation. Moreover, we use an estimation algorithm to estimate unknown parameters in neural network. Finally, a simulation is presented to demonstrate the validity of the proposed method.

关键词： H infinity control Adaptive dynamic programming estimation algorithm Augmented matrix

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Bounding Stability in Formal Concept Analysis 1st

Bounding Stability in Formal Concept Analysis

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1st International Conference on Advanced Computational and Communication Paradigms (ICACCP)

作者： Bhuyan, Bikram P. Karmakar, Arindam Hazarika, Shyamanta M. Asian Inst Management & Technol Gauhati Assam India Tezpur Univ Biomimet & Cognit Robot Lab Comp Sci & Engn Tezpur Assam India Indian Inst Technol Guwahati Dept Mech Engn Gauhati India

ISBN: (纸本)9789811082375;9789811082368

In Formal Concept Analysis, stability is an important utility measure to rank concepts. However, computation of stability is considered to be a hard problem. Efficient algorithms having good bounds to estimate stability holds promise. In this paper, an effective graph-based technique is proposed to estimate stability. Our estimation algorithm has a polynomial time complexity of O(vertical bar A vertical bar(2)) where vertical bar A vertical bar is the number of vertices.

关键词： Formal concept analysis algorithms Graph algorithm estimation algorithm Combinatorial problem

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State of the Art of Lithium-Ion Battery SOC estimation for Electrical Vehicles

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ENERGIES 2018年第7期11卷 1820页

作者： Zhang, Ruifeng Xia, Bizhong Li, Baohua Cao, Libo Lai, Yongzhi Zheng, Weiwei Wang, Huawen Wang, Wei Tsinghua Univ Grad Sch Shenzhen Shenzhen 518055 Peoples R China Hunan Univ Coll Mech & Vehicle Engn Changsha 410082 Hunan Peoples R China Sunwoda Elect Co Ltd Shenzhen 518108 Peoples R China

Sate of charge (SOC) accurate estimation is one of the most important functions in a battery management system for battery packs used in electrical vehicles. This paper focuses on battery SOC estimation and its issues and challenges by exploring different existing estimation methodologies. The key technologies of lithium-ion battery state estimation methodologies of the electrical vehicles categorized under five groups, such as the conventional method, adaptive filter algorithm, learning algorithm, nonlinear observer, and the hybrid method, are explored in an in-depth analysis. Lithium-ion battery characteristic, battery model, estimation algorithm, and cell unbalancing are the most important factors that affect the accuracy and robustness of SOC estimation. Finally, this paper concludes with the challenges of SOC estimation and suggests other directions for possible research efforts.

关键词： lithium-ion battery sate of charge estimation algorithm battery management system electric vehicle

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