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IFAC Proceedings Volumes 2010年第14期43卷 695-700页

作者： Steffen Waldherr Michael Zeitz Institute for Systems Theory and Automatic Control Universität Stuttgart Pfaffenwaldring 9 Stuttgart Germany Institute for System Dynamics Universität Stuttgart Pfaffenwaldring 9 Stuttgart Germany

We extend the notion of flat inputs, which we previously introduced in the SISO case, towards non-linear MIMO systems. For MIMO systems, we have to distinguish two cases for differential flatness, corresponding to feedback-linearizability either by a static or a quasi-static feedback. For the first case, the construction of flat inputs can be solved easily by means of the observability codistribution and indices. The second case remains an open problem, and we illustrate with an example that flat inputs can even be constructed for non-observable systems. In addition, we also discuss the problem of realizing flat inputs as physical actuators in mechanical systems. Copyright © 2010 IFAC.

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VVAF - Worst case & safety analysis tools for autonomous rendezvous system

VVAF - Worst case & safety analysis tools for autonomous ren...

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AIAA Guidance, Navigation, and control Conference

作者： Paulino, Nuno Di Sotto, Emanuele Salehi, Sohrab Kron, Aymeric Hamel, Jean-François Wang, Wenfei Menon, Prathyush P. Bates, Declan G. Papachristodoulou, Antonis Maier, Christoph GMV Tres Cantos Madrid Spain Rhea System at ESA-ESTEC Noordwijk Netherlands NGC Aerospace Mouans Sartoux France NGC Aerospace Sherbrooke Canada Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom Department of Engineering Science University of Oxford Oxford United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781600869624

The traditional verification and validation (V&V) process can produce sufficiently safe and reliable systems in the demanding aerospace field. But this comes at great cost and effort, with the necessary simulation of all possible operational conditions for increasingly complex control systems involving substantial autonomy. It is of interest to go beyond the statistical confidence of traditional Monte Carlo methods. New V&V methods need to cope with a large number of mission parameters and mode transitions. They must identify the worst combinations of perturbations, uncertainties and failures. Two classes of frameworks are investigated in the VVAF project: integrated V&V frameworks (IVVF) supported by simulation based analysis techniques, either integrated or with local analysis techniques to establish the global system properties;and enhanced V&V frameworks (EVVF), based on mathematical proof. Two EVVF techniques are explored: Barrier-construction and Reachability-set analysis. These guarantee fulfillment of globally exact safe operation, by the construction of barrier certificates considering nonlinearities, uncertainties and constraints. In addition, two IVVF techniques are developed: Analytical-based (AIVV) and Optimization-based (OIVV). AIVV consists of integrating and embedding frequency domain LFT-based mu-analysis techniques to exclude regions with guaranteed performance and/or identify the most critical areas, within a Monte Carlo simulation based V&V. With as few runs as possible of the non linear time simulator, local analyses can steer the global search towards the worst case. OIVV uses optimization techniques, also linked to the simulator, to identify and characterize the system worst case. Several heuristic techniques are evaluated for global parameters search, which is then refined using local optimization techniques to locate and characterize the worst case. The AIVV can also aid the OIVV by identifying search regions and promising initialization poi

关键词： Monte Carlo methods

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Hao Ding Georg Schnattinger Benjamin Passenberg Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering University of Kassel Germany High-Frequency Engineering Technische Universität München Munchen Germany Institute of Automatic Control Engineering Technische Universität München Munchen Germany

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs) in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario.

关键词： Planning Joints Optimization Trajectory Service robots Dynamics

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The Minimum Principle for Hybrid systems with Partitioned State Space and Unspecified Discrete State Sequence

The Minimum Principle for Hybrid Systems with Partitioned St...

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2010 49th IEEE Conference on Decision and control

作者： Benjamin Passenberg Peter E. Caines Marion Sobotka Olaf Stursberg Martin Buss Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Department of Electrical and Computer Engineering and the Center for Intelligent Machines McGill University Montreal Canada Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9781424477456

The hybrid minimum principle (HMP) gives necessary conditions to be satisfied for optimal solutions of a hybrid dynamical system. In particular, the HMP accounts for autonomous switching between discrete states that occurs whenever the trajectory hits switching manifolds. In this paper, the existing HMP is extended for hybrid systems with partitioned state space to provide necessary conditions for optimal trajectories that pass through an intersection of switching manifolds. This extension is especially useful for the numerical solution of hybrid optimal control problems as it allows for algorithms with significant reduction of computational complexity. Algorithms based on previous versions of the HMP solve separate optimal control problems for each possible sequence of discrete states. The extension enables us to consider the optimal sequence as subject of optimal control that is varied and finally determined during a single optimization run. A first numerical result illustrates the effectiveness of an algorithm based on the extended HMP.

关键词： state space minimum principle hybrid systems Manifolds Optimal control DYNAMICAL systemS discrete element

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An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid systems with Partitioned State Space

An Algorithm for Discrete State Sequence and Trajectory Opti...

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2010 49th IEEE Conference on Decision and control

作者： Benjamin Passenberg Marion Sobotka Olaf Stursberg Martin Buss Peter E. Caines Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany Department of Electrical and Computer Engineering and the Center for Intelligent Machines McGill University Montreal Canada

ISBN: (纸本)9781424477456

An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.

关键词： Switches Manifolds Trajectory Complexity theory Partitioning algorithms Convergence Aerospace electronics

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New features of Easy Java Simulations for 3D Modeling

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IFAC Proceedings Volumes 2010年第24期42卷 250-255页

作者： Carlos A. Jara Francisco Esquembre Francisco A. Candelas Fernando Torres Sebastián Dormido Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain (e-mail:{carlos.jara francisco.candelas fernando.torres}@ua.es) Department of Mathematics University of Murcia Murcia Spain (e-mail: fem@um.es) Department of Computer Science and Automatic Control UNED University Madrid Spain (e-mail: sdormido@dia.uned.es)

This paper presents a new interface framework which has been added to Easy Java Simualtions' environment in order to improve its graphical features for 3D modeling. These new 3D capabilities provide users a set of new view elements which can be used to develop models with a high degree of reality. In this way, Easy Java Simulations becomes a powerful tool to easily and quickly create 3D realistic simulations.

关键词： computer simulation modeling programming environment software tool virtual reality

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Robustification and Optimization of a Kalman Filter with Measurement Loss using Linear Precoding

Robustification and Optimization of a Kalman Filter with Mea...

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2009 American control Conference (ACC 2009)

作者： Rainer Blind Stefan Uhlich Bin Yang Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Germany System Theory and Signal Processing University of Stuttgart Germany

ISBN: (纸本)9781424445233

This paper considers a linear precoding for a Kalman filter which receives the measurements over an erasure channel. We show how to design the precoding matrix that either robustifies the Kalman filter with respect to packet losses or reduces the estimation error. The effectiveness of the proposed method is demonstrated by two examples.

关键词： Kalman filters prediction coding Packet loss erasure channel

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New features of Easy Java simulations for 3D modeling

New features of Easy Java simulations for 3D modeling

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作者： Jara, Carlos A. Esquembre, Francisco Candelas, Francisco A. Torres, Fernando Dormido, Sebastián Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain Department of Mathematics University of Murcia Murcia Spain Department of Computer Science and Automatic Control UNED University Madrid Spain

ISBN: (纸本)9783902661562

关键词： Virtual reality

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Optimal path planning in the workspace for articulated robots using mixed integer programming

Optimal path planning in the workspace for articulated robot...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hao Ding Mingxiang Zhou Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Institute of Automatic Control Engineering Munchen Germany

This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to path planning in the configuration space, approaches in the workspace save the computationally expensive step of mapping obstacles from the workspace into the configuration space. The method presented here builds on a problem formulation as a mixed-integer program considering time-varying constraints resulting from moving obstacles, as well as state and input constraints depending on the region of the work space. The method is applied to a two-link robot with static and moving obstacles and is evaluated for different situations.

关键词： Path planning Linear programming Orbital robotics Intelligent robots Dynamic programming Trajectory Collision avoidance Motion planning Robotics and automation automatic control

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Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous Vehicles

Safety Assessment of Driving Behavior in Multi-Lane Traffic ...

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IEEE Intelligent Vehicles Symposium (IV)

作者： Matthias Althoff Olaf Stursberg Martin Buss Institute of Automatic Control Engineering (LSR) Technische Universitat Munchen Institute of Control and System Theory Dept. of Electrical Eng. University of Kassel

ISBN: (纸本)9781424435036

An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participants are computed based on dynamic models. The underlying algorithms have to be efficient as they need to provide a safety level of the currently planned path while the vehicle is in operation. In order to achieve the necessary efficiency of computation, the dynamics of traffic participants is abstracted into Markov-chains. The approach considers vehicle dynamics, interaction between traffic participants, and lane changes in multi-lane traffic.

关键词： Safety assessment Autonomous Vehicles Driver Behavior Multilane Traffic Lane changing Probability distribution Road traffic

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