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Design of low confict cruise control for safety critical vehicle interactions

IFAC-PapersOnLine 2015年第21期48卷 1186-1191页

作者： Németh, Balázs Gaspar, Péter Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Budapest Hungary

In the paper a speed profle design strategy to avoid safety conficts in vehicle interactions is proposed. A fault-tolerant strategy for an intersection scenario is presented, which handles the malfunction of the trafc control elements, such as trafc lights. The signals obtained from the road and vehicles in the trafc are handled jointly with the dynamic equations of the vehicle and built into the control design of speed. The look-ahead cruise control method is able to guarantee safety and fnd an energy-efcient solution with the incorporation of road grade and speed limits. The efciency of the method is demonstrated through simulation examples. © 2015

关键词： Roads and streets

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Null-space computation for qLPV systems

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IFAC-PapersOnLine 2015年第26期48卷 170-175页

作者： Szabó, Z. Péni, T. Bokor, J. Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 Budapest Hungary MTA-BME Control Engineering Research Group. Institute for Computer Science and Control Hungarian Academy of Sciences Hungary

Computation of the nullspace of a quasi linear parameter varying system (qLPV) bears significant importance in several fields of control theory, such as fault detection design or reconfigurable control design. While for linear time invariant systems computation of the stable nullspaces can be efficiently handled based on matrix pencil techniques, for more general cases, such as qLPV systems, such algorithms are not available. The paper provides a general scheme for the construction of the stable nullspaces that can be followed not only for dynamic (LTI, LTV, qLPV) systems but also in the case of memoryless, parameter varying matrices. The reliability of the proposed method for practical computations is also discussed. The algorithm is illustrated through small examples. © 2015 IPAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Matrix algebra Computation theory Computational efficiency Fault detection Invariance Linear systems Time varying control systems Linear time invariant systems LPV systems Matrix pencil Memoryless Null space Quasi linear Reconfigurable control

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Globally stabilizing state feedback control design for Lotka-Volterra systems based on underlying linear dynamics

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IFAC-PapersOnLine 2015年第11 11期48卷 1000-1005页

作者： Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Egyetem street 10. Veszprém H-8200 Hungary Process Control Research Group Control and Automation Research Institute HAS Kende street 13-17 BudapestH-1111 Hungary

Using translated X-factorable phase space transformations and nonlinear variable transformations a dynamically similar linear ODE model is associated to the Lotka-Volterra system models with a positive equilibrium point. This enables to use a linear full state feedback controller to stabilize the system in controllable cases, that leaves the open loop equilibrium point unchanged. The linear state feedback controller design problem in the general case has also been formulated to ensure the compartmental property of the closed loop system from which the existence of a diagonal Lyapunov function follows. Further extension has been obtained by using the time re-parametrization transformation defined for quasi-polynomial models. © 2015

关键词： Mathematical transformations Biological systems Closed loop systems controllers Feedback control Linear transformations Lyapunov functions Phase space methods Polynomial approximation Predator prey systems State feedback Diagonal Lyapunov functions Linear state feedback Lotka Volterra models Lotka Volterra systems Nonlinear variables Phase space transformation Positive equilibrium Quasi poly nomial

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Robust Reconfgurable control for In-wheel Electric Vehicles

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IFAC-PapersOnLine 2015年第21期48卷 36-41页

作者： Gaspar, Péter Bokor, József Mihály, András Szabó, Zoltán Fülep, Timea Szauter, Ferenc Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Research Center of Vehicle Industry Széchenyi István University Gyôr Hungary

The paper presents a fault tolerant reconfgurable control method for vehicles driven by four in-wheel electric motors and a steering system. The aim of the design is to realize robust velocity and road trajectory tracking even under challenging driving conditions or actuator failures. The vehicle is operated solely with the in-wheel motors, thus steering intervention is only applied in case of skidding or a failure of an electric motor. The reconfgurable control is realized based on Linear Parameter Varying (LPV) framework, using the specifc characteristics of the in-wheel motors of fast and accurate torque control. The operation of the designed control system is demonstrated in a CarSim simulation environment. © 2015

关键词： Robust control

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Reducing the Modeling Error by Observer Based PID Regulators for a Class of Factorable Nonlinear Plants

Reducing the Modeling Error by Observer Based PID Regulators...

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作者： Keviczky, L. Bányász, Cs. Institute of Computer Science and Automation MTA-BME Control Engineering Research Group Hungarian Academy of Sciences H-1111 Budapest Kende u 13-17 Hungary

A PID regulator tuning method is introduced for HAMMERSTEIN and WIENER type block-oriented cascade factorable nonlinear models. Then the YOULA-parameterization approach is discussed which allows to develop an observer... 详细信息

关键词： Proportional control systems

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Soil resistivity study and simulation with finite elements method

Soil resistivity study and simulation with finite elements m...

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IEEE International Conference on Environment and Electrical engineering

作者： Thiago Martins Pereira Rodrigo Alves de Lima Viviane Margarida Gomes Sóstenes Gutembergue Aylton José Alves Wesley Pacheco Calixto Electrical Mechanical & Computer Engineering School EMC Federal University of Goias UFG Experimental & Technological Research and Study Group NExT Federal Institute of Goias IFG Program in Electronic Systems and Automation PGEA University of Brasilia UnB

ISBN: (纸本)9781509023219

This work purpose is to study the influence of concrete buried structures in grounding systems. Comparison of soil characteristics between dry and rainy seasons and soil electrical behavior was carried out. Simulations in finite element method was performed for tree layer stratified soil and the electrostatic equipotential surfaces were mapped into the region of interest.

关键词： Grounding systems finite elements method climate seasonality

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Set-based actuator reconfiguration analysis for the integrated control of lateral vehicle dynamics 9

Set-based actuator reconfiguration analysis for the integrat...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Gáspár, Péter Németh, Balázs Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

The paper proposes a set-based analysis of steering and braking actuator integration in order to improve the reconfiguration strategy of lateral vehicle control. The purpose is to examine the improvement possibilities of the stabilization abilities through actuator integration. The results are applied to the theoretical basis of the actuator selection strategy in the reconfigurable control. In the analysis the computation method of the maximum controlled Invariant Sets based on the nonlinear Sum-of-Squares (SOS) programming is used. The analysis considers the nonlinear characteristics of the tyre, the velocity and the tyre-road conditions which significantly determine the stability regions in the lateral dynamics. Thus, the resulting sets provide information about the stabilization abilities of the actuators for the entire vehicle system. The examination of the integrated actuation in the reconfiguration strategy is illustrated through various vehicle manoeuvres. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Actuators

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Design of low conflict cruise control for safety critical vehicle interactions 9

Design of low conflict cruise control for safety critical ve...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Németh, Balazs Gaspar, Péter Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary

In the paper a speed profile design strategy to avoid safety conflicts in vehicle interactions is proposed. A fault-tolerant strategy for an intersection scenario is presented, which handles the malfunction of the traffic control elements, such as traffic lights. The signals obtained from the road and vehicles in the traffic are handled jointly with the dynamic equations of the vehicle and built into the control design of speed. The look-ahead cruise control method is able to guarantee safety and find an energy-efficient solution with the incorporation of road grade and speed limits. The efficiency of the method is demonstrated through simulation examples. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Roads and streets

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Attitude synchronization of multiple rigid bodies in SE(3) over proximity networks

Attitude synchronization of multiple rigid bodies in SE(3) o...

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第35届中国控制会议

作者： Juan Deng Zhixin Liu Lin Wang John S.Baras Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceCAS Department of Automation Shanghai Jiao Tong Universityand the Key Laboratory of System Control and Information ProcessingMinistry of Education Department of Electrical and Computer Engineering and the Institute for Systems Research University of MarylandCollege Park

ISBN: (纸本)9781509009107

This paper investigates the attitude synchronization of a group of moving rigid bodies whose states including positions and rotation matrices evolve in the Lie group SE(3).The commonly used circular neighborhood is adopted,and the neighbor graphs are described by proximity *** order to avoid introducing discussions on the abrupt changes of neighbor graphs,a dwell time is *** distributed sampled-data control law for the angular velocity is *** the assumptions on the initial states,we provide sufficient conditions for the attitude synchronization of multiple rigid body *** with the existing results,our condition depends only on the neighborhood radius,the moving velocity and the dwell time.

关键词： rigid body SE(3) attitude synchronization sampled-data control proximity network

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Guest Editorial for Special Issue on Cyber-Physical Systems

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 233-234页

作者： Youxian Sun Xinping Guan Jiming Chen Yilin Mo Zhejiang University the Chinese Academy of Engineering the Institute of Industrial Process Control and the National Engineering Research Center of Industrial Automation Zhejiang University Department of Automation Shanghai Jiao Tong University University Research Management Office Shanghai Jiao Tong University the Key Laboratory of Systems Control and Information Processing Ministry of Education of China the prestigious Innovative Research Team of the National Natural Science Foundation of China(NSFC) Department of Control Science and Engineering group of Networked Sensing and Control in the State Key laboratory of Industrial Control Technology Institute of Industrial Process Control at Zhejiang University the School of Electrical and Electronic Engineering at Nanyang Technological University

Ⅰ.Introduction CYBER-PHYSICAL system is a system of collaborating computational elements to control physical *** coordination and the tight link between computational,virtual and physical resources in cyber-physical system will have a pervasive effect on our everyday *** development of cyber-physical system will create new opportunities for the introduction of services that will enhance the quality of life

关键词： for WSAN Guest Editorial for Special Issue on Cyber-Physical Systems of into on WSN is

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