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Set-Based Actuator Reconfguration Analysis for the Integrated control of Lateral Vehicle Dynamics

IFAC-PapersOnLine 2015年第21期48卷 368-373页

作者： Gaspar, Péter Németh, Balázs 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

The paper proposes a set-based analysis of steering and braking actuator integration in order to improve the reconfguration 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 reconfgurable 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 signifcantly 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 reconfguration strategy is illustrated through various vehicle manoeuvres. © 2015

关键词： Actuators

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Feedback stabilization: a group theoretic approach

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IFAC-PapersOnLine 2016年第9期49卷 146-151页

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

In order to design efficient algorithms that work on the set of controllers that fulfill a given property, e.g., stability, it is important to have an operation that preserves that property i.e., a suitable blending method. In this paper we show that one can define a special blending that preserves stability and it is defined directly in terms of the plant and controller, without the necessity to use any factorization. Moreover, as an interesting side effect of these investigations, an operation is given that leaves invariant the strongly stabilizing controllers and defines a group structure on them, too. The properties of the newly defined operation are illustrated through the special case of static state feedback controllers. Besides its educative value the presentation also provides a possible tool for the algorithmic development. © 2015

关键词： group theory Blending controllers Nonlinear control systems Plants (botany) State feedback Feedback stabilization group structure Parametrisation Side effect Stabilizing controllers Static state feedback

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Design of low confict cruise control for safety critical vehicle interactions

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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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control Lyapunov function based feedback design for quasi-polynomial systems

Control Lyapunov function based feedback design for quasi-po...

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9th IFAC Symposium on Nonlinear control Systems, NOLCOS 2013

作者： Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9783902823472

The aim of this work is to present an entropy-like Lyapunov function based dynamic feedback design technique for quasi-polynomial and Lotka-Volterra systems. It is shown, that the dynamic feedback design problem is equivalent to the feasibility of a bilinear matrix inequality. The problem is also formulated as a control Lyapunov function based feedback design when the Lyapunov function parameters are given, the solution of this problem can be obtained by solving a linear matrix inequality. The developed method is illustrated on a simple numerical example. © IFAC.

关键词： Design

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On an LQ control problem anomaly and a possible solution

On an LQ control problem anomaly and a possible solution

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IASTED International Conference on control and Applications, CA 2012

作者： Keviczky, László Bokor, József Computer and Automation Research Institute of the Hungarian Academy of Sciences Control Engineering Research Group of the HAS Department of Automation and Applied Informatics Kende u 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9780889869226

The specific relationships between the classical pole-placement state feedback, the RICCATI equation based LQ paradigm and the KALMAN frequency domain approach are discussed. It is shown that arbitrary pole placement is not possible by standard LQ optimality. A possible solution of this anomaly is to use more general LQ criterion with specific weights on the state, input and crossterm.

关键词： State feedback

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Contrastive Conditional Adversarial Autoencoder with Class-specific Forces for Imbalanced Open-set Fault Detection

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IEEE Transactions on automation Science and engineering 2025年 22卷 15757-15767页

作者： Zuo, Zhonglin Meng, Tao Li, Zheng Zhang, Hao Liu, Tong Chen, Zhansheng Pang, Zhibo Zhejiang University College of Control Science and Engineering Hangzhou 310027 China Zhejiang University School of Aeronautics and Astronautics Hangzhou 310027 China Hainan Institute of Zhejiang University Sanya 572025 China Chongqing University School of Automation Chongqing 400044 China University of Sheffield Department of Computer Science Sheffield S1 4DP United Kingdom Shanghai Aerospace Space Technology Co. Ltd Shanghai 201109 China ABB Corporate Research Sweden Department of Automation Technology Vasteras Sweden KTH Royal Institute of Technology Department of Intelligent Systems Stockholm Sweden

In real-world industrial scenarios, fault detection faces the widely recognized challenge of data imbalance, which not only refers to the scarcity of fault data but also includes the imbalance in healthy data. This article is concerned with imbalanced open-set fault detection (IOSFD), a practical yet challenging scenario in industrial applications where multiple healthy operating conditions and multiple fault types are imbalanced. In this article, we propose a new contrastive conditional adversarial autoencoder for IOSFD. It constructs an end-to-end unified model based on multi-class known healthy and faulty data to address the reliance of traditional methods on fault samples, while optimizing with class-specific weighted forces to ensure equal attention to imbalanced known classes. Input and feature reconstruction conditioned on operating modes are utilized to learn a compact decision plane and achieve both unknown fault detection and known data classification. Significantly, we formulate the optimization objective of conditional reconstruction based on contrastive learning and introduce adversarial training to further enhance the model’s performance. The effectiveness of the proposed method is validated through real-world pipeline leak detection and Tennessee-Eastman multi-fault detection. © 2004-2012 IEEE.

关键词： class-specific weighting conditional autoencoder contrastive learning imbalanced data Open-set fault detection

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Optimization of the modeling loss contributing to the sensitivity function

Optimization of the modeling loss contributing to the sensit...

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IASTED International Conference on control and Applications, CA 2012

作者： Bányász, Csilla Keviczky, László Computer and Automation Research Institute of the Hungarian Academy of Sciences Control Engineering Research Group of the HAS Department of Automation and Applied Informatics Kende u 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9780889869226

The control error in a generic two-degree of freedom (TDOF) control system can be decomposed into three major parts: design-, realizability- and modeling-loss. This new decomposition opens useful ways for practical optimization of TDOF systems and helps the construction of new algorithms for robust identification and control. The paper investigates the optimality of the third term.

关键词： Degrees of freedom (mechanics)

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Feedback stabilization: from geometry to control

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IFAC-PapersOnLine 2017年第1期50卷 1798-1804页

作者： Szabó Z. Bokor J. Vámos T. Institute for Computer Science and Control Hungarian Academy of Sciences Hungary Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Hungary

Youla parametrization of stabilizing controllers is a fundamental result of control theory: starting from a special, double coprime, factorization of the plant provides a formula for the stabilizing controllers as a function of the elements of the set of stable systems. In this case the set of parameters is universal, i.e., does not depend on the plant but only the dimension of the signal spaces. Based on the geometric techniques introduced in our previous work this paper provides an alternative, geometry based parametrization. In contrast to the Youla case, this parametrization is coordinate free: it is based only on the knowledge of the plant and a single stabilizing controller. While the parameter set itself is not universal, its elements can be generated by a universal algorithm. Moreover, it is shown that on the parameters of the strongly stabilizing controllers a simple group structure can be defined. Besides its theoretical and educative value the presentation also provides a possible tool for the algorithmic development. © 2017

关键词： controller blending controller parametrisation stability guarantee

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Dynamical modeling and identification of a GnRH neuron

Dynamical modeling and identification of a GnRH neuron

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作者： Csercsik, Dávid Szederkényi, Gábor Hangos, Katalin M. Farkas, Imre Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Endocrine Neurobiology Institute of Experimental Medicine HAS Budapest Hungary

ISBN: (纸本)9783902661494

GnRH neurons, as key elements of the reproductive neuroendocrine system, have important central regulating role in the dynamics of the hormonal cycle. A Hodgkin-Huxley type neural model is proposed in this paper, that takes into account up-to-date biological literature data related to ion channels. The proposed neuron model is highly nonlinear in parameters and the evaluation of the objective function is computationally flexpensive, therefore the asynchronous parallel pattern search (APPS) procedure has been used for identification. The model with high number of estimated parameters provides a qualitatively good fit of both voltage clamp and current clamp traces. © 2009 IFAC.

关键词： Neurons

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