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Asian control Conference

作者： Dinu Mihailescu-Stoica Frank Schrödel Jürgen Adamy Control Methods and Robotics Lab Technische Universität Darmstadt Darmstadt Germany IAV GmbH Chemnitz Germany

ISBN: (纸本)9781509015740;9781509015733

Robust PID controller synthesis for plants with unknown or slowly varying parameters is still an open topic. A novel method is presented allowing to exactly determine all stabilizing controller gains for systems with interval and affine parametric uncertainties. This leads to far less conservative stability areas, compared to existing methods which are based on over-bounding by interval polynomials. As a consequence, iterative searches containing robust synthesis and analysis are omitted, which greatly reduces the time and effort to find potential controller parameters as robust stability is already guaranteed. Additionally, due to the inherent decoupling at singular frequencies, no frequency grinding is needed. The proposed method is based on a combination of a modified Parameter Space Approach with results from robust test set theory.

关键词： Aerospace electronics Stability analysis Robustness Uncertainty Mathematical model Transfer functions control systems

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Optimal stationary synchronization of heterogeneous linear multi-agent systems

arXiv

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arXiv 2017年

作者： Bernhard, Sebastian Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universität Darmstadt Landgraf-Georg Str. 4 Darmstadt64283 Germany

In this paper, we address the output synchronization of heterogeneous linear networks. In the literature, all agents are typically required to synchronize exactly to a common trajectory. Here, we introduce optimal stationary synchronization (OSS) instead which permits non-zero steadystate synchronization errors. As a benefit, we are able to relax standard requirements. E.g., agents are allowed to participate in the network even when they usually cannot synchronize exactly. In addition, OSS enables agents to save input-energy by synchronizing within tolerable error-bounds. Our new method combines the synchronization of bounded exosystems with local infinite-time linear quadratic tracking (LQT). This results in an optimal balance of each agent's synchronization error versus its consumed input-energy. Moreover, we extend recent results in LQT such that the derived time-invariant optimal control guarantees that the synchronization error satisfies given strict bounds. All these aspects are demonstrated by an illustrative simulation example with a detailed analysis.93C05, 93C15, 93C35, 49K15 Copyright © 2017, The Authors. All rights reserved.

关键词： Synchronization

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Asymptotic stabilization of nonlinear systems using passivity indices

Asymptotic stabilization of nonlinear systems using passivit...

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2016 American control Conference, ACC 2016

作者： De Madeira, Diego S. Adamy, Jürgen Control Methods and Robotics Lab Technische Universität Darmstadt Darmstadt64283 Germany

ISBN: (纸本)9781467386821

This work presents a new controller design technique for asymptotic stabilization of nonlinear systems using passivity indices. The aforementioned indices measure the level of passivity of a system and we address the question of how to use this information to design a dynamic output feedback controller that stabilizes the closed-loop at a given equilibrium. As full state information is not always available for feedback, a measurable output has to be used. The main contribution of this paper consists of a systematic way of determining a stabilizing controller based on the passivity indices of the plant and on sum of squares (SOS) relaxations. A new method for determining the passivity indices of a nonlinear system in a domain of its state is presented as well. An example is provided in order to demonstrate the applicability of our strategy. Polynomial input-affine systems are considered. © 2016 American Automatic control Council (AACC).

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Output feedback control of rational nonlinear systems: A new approach based on passivity indices 55

Output feedback control of rational nonlinear systems: A new...

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55th IEEE Conference on Decision and control, CDC 2016

作者： De Madeira, Diego S. Adamy, Jurgen Control Methods and Robotics Lab Technische Universität Darmstadt Darmstadt64283 Germany

ISBN: (纸本)9781509018376

Recently, a new strategy for local analysis of passivity indices and its application for output feedback asymptotic stabilization of nonlinear systems was proposed [2]. Polynomial input-affine systems were considered and sum of squares (SOS) techniques were employed for estimating a domain in which the passivity indices are valid and stability is guaranteed. Though simple and useful, the method still demands improvements, as the estimates obtained can be quite conservative. In this context, this work applies the Finsler's Lemma and the notion of linear annihilators for enlarging the estimates of the aforementioned regions of attraction by reformulating the estimation problem as a polytopic LMI condition. In addition, we extended the results of [2] for the class of the rational nonlinear systems with possibly rational Lyapunov functions. Numerical examples are also provided in order to demonstrate the applicability of the method. © 2016 IEEE.

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Static output feedback: An LMI condition for stabilizability based on passivity indices

Static output feedback: An LMI condition for stabilizability...

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2016 IEEE Conference on control Applications, CCA 2016

作者： De Madeira, Diego S. Adamy, Jurgen Control Methods and Robotics Lab Technische Universität Darmstadt Darmstadt64283 Germany

ISBN: (纸本)9781509007554

This note deals with the static output feedback stabilization problem of linear time-invariant (LTI) systems, one of the most relevant open problems in the field of control theory. We present a new sufficient linear matrix inequality (LMI) condition to test stabilizability by static output feedback. The notion of passivity indices, as a measure of the level of passivity of a system, is employed. Unlike the methods currently available in the literature, our LMI condition is non iterative and does not rely on similarity transformations, allowing for a straightforward determination of a constant feedback gain that asymptotically stabilizes the closed-loop. We also provide numerical examples of our strategy in order to demonstrate its applicability in different scenarios. © 2016 IEEE.

关键词： Linear matrix inequalities

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Static Output Feedback: An LMI Condition for Stabilizability Based on Passivity Indices

Static Output Feedback: An LMI Condition for Stabilizability...

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IEEE Multi-Conference on Systems and control

作者： Diego de S. Madeira Jurgen Adamy Control Methods and Robotics Lab Technische Universitat Darmstadt

ISBN: (纸本)9781509007561

关键词： Output feedback Linear systems Nonlinear systems Linear matrix inequalities Iterative methods Indexes

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Flow-Decoupled Normalized Reprojection Error for Visual Odometry

Flow-Decoupled Normalized Reprojection Error for Visual Odom...

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IEEE International Conference on Intelligent Transportation Systems

作者： Martin Buczko Volker Willert Control Methods and Robotics Lab TU Darmstadt Germany

ISBN: (纸本)9781509018901

In this paper, we present an iterative two-stage scheme for precise and robust frame-to-frame feature-based ego-motion estimation using stereo cameras. We analyze the characteristics of the optical flows and reprojection errors that are independently induced by each of the decoupled six degrees of freedom motion. As we will show, the different characteristics of these induced optical flows lead to a reprojection error that depends on the coordinates of the features. When using a proper normalization of the reprojection error, this coordinate-dependency can be almost completely removed for decoupled motions. Furthermore, we present a way to use these results for automotive application where rotation and forward motion arc coupled. This is done by compensating for the flow that is induced by the rotation, which decouples the translation flow from the overall flow. The resulting method generalizes the ROCC approach [4], where a robust outlier criterion was introduced and proved to increase robustness and quality for large forward translation motions. Therewith the proposed method generalizes ROCC to almost all possible automotive motions. The performance of the method is evaluated on Kitti benchmark and currently2 reaches the best translation error of all camera-based methods.

关键词： Adaptive optics Optical variables measurement Visualization Estimation Optical imaging Measurement uncertainty Feature extraction

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Asymptotic stabilization of nonlinear systems using passivity indices

Asymptotic stabilization of nonlinear systems using passivit...

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American control Conference

作者： Diego de S. Madeira Jurgen Adamy Control Methods and Robotics Lab Technische Universitat Darmstadt 64283 Germany

ISBN: (纸本)9781467386838

关键词： Nonlinear systems Asymptotic stability Output feedback Stability criteria Testing Indexes Nonlinear systems Output feedback Stability criteria Passivity asymptotic stability region Indexes

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Transmission cost-sharing in multi-supplier power grid

Transmission cost-sharing in multi-supplier power grid

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IEEE International Conference on Smart Energy Grid Engineering (SEGE)

作者： Ivan Popov Alexander Krylatov Victor Zakharov TU Darmstadt Control Methods and Robotics Lab Germany Saint Petersburg State University Russia

Ever-increasing energy consumption and growing penetration of renewable energy sources stimulate the development of new power grid models and architectures. Since the decentralization of power grids causes the unreliability of power supply, it is crucial to switch to a production-oriented consumption in order to provide the stability of a grid. Power flows in a grid are distributed according to Kirchhoff's laws and use multiple parallel lines in circuitous routes. Once the profile of energy injections and withdrawals is fixed, the values of load current flows can be defined over the network. Generally, it is not possible to directly determine the accordance between the energy contracts and the loop flows that contribute to the total congestion in network links. In this work, we describe a multi-supplier power grid model. Then we formulate a nonlinear minimization problem which solution gives a flow distribution fulfilling Kirchhoff's laws. Finally, we introduce a cost-sharing technique for finding individual transmission costs.

关键词： Contracts Kirchhoff's Law Power grids Transportation Generators Electric potential Optimization

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Probabilistic, Discriminative Maneuver Estimation in Generic Traffic Scenes using Pairwise Probability Coupling

Probabilistic, Discriminative Maneuver Estimation in Generic...

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IEEE International Conference on Intelligent Transportation Systems

作者： Stefan Klingelschmitt Volker Willert Julian Eggert Control Methods and Robotics Lab Technische Universitat Darmstadt Honda Research Institute Europe GmbH

ISBN: (纸本)9781509018901

Future advanced driver assistance systems as well as autonomous vehicles are expected to further increase their areas of applicability. Reliable maneuver estimations are a prerequisite for many of the intended functionalities. Accordingly, maneuver estimation systems need to cover a wide range of scenarios. The majority of recently presented approaches are targeted at fixed scenarios. However, having specialized maneuver estimation systems covering each possible scenario is unrealistic. Therefore, we present an approach for tackling discriminative maneuver estimations in generic traffic scenes. It is based on reusable, partial classifiers that are combined online using a technique called pairwise probability coupling. As a result we are able to make discriminative maneuver estimations in generic traffic scenes. The benefits and applicability are presented on inner-city real-world data sets. Our evaluation indicates that the assembled probabilistic maneuver estimation is not only able to outperform generative models;it surpasses the performance of specially designed models due to the reduced complexities of the partial classifiers.

关键词： Probability advanced driver assistance systems (ADAS) Traffic Autonomous Vehicles Pairwise Classifiers

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