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Time-Optimal Nonlinear Model Predictive control for Radar-based Automated Parking

IFAC-PapersOnLine 2022年第14期55卷 34-39页

作者： Christopher Diehl Artemi Makarow Christoph Rösmann Torsten Bertram TU Dortmund University Institute of Control Theory and Systems Engineering 44227 Dortmund Germany

Motion planning and control are crucial components for automated vehicles. Especially in parking scenarios, high precision is required due to the small distances to obstacles. Common approaches utilize ultrasonic or camera sensors. This paper presents a radar-based system architecture for automated parking, which can operate more robustly under difficult weather conditions. Moreover, this work develops a unified planning and control framework based on nonlinear model predictive control. Real vehicles often exhibit dynamic behavior that the commonly used kinematic bicycle model does not represent. Therefore, the paper at hand proposes an extended model, which rests upon a systematic analysis of the test vehicle's dynamics for the low-velocity range. Experiments in simulation and on real-world data show the efficiency of the approach and the importance of the extended vehicle dynamics modeling for closed-loop control.

关键词： automated driving predictive control trajectory planning obstacle avoidance perception radar

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Multi-Object Tracking based on Imaging Radar 3D Object Detection

arXiv

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arXiv 2024年

作者： Palmer, Patrick Krüger, Martin Altendorfer, Richard Bertram, Torsten TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Koblenz56070 Germany

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for detecting and tracking surrounding traffic participants is the combination of a learning-based object detector with a classical tracking algorithm. Learning based object detectors have been shown to work adequately on lidar and camera data, while learning based object detectors using standard radar data input have proven to be inferior. Recently, with the improvements to radar sensor technology in the form of imaging radars, the object detection performance on radar was greatly improved but is still limited compared to lidar sensors due to the sparsity of the radar point cloud. This presents a unique challenge for the task of multi-object tracking. The tracking algorithm must overcome the limited detection quality while generating consistent tracks. To this end, a comparison between different multi-object tracking methods on imaging radar data is required to investigate its potential for downstream tasks. The work at hand compares multiple approaches and analyzes their limitations when applied to imaging radar data. Furthermore, enhancements to the presented approaches in the form of probabilistic association algorithms are considered for this task. © 2024, CC BY.

关键词： Object detection

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Robust Sliding Mode Adaptive Dynamic Programming control for Partially Unknown Second-order Nonlinear Systems

Robust Sliding Mode Adaptive Dynamic Programming Control for...

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第43届中国控制会议

作者： Tao Huang Hongqian Lu Yefeng Yang Xianlin Huang Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Aeronautical and Aviation Engineering the Hong Kong Polytechnic University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper introduces a novel robust cost function for the ADP algorithm to suppress the impact of the disturbance for partially unknown second-order nonlinear systems. The sliding mode control is employed to design the cost function, which thereby enhances the performance of the closed-loop system. Furthermore, an offline disturbance compensator is proposed to further improve the robustness of the system. Subsequently, the trajectory of the entire closed-loop system is proved to be uniformly ultimate bounded(UUB) in a Lyapunov sense. Sufficient simulations are conducted to verify the effectiveness and superiority of the proposed method.

关键词： Sliding mode control Adaptive dynamic programming Robust cost function Disturbance compensator

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Parameter Optimization for a Quadrotor System with External Disturbance and Uncertainty via Reinforcement Learning

Parameter Optimization for a Quadrotor System with External ...

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第43届中国控制会议

作者： Yefeng Yang Xiaojun Ban Hongqian Lu Tao Huang Xianlin Huang Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Aeronautical and Aviation Engineering the Hong Kong Polytechnic University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Parameter optimization is a crucial area within the field of control theory. This study introduces a novel framework based on reinforcement learning(RL) for controlling quadrotors. Initially, fast nonsingular terminal sliding mode control(FNTSMC) serves as the fundamental trajectory tracking controller for the quadrotor. Subsequently, fixed-time disturbance observers(FTDO) are employed to mitigate disturbances. Ultimately, an RL training framework is introduced to optimize the hyperparameters within the FNTSMCs. Extensive simulation and physical experiments are conducted to validate the efficacy and superiority of the proposed control framework.

关键词： Parameter optimization Reinforcement learning Quadrotor control Sliding mode control

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A Time-Delay Approach to Multi-Variable Extremum Seeking with Measurement Noise

A Time-Delay Approach to Multi-Variable Extremum Seeking wit...

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European control Conference (ECC)

作者： Xuefei Yang Bowen Zhao Emilia Fridman Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Electrical Engineering Tel-Aviv University Israel

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

For multi-variable static quadratic map, we present a time-delay approach to gradient-based extremum seeking (ES) with measurement noise, and provide a mean-square exponential ultimate boundedness (MSEUB) analysis. We consider the uncertain map where the Hessian matrix $H$ has a nominal known part and norm-bounded uncertainty, the extremum point belongs to a known ball, and the extremum value to a known interval. By applying a time-delay approach to the resulting stochastic ES system, we arrive at the neutral type time-delay system with stochastic perturbations. We further present the latter system as a retarded one and employ the variation of constants formula for the MSEUB analysis. Under the assumption that the upper bound of the 6th moment of the estimation error is a known arbitrarily large constant L, explicit condition in terms of simple scalar inequality depending on the bound L, tuning parameters and the intensity of measurement noise is established to guarantee the MSEUB analysis of the ES control systems. Example from the literature illustrates the efficiency of the new approach.

关键词： Estimation error Upper bound Uncertainty Perturbation methods Measurement uncertainty Europe White noise

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Flatness-based analysis and control design for 2 × 2 hyperbolic PDEs with nonlinear boundary dynamics

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IFAC-PapersOnLine 2022年第26期55卷 13-19页

作者： F. Woittennek A. Irscheid N. Gehring Institute of Automation and Control Engineering UMIT Tirol Hall in Tirol Austria Chair of Systems Theory and Control Engineering Saarland University Saarbrücken Germany Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Linz Austria

Distributed-parameter systems represented by linear one-dimensional 2 × 2 hyperbolic PDEs with nonlinear finite-dimensional differentially flat dynamics at one boundary and control acting linearly via the opposite boundary are considered. Flatness of the overall system, deduced from the flatness of the boundary system, allows for the parametrization of the systems solutions by the trajectory of a flat output. The state associated with this parametrization corresponds to the restriction of the flat-output trajectory to a compact interval. This state is intrinsically linked to a nonlinear hyperbolic controller form and associated with the original system variables by an invertible transformation. Moreover, it allows for immediate and constructive reachability analysis. State feedback for tracking a desired reference trajectory is achieved by choosing arbitrary stable closed-loop dynamics. A numerical example illustrates the control performance for different choices of the closed-loop dynamics.

关键词： hyperbolic system flatness reachability nonlinear controller form state feedback

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Inside Bridges: Autonomous Crack Inspection with Nano UAVs in GNSS-Denied Environments

Inside Bridges: Autonomous Crack Inspection with Nano UAVs i...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： David Müller Patrick Herbers Raphael Dyrska Firdes Çelik Markus König Martin Mönnigmann Automatic Control and Systems Theory Ruhr-Universität Bochum Germany Computing in Engineering Ruhr-Universität Bochum Germany

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Detecting damage to bridges is essential for safety and financial reasons. We focus on inspections inside bridges and claim Unmanned Aerial Vehicles (UAVs) are ideally suited to assist inspections of hard-to-reach areas. Using UAVs in narrow indoor environments imposes constraints on the size of the UAV. While small UAVs are attractive for their agility and reduced risks associated with them, the need to carry cameras and sensors results in a lower bound on thrust and thus UAV and rotor size. Moreover, position and orientation control is particularly demanding inside bridges because satellite navigation is not available. To address these challenges, we implement a nano UAV that is capable of analyzing camera data for cracks with a machine learning model. UAV position is tracked with inertial measurement units, an optical flow, and a laser-based range sensor.

关键词： Bridges Satellites Robot vision systems Rotors Position control Inspection Autonomous aerial vehicles Cameras Satellite navigation systems Safety

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RISense: 6G-Enhanced Human Activity Recognition System with RIS and Deep LDA 25

RISense: 6G-Enhanced Human Activity Recognition System with ...

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25th IEEE International Conference on Mobile Data Management, MDM 2024

作者： Rizk, Hamada Hashima, Sherief Osaka University Graduate School of Information Science and Technology Suita565-0871 Japan Tanta University Computer and Control Engineering Department Tanta31733 Egypt RIKEN-AIP Computational Learning Theory Team Fukuoka819-0395 Japan Egyptian Atomic Energy Authority Engineering Dept Cairo13759 Egypt

ISBN: (纸本)9798350374551

Human Activity Recognition (HAR) systems hold great potential in aiding disabled and elderly individuals to live independently. Various approaches have been suggested for identifying human activities, including sensors, cameras, wearables, and contactless microwave sensing. This latter method is gaining significant attention due to its ability to address privacy concerns arising from cameras and alleviate discomfort caused by wearables. However, current microwave sensing techniques have a key limitation, requiring controlled and ideal conditions to achieve accurate activity detection. In this paper, we propose RISense, a deep learning-aided system for HAR using Re-configurable Intelligent Surface (RIS). RISense introduces novel modules designed to generate a human activity representational space that ensures separability between activity classes, even in the presence of noisy and distorted Channel State Information (CSI) measurements. These representations are then fed into a Recurrent Neural Network (RNN), which learns the sequential changes in features to accurately estimate the user activity. The evaluation of RISense across two realistic settings, encompassing both non-line-of-sight and multi-floor scenarios, showcases its efficacy. Specifically, RISense achieves an activity recognition accuracy of 98.7%. This performance overcomes the accuracy of state-of-the-art systems by over 15%. These findings highlight the superior efficacy of the proposed methodologies, including integrating RIS and advanced learning techniques. © 2024 IEEE.

关键词： Channel state information

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A multi-directional controllable multi-scroll conservative chaos generator:Modelling,analysis,and FPGA implementation

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Chinese Physics B 2021年第2期30卷 232-239页

作者： En-Zeng Dong Rong-Hao Li Sheng-Zhi Du Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems Tianjin University of TechnologyTianjin 300384China Department of Electrical Engineering Tshwane University of TechnologyPretoria 0001South Africa

Combing with the generalized Hamiltonian system theory,by introducing a special form of sinusoidal function,a class of n-dimensional(n=1,2,3)controllable multi-scroll conservative chaos with complicated dynamics is *** dynamics characteristics including bifurcation behavior and coexistence of the system are analyzed in detail,the latter reveals abundant coexisting ***,the proposed system passes the NIST tests and has been implemented physically by *** to the multi-scroll dissipative chaos,the experimental portraits of the proposed system show better ergodicity,which have potential application value in secure communication and image encryption.

关键词： multi-directional controllable multi-scroll conservative chaos coexisting flows field programmable gate array(FPGA)

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Input saturation control of manipulator based on fully actuated system approach

Input saturation control of manipulator based on fully actua...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Yongqiang Xiao Guangbin Cai Mingzhe Hou Department of Missile Engineering Rocket Force University of Engineering Xi’an China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

A control strategy based on fully actuated system approach is proposed for the manipulator system with input saturation. By introducing a smooth hyperbolic tangent function to approximate the saturation function, the original system is transformed into a smooth system. The complex differential operation is converted into algebraic operation by introducing a first-order low-pass filter. By designing an adaptive law, the uncertainty of the system model is effectively estimated. Based on fully actuated system approach, the controller for the manipulator system is directly designed, which eliminates the step of converting the original second-order strict feedback system into a first-order strict feedback system, reduces the steps of controller design, lowers the complexity of algorithm design, and effectively avoids the "differential explosion" problem. The Lyapunov stability theory is used to prove that all signals in the closed-loop system are uniformly ultimately bounded. Finally, numerical simulations of the manipulator system are performed to verify the effectiveness of the proposed method.

关键词： Adaptation models Uncertainty Adaptive systems Low-pass filters Manipulators Numerical simulation Explosions

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