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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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Sensor parametrisation and blending: A group theoretic approach 9

Sensor parametrisation and blending: A group theoretic appro...

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

作者： Szabó, Z. Balas, G. Gáspár, P. Bokor, J. Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 Budapest Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 107 Akerman Hall 110 Union St SE MinneapolisMN55455 United States Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Hungary

Sensors play an important role in the control loop. Often they are considered to be a part of the plant and the interaction between the plant and sensor is disregarded. In this paper we investigate stability properties of the control loop when this interface is considered explicitly from an input/output perspective. Making the assumption that the sensor is stable, we provide a Youla type characterisation of all the sensors that renders the loop stable for a fixed plant and controller. When none of the sensors can provide the necessary performance it is time for sensor blending or a sensor reconfiguration. The simplest form of sensor fusion, i.e., a linear combination of the sensors, does not preserve stability of the control loop, in general. In order to design efficient algorithms that operate on the set of controllers or a set of sensors that fulfil a given property, e.g., stability or a norm bound, it is important to have an operation that preserves that property, i.e., a suitable blending method. This paper places the sensor blending problem in a more general context: an operation on stable sensors is given under which feedback stability is preserved and under which sensors form a group, the sensor group. Under the action of this group operation changes in different sensitivities can be also expressed in explicit terms. These results can be applied in the analysis and synthesis of schemes with sensor reconfiguration. © 2015, IF AG (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Blending

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Sensor parametrization and the sensor group

Sensor parametrization and the sensor group

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Mediterranean Conference on control and Automation (MED)

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

While sensors play an important role in the control loop, in practice they often are considered to be a part of the plant and the explicit interaction between the plant and sensor is disregarded in the further considerations. Based on an input/output perspective, this paper investigates the internal stability property of the control loop when this interface is considered explicitly. As a main result of the paper, we provide a Youla type characterization of all the sensors that renders the loop stable for a fixed plant and controller.

关键词： Sensitivity Feedback loop Stability criteria Optimization Linear systems Complexity theory Sensor fusion

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controller blending - a geometric approach

Controller blending - a geometric approach

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European control Conference

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

ISBN: (纸本)9781467371605

In order to design efficient algorithms that work on the set of controllers that fulfill a given property, e.g., stability or a norm bound, it is important to have an operation that preserves that property, i.e., a suitable blending method. While available approaches use the Youla parameters in order to define this operation for stability in a trivial way, they do not provide a general answer to the problem. This paper places the controller blending problem in a more general setting by pointing to the basic global geometric structures that are related to feedback stability or suboptimal H_∞ design. A detailed analysis is given for feedback stability: an operation is given under which well-posedness is a group while stability is a semigroup. Moreover, an operation is given that makes controllers with strongly stable property a group.

关键词： Geometry Stability analysis Aerospace electronics Transforms Algebra control theory Feedback loop

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Blending for H∞ performance: a group theoretic approach

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IFAC-PapersOnLine 2015年第14期48卷 186-191页

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

In order to design efficient algorithms that work on the set of controllers that fulfill a given property, e.g., stability or a norm bound, it is important to have an operation that preserves that property, i.e., a suitable blending method. Concerning stability, a traditional approach is to use the Youla parametrization and the corresponding parameters as a starting point. While this method guarantees stabilizability as the invariant property for the fairly large class of strictly proper plants, there are also other solutions to the problem. The authors already provide a detailed analysis for feedback stability placing the controller blending problem in a general setting by pointing to the basic global geometric structures that are related to well-posedness and feedback stability. In this paper these efforts are continued and the group structure corresponding to performance problems, e.g., those related to a suboptimal H ∞ design, is presented. Besides its educative value the presentation provides a possible tool for the algorithmic development.

关键词： controller parametrisation controller blending performance guarantee

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Improvement of the LPV-based vehicle control design considering the polynomial invariant set analysis

Improvement of the LPV-based vehicle control design consider...

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American control Conference

作者： Balazs Nemeth Peter Gaspar Jozsef Bokor Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Hungary Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Hungary

ISBN: (纸本)9781479917730

The paper proposes a method for the improvement of the LPV (Linear Parameter-Varying) based control design for lateral vehicle dynamics. The novelty of the method is the combination of the LPV-based control design and the results of the analysis based on the Sum-of-Squares-based (SOS) polynomial controlled invariant set. In the LPV modeling of the lateral vehicle dynamics, the control design and the analysis of the polynomial model of the tire characteristics are also handled. The results of the analysis based on controlled invariant set are integrated in the selection of the design parameters of the LPV method. The proposed method improves performances of vehicle dynamics and handles the critical maneuvers caused by e.g. skidding car and high velocities. The proposed method is illustrated through a simulation example.

关键词： Vehicle dynamics design control design parameter Invariant Vehicle control Polynomial Models Polynomial

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Look-ahead cruise control design in VISSIM simulation environment

Look-ahead cruise control design in VISSIM simulation enviro...

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International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)

作者： András Mihály Balázs Németh Zsuzsanna Bede Péter Gáspár MTA-BME Control Engineering Research Group Budapest University of Technology and Economics Magyar Tudomanyos Akademia Budapest Budapest HU Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group

The paper deals with the design of individual vehicle speed, taking into account the topographical characteristics of the road, the speed limit and the current traffic conditions. The look-ahead speed selection algorithm is implemented in microscopic traffic simulation environment V ISSIM u sing COM interface and MATLAB programming. The proposed look-ahead control is tested and analyzed on one of main transportation roads in Hungary namely between Tatabánya and Györ. The main novelty of the paper is the implementation of the look-ahead control in a realistic traffic environment, where the benefits of the method can be tested during different traffic conditions.

关键词： Vehicles Roads Acceleration Microscopy

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Generalization of the observer principle for YOULA-Parametrized regulators

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2015年 330卷 41-47页

作者： Keviczky, László Bányász, Csilla Hungarian Academy of Sciences Computer and Automation Research Institute MTA-BME Control Engineering Research Group H-1111 Budapest Kendeu 13-17 Hungary

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Design of look-ahead cruise control using road and traffic conditions

Design of look-ahead cruise control using road and traffic c...

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American control Conference

作者： Peter Gaspar Balazs Nemeth Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781479917730

The purpose of the look-ahead control is to design the speed of a vehicle in order to minimize longitudinal control energy while keeping travelling time and, moreover, considering topographic data and speed limits along the road. The paper proposes the extension of the control design with local traffic information in such a way that a balance between the designed speed and the traffic flow is guaranteed. A method has been elaborated for the design of a decision algorithm for lane-change maneuvers based on the consideration of surrounding vehicles. The method is illustrated through a complex simulation example based on the CarSim software.

关键词： Road CRUISE control design control Traffic flow Traffic Lane changing Speed limit Traffic information vehicle LONGITUDINAL control local traffic Power control

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How the Sensitivity Measures can be Computed for Different Youla Regulators

How the Sensitivity Measures can be Computed for Different Y...

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International Conference on Cybernetics and Intelligent Systems

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

Different sensitivity measures are investigated for YOULA-parameterized regulators and the influence of a new observer topology is treated

ISBN: (纸本)9781467373395

Different sensitivity measures are investigated for YOULA-parameterized regulators and the influence of a new observer topology is treated

关键词： Youlaparameterization Youla regulator sensitivity observer state-feedback model error

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