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American control Conference

作者： Simone Baldi Giorgio Valmorbida Antonis Papachristodoulou Elias B. Kosmatopoulos Delft Center for Systems and Control Delft University of Technology Delft 2628CD The Netherlands Department of Engineering Science Control Group University of Oxford Parks Road Oxford OX1 3PJ U.K. Dept. of Electrical and Computer Engineering Democritus University of Thrace Xanthi 67100 Greece and Informatics & Telematics Institute Center for Research and Technology Hellas (ITI-CERTH) Thessaloniki 57001 Greece

ISBN: (纸本)9781479917730

This work proposes a policy iteration procedure for the synthesis of optimal and globally stabilizing control policies for Linear Time Invariant (LTI) Asymptotically Null-controllable with Bounded Inputs (ANCBI) systems. This class includes systems with eigenvalues on the imaginary axis (possibly repeated) but no pole with positive real part. The proposed policy iteration relies on a class of piecewise quadratic Lyapunov functions which is non-differentiable, but continuous, and polynomial in both the state and the deadzone functions of the input signals. The second step of the policy iteration is based on a piecewise control policy improvement. An important aspect of the proposed piecewise policy is that at each step of the iteration the computed policy is globally stabilizing and the existence of an improving value function is guaranteed as well. The solution to the inequalities which is required to hold at each step of the policy iteration, is obtained by solving Sum-of-Squares Programs (SOSP) that can be efficiently implemented with semidefinite programming (SDP) solvers.

关键词： iterative methods Policies Piecewise control law synthesis Polynomial control strategy Liapunov function Bounded

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Stable ℋ∞ controller design based on a novel parameterization of the controller set

Stable ℋ∞ controller design based on a novel parameterizat...

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European control Conference (ECC)

作者： T. Péni Z. Szabó J. Bokor Institute for Computer Science and Control MTA-BME Control Engineering Research Group

This paper proposes a method for improving the LMI-based robust control synthesis. It is well-known that the design of a ℋ ∞ controller can be formulated as a two-step procedure. In the first step the performance level is minimized and the closed loop Lyapunov function is determined. The second step is the construction of the controller. The currently available implementations of this procedure generate only one controller candidate and leave no room for additional tuning between the design steps. If the controller obtained is not acceptable, (e.g. it is unstable) then the designer has to modify the original control problem (changing, e.g., the performance weighting functions) and then has to perform the entire synthesis again. This paper presents a novel parameterization of all controllers corresponding to the performance level and Lyapunov function determined in the first design step. This parameterizaton makes it possible to construct tuning algorithms for finding the “best” controller in the parameterized set. Now, this paper focuses only on the stability of the controller and provides an iterative tuning algorithm, which finds a stable controller having poles on the prescribed domain of the left half complex plane. The applicability of the proposed algorithm is demonstrated on a simple robust control problem.

关键词： Linear matrix inequalities Tuning Symmetric matrices Optimization Algorithm design and analysis Eigenvalues and eigenfunctions Output feedback

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Integrated robust control design for in-wheel-motor vehicles 35th

Integrated robust control design for in-wheel-motor vehicles

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35th FISITA World Automotive Congress, 2014

作者： Gáspár, Péter Bokor, József Szabó, Zoltán Fülep, Tímea Szauter, Ferenc András, Mihály Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary Systems and Control Laboratory MTA SZTAKI MTA-BME Control Engineering Research Group Budapest Hungary Research Center of Vehicle Industry Széchenyi István University Győr Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary

The paper proposes a multi-layer supervisory architecture for integrated control systems in road vehicles. The role of the supervisor is to coordinate active control components and provide priority among them. The supervisor has information about the current operational mode of the vehicle and it is able to make decisions about the necessary interventions into the vehicle components and guarantee the reconfigurable operation of the vehicle. The decisions of the supervisor are propagated to the lower layers through predefined interfaces encoded as suitable scheduling signals. The contribution of the paper is the application of the LPV methodology in a design case study in which an integrated control of four wheel independently-actuated electric vehicle with active steering system is developed. © 2014, FISITA. All rights reserved.

关键词： Robust control

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Distributed MPC for frequency regulation in multi-terminal HVDC grids 19

Distributed MPC for frequency regulation in multi-terminal H...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： McNamara, Paul Meere, Ronan O'Donnell, Terence McLoone, Seán Dynamics and Control Research Group Dept. Electronic Engineering NUI Maynooth Maynooth Kildare Ireland Electricity Research Centre Engineering and Materials Science Centre University College Dublin Belfield-Dublin 4 Ireland Energy Power and Intelligent Control Research Cluster School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast United Kingdom

ISBN: (纸本)9783902823625

High Voltage Direct Current (HVDC) lines allow large quantities of power to be transferred between two points in an electrical power system. A Multi-Terminal HVDC (MTDC) grid consists of a meshed network of HVDC lines, and this allows energy reserves to be shared between a number of AC areas in an efficient manner. Secondary Frequency control (SFC) algorithms return the frequencies in areas connected by AC or DC lines to their original setpoints after Primary Frequency controllers have been called following a contingency. Where multiple TSOs are responsible for different parts of a MTDC grid it may not be possible to implement SFC from a centralised location. Thus, in this paper a simple gain based distributed Model Predictive control strategy is proposed for Secondary Frequency control of MTDC grids which allows TSOs to cooperatively perform SFC without the need for centralised coordination. © IFAC.

关键词： Distributed MPC Multi-terminal HVDC Secondary Frequency control

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Hierarchical robust control for in-wheel motor vehicles 14

Hierarchical robust control for in-wheel motor vehicles

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14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2014

作者： Gáspár, Péter Bokor, József Szabó, Zoltán Fülep, Tímea Szauter, Ferenc Mihály, András Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-15 Budapest1111 Hungary Institute for Computer Science and Control MTA-BME Control Engineering Research Group Kende u. 13-15 Budapest1111 Hungary Research Center of Vehicle Industry Széchenyi István University Gyor9024 Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9789633131862

The paper proposes the design of an integrated vehicle control system for in-wheel electric vehicle, which is able to track road geometry with a predefined reference velocity. In the design the lateral and longitudinal dynamics are combined using the in-wheel motors and the steering system. The design methodology of the hierarchical control is proposed. The required control signals are calculated by applying high-level controllers, which are designed using a robust control method. For the control design the model is augmented with weighting functions specified by the performance demands. The actuators generating the necessary control signals in order to achieve the requirements for which low-level tracking controllers are designed.

关键词： Robust control

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A hyperbolic view on robust control

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IFAC Proceedings Volumes 2014年第3期47卷 718-723页

作者： Z. Szabó J. Bokor T. Vámos Institute for Computer Science and Control Hungarian Academy of Sciences Hungary (Tel: +36-1-279-6171 Institute for Computer Science and Control Hungarian Academy of Sciences Hungary MTA-BME Control Engineering Research Group

The intention of the paper is to demonstrate the beauty of geometric interpretations in robust control. We emphasize Klein's approach, i.e., the view in which geometry should be defined as the study of transformations and of the objects that transformations leave unchanged, or invariant. We demonstrate through the examples of the basic control tasks that a natural framework to formulate different control problems is the world that contains as points the equivalence classes determined by the stabilizable plants and whose natural motions are the Möbius transforms. Transformations of certain hyperbolic spaces put light into the relations of the different approaches, provide a common background of robust control design techniques and suggest a unified strategy for problem solutions. Besides the educative value a merit of the presentation for control engineers might be a unified view on the robust control problems that reveals the main structure of the problem at hand and give a skeleton for the algorithmic development.

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Synchronising second-order multi-agent systems under dynamic topology via reference model-based algorithm

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Journal of control and Decision 2014年第3期1卷 214-225页

作者： Jiahu Qin Huijun Gao Tasawar Hayat Fuad E.Alsaadi Department of Automation University of Science and Technology of ChinaHefeiChina Research School of Engineering Australian National UniversityCanberraAustralia Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbinChina Nonlinear Analysis and Applied Mathematics Group King Abdulaziz University(KAU)JeddahSaudi Arabia Faculty of Engineering Department of Electrical and Computer EngineeringKing Abdulaziz UniversityJeddahSaudi Arabia Department of Mathematics Quaid-I-Azam UniversityIslamabadPakistan

This paper revisits the synchronisation problem for second-order multi-agent systems(MASs)under dynamically changing communication *** employing the reference model-based synchronisation algorithm,it is finally shown that synchronisation for both the position and velocity states can be achieved if the union of the communication topologies has a directed spanning tree frequently *** extends the existing results obtained for second-order MASs which exploits mild communication topology condition guaranteeing the synchronisation to a more general *** analysis is successfully performed by exploiting the product properties of row-stochastic matrices,which can also provide us with an estimate the convergence rate towards the synchronisation.

关键词： synchronisation double-integrator agents weakest possible communication topology rate of convergence

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Design of a variable-geometry suspension system to enhance road stability

Design of a variable-geometry suspension system to enhance r...

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Mediterranean Conference on control and Automation (MED)

作者： Balázs Németh Balézs Varga Péter Gáspar Systems and Control Laboratory Hungarian Academy of Sciences Budapest Hungary Institute for Computer Science and Control MTA-BME Control Engineering Research Group Hungary

The paper proposes the design of a variable-geometry suspension system, which affects both steering by generating additional steering angle and wheel tilting by modifying the camber angle. The control system must guarantee various performances such as trajectory tracking, the reduction of the chassis roll angle and the minimization of half-track change. The control design is based on a two-step procedure. The performance specifications are met by a high-level control, in which the control input is a required signal. In the low-level control the actuator must track this signal by adjusting its current signal. The advantage of this modular design is that the actuator level does not affect the design of a highlevel control. The operation of the designed control system is illustrated through a simulation example.

关键词： Vehicles Suspensions Actuators control design Uncertainty Vehicle dynamics Wheels

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Combination of the observer principle with YOULA-parameterized regulators

Combination of the observer principle with YOULA-parameteriz...

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Mediterranean Conference on control and Automation (MED)

作者： Cs. Bányász L. Keviczky Computer and Automation Research Institute and MTA-BME Control Engineering Research Group of the Hungarian Academy of Sciences Kende u HUNGARY

ISBN: (纸本)9781479959020

An equivalent transfer function representation (TFR) is introduced to study the state-feedback/observer (SFO) topologies of control systems. This approach is used to explain why an observer can radically reduce even large model errors. Then the same principle is combined with Youla-parameterization (YP) introducing a new class of regulators.

关键词： Observers Mathematical model Regulators Equations Transfer functions Computational modeling Topology

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Abstracts from the 1st International Symposium on Decision Support in Anaesthesia and Intensive Care

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International journal of clinical monitoring and computing 2016年第1期14卷 49-68页

作者： D. Streifert N. Lutter E. Van der Vorst J. Mulier B. Schwilk U. Bothner R. Muche W. Friesdorf K. J. Ruskin A. F. de Geus G. E. Wiersma R. Huet H. Neuffer F. Fischer U. J. Christensen P. F. Jensen J. Jacobsen H. Ørding A. M. Brambrink V. Goel D. F. Hanley K. Becker H. D. Shaffner L. J. Martin N. V. Thakor R. C. Koehler R. J. Traystman M. Quintel M. Apin J. Martin M. Messelken R. Dieterle-Paterakis J. Hiller P. Milewski H. Gross U. Foehring N. Weiler B. Eberle W. Heinrichs W. Höltermann M. van Wickern D. M. Linton J. J. Ross D. G. Mason M. D. Pullman N. D. Edwards M. Doi R. J. Gajraj H. Mantzardis G. N. C. Kenny R. Markgraf G. Deutschinoff L. Pientka T. Scholten J. Maljers St. Walther A. Santevecci R. Ranieri Department of Anaesthesiology University of Erlangen-Nuernberg Erlangen Germany University Hospital Gasthuisberg B Leuven Belgium Department of Anaesthesiology University of Ulm Ulm Germany Yale University School of Medicine New Haven USA Department of Anesthesiology University Hospital Groningen RB The Netherlands Dept. Computer-Aided Circuit Design University of Erlangen-Nuernberg Erlangen Germany Dept. of Anaesthesiology Herlev Hospital University of Copenhagen Herlev Denmark Department of Anaesthesiology Johannes Gutenberg-University Medical School Mainz Germany The Johns Hopkins Medical Institution Baltimore USA Institut für Anästhesiolgie und operative Intensivmedizin Klinikum Mannheim Fakultät für klinische Medizin Universität Heidelberg Heidelberg Germany Department for Anaesthesiology and Intensive Care Medicine Hospital “Am Eichert” Goeppingen Germany Physikalisch-Technische Bundesanstalt Berlin Germany Klinik für Anaesthesiologie & Operative Intensivmedizin Klinikum Benjamin Franklin Freie Universitaet Berlin Berlin Germany Department of Anaesthesia and Intensive Care Medicine University Hospital Marburg Germany Medical Intensive Care Department of Medicine Hadassah Medical Organisation Jerusalem Israel Department of Anaesthetics University of Sheffield Northern General Hospital Sheffield UK Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK University Department of Anaesthesia HCI International Medical Centre Glasgow UK Department of Internal Medicine Allgemeines Krankenhaus für die Stadt Hagen University of Witten/Herdecke Witten Germany Plexus Medical Group Amsterdam Amsterdam The Netherlands Network Division USA Dept. of Anesthesiology and Intensive Care Università Cattolica del Sacro Cuore - Roma (Italy) Italy

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