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Simulator based driver categorization and linear model identification

IFAC-PapersOnLine 2016年第3期49卷 255-260页

作者： Mihály, András Gáspár, Péter Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Budapest Hungary

The paper proposes a classification method for different driver behaviors based on an identification method. The categorization and identification is carried out on real-time driving simulator experiments with several test drivers. The purpose of the identification is to define typical driving behaviors with their identified models. The driving assistant systems of the vehicle can be adapted to the behavior of the driver using predefined driver models. © 2016

关键词： Classification methods Driver behavior Driver models Driving assistant systems Driving behavior Identification method Linear modeling Test drivers

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Open Architecture for computer-aided control engineering

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IEEE control Systems 1993年第2期13卷 17-27页

作者： Barker, H. Anthony Chen, Min Grant, Philip W. Jobling, Chris P. Townsend, Peter Control and Computer-Aided Engineering Research Group University of Wales Swansea SA2 8PP Singleton Park United Kingdom

Open systems are currently being used successfully in many areas of information technology. Some guiding principles for the design of open systems suitable for computer-aided control engineering are presented. Some possible architectures are considered and an assessment is made of the available technologies which might be suitable for the basis of an open environment for computer-aided control engineering. An analogy is made with the requirements for computer-aided software engineering, for which a reference model has already been developed, and it is concluded that such a model might well provide a clear definition of what is needed in computer-aided control engineering. © 1993 IEEE

关键词： computer architecture control engineering computing control engineering Packaging machines Open systems Software packages User interfaces Bridges Error correction Information technology

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Analysis of Look-ahead control on Traffic Flow

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IFAC-PapersOnLine 2016年第3期49卷 261-266页

作者： Németh, Balázs Gáspár, Péter Mihály, András Bokor, József 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

The paper analyzes the relationship between the traffic flow and the look-ahead control. The purpose of the analysis is to map the impact of the unique speed profiles used by the look-ahead controlled vehicles on the traffic flow consisting of conventional vehicles. The analysis is carried out by considering different traffic volumes, penetration rates of the look-ahead vehicles and the energy-scaling parameter of the look-ahead optimization algorithm. The analysis is evaluated both in the Matlab simulation environment and in the microscopic traffic simulation environment VISSIM using COM interface. © 2016

关键词： Street traffic control MATLAB Numerical control systems Vehicles Energy scaling Look ahead control Matlab simulations Microscopic traffic simulation Optimization algorithms Penetration rates Speed profile Traffic volumes

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Independent wheel steering control design based on variable-geometry suspension

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IFAC-PapersOnLine 2016年第11期49卷 426-431页

作者： Németh, Balázs Fényes, Dániel Gáspár, Péter Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary

The paper presents the control design of an independent wheel steering system for in-wheel electric vehicles. The steering of the wheels is based on the variable-geometry suspension control, which influences the camber angle and the scrub radius of the wheel. A nonlinear formulation of the variable-geometry suspension is derived, which is validated through a high-fidelity suspension model. Furthermore, the impact of the independent steering in the lateral model of the vehicle is incorporated. In the paper the robust control design of the independent steering system in a hierarchical structure is presented. The trajectory tracking of the vehicle is guaranteed by the robust H∞control, while the intervention of the variable-geometry suspension is designed based on the Linear Quadratic theorem. © 2016

关键词： Suspensions (components) Automobile steering equipment Automobile suspensions Electric machine control Electric vehicles Geometry Magnetic levitation vehicles Robust control Steering Vehicle wheels Hierarchical structures In wheel Independent wheel Nonlinear formulation Robust control designs Suspension control Trajectory tracking Variable geometry

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

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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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Calculation of resonant frequency for an equilateral triangular microstrip antenna with the use of artificial neural networks

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MICROWAVE AND OPTICAL TECHNOLOGY LETTERS 1997年第2期14卷 89-93页

作者： Sagiroglu, S Guney, K Intelligent Systems Research Group Department of Control and Computer Engineering Erciyes University 38039 Kayseri Turkey Department of Electronic Engineering Erciyes University 38039 Kayseri Turkey

new method for calculating the resonant frequency of an equilateral triangular microstrip patch antenna, based on artificial neural networks, is presented The back-propagation algorithm is used to train the networks. The theoretical resonant frequency results obtained by using this method are in very good agreement with the experimental results reported elsewhere. (C) 1997 John Wiley & Sons, Inc.

关键词： triangular microstrip antennas resonant frequency artificial neural networks multilayer perceptron back propagation

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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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Robust Leader-Following Output Regulation of Uncertain Multi-Agent Systems With Time-Varying Delay

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IEEE/CAA Journal of Automatica Sinica 2018年第4期5卷 807-817页

作者： Ala Shariati Qing Zhao Automation&Control Research Group Faculty of Electrical and Computer EngineeringKhajeh Nasir Toosi University of TechnologyTehran ***Iran Department of Electrical and Computer Engineering at University of Alberta EdmontonAlberta T6R1Z6Canada

In this paper, the robust analysis and design of leader-following output regulation for multi-agent systems described by general linear models is given in presence of timevarying delay and model uncertainty. To this aim, a new regulation protocol for the closed-loop multi-agent system under a directed graph is proposed. An important specification of the proposed protocol is to guarantee the leader-following output regulation for uncertain multi-agent systems with both stable and unstable agents. Since many signals can be approximated by a combination of the stationary and ramp signals, the presented results work for adequate variety of the leaders. The analysis and design conditions are presented in terms of certain matrix inequalities. The method proposed can be used for both stationary and ramp leaders. Simulation results are presented to show the effectiveness of the proposed method.

关键词： Linear matrix inequality(LMI) multi-agent systems robust leader-following output regulation time-varying delay

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