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Feedback stabilization: from geometry to control

IFAC-PapersOnLine 2017年第1期50卷 1798-1804页

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

Youla parametrization of stabilizing controllers is a fundamental result of control theory: starting from a special, double coprime, factorization of the plant provides a formula for the stabilizing controllers as a function of the elements of the set of stable systems. In this case the set of parameters is universal, i.e., does not depend on the plant but only the dimension of the signal spaces. Based on the geometric techniques introduced in our previous work this paper provides an alternative, geometry based parametrization. In contrast to the Youla case, this parametrization is coordinate free: it is based only on the knowledge of the plant and a single stabilizing controller. While the parameter set itself is not universal, its elements can be generated by a universal algorithm. Moreover, it is shown that on the parameters of the strongly stabilizing controllers a simple group structure can be defined. Besides its theoretical and educative value the presentation also provides a possible tool for the algorithmic development. © 2017

关键词： controller blending controller parametrisation stability guarantee

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Augmented input estimation in multiple maneuvering target tracking

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Journal of Systems engineering and Electronics 2019年第5期30卷 841-851页

作者： HADAEGH Mahmoudreza KHALOOZADEH Hamid BEHESHTI Mohammadtaghi Department of Electrical and Computer Engineering Science and Research BranchIslamic Azad UniversityTehran ***Iran Department of Systems and Control K.N.Toosi University of TechnologyTehran ***Iran Department of Electrical Engineering Control GroupTarbiat Modares UniversityTehran 14115111Iran

This paper presents augmented input estimation(AIE)for multiple maneuvering target ***-target tracking(MTT)is based on two main parts,data association and *** data association(DA),the best observations are assigned to the considered *** real conditions,the number of observations is more than targets and also locations of observations are often so scattered that the association between targets and observations cannot be done *** this case,for general MTT problems with unknown numbers of targets,we present a Markov chain Monte-Carlo DA(MCMCDA)algorithm that approximates the optimal Bayesian filter with low complexity in *** DA,estimation and tracking should be *** in general cases,many targets can have maneuvering motions,then AIE is proposed to cover both the non-maneuvering and maneuvering parts of motion and the maneuver detection procedure is *** model with an input estimation(IE)approach is a special augmentation in the state space model which considers both the state vector and the unknown input vector as a new augmented state *** comparisons based on the Monte-Carlo simulations are also made to evaluate the performances of the proposed method and other older methods in MTT.

关键词： multi-target tracking (MTT) Markov chain Monte-Carlodata association (MCMCDA) data association (DA) augmentedinput estimation (AIE)

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Hyperbolic geometrical approach to model reduction

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IFAC-PapersOnLine 2017年第1期50卷 12905-12910页

作者： Soumelidis, Alexandros Bokor, József Schipp, Ferenc Szabó, Zoltán Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary

Model reduction of large scale systems is an actively researched area of modelling and control. The problem is more involved if uncertainties are also present and a computational tractable nominal model is needed for the design. Based on results of the Kolmogorov n-width theory the paper provides useful bounds for the worst case approximation error - both H2and H∞– in terms of the hyperbolic distance related to the sets of uncertain poles. A related model reduction strategy that uses only this a priori pole information is also proposed. The method is illustrated through numerical examples. © 2017

关键词： Numerical methods Computation theory Frequency domain analysis Large scale systems Poles Approximation errors Frequency domain identification Geometrical approaches Hyperbolic distances Identification for control Model reduction strategies Modelling and controls Nonparametric methods

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Implementation of a robust cruise control using look-ahead method

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IFAC-PapersOnLine 2016年第11期49卷 505-510页

作者： Gáspár, Péter Németh, Balázs Basset, Michel Orjuela, Rodolfo Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Laboratory Université de Haute-Alsace Mulhouse Cedex France

The paper proposes the implementation of a robust cruise control system which is able to ensure the fuel-efficient travel of the vehicle with a look-ahead control algorithm. The H∞-based feedforward-feedback control method guarantees robustness against varying vehicle mass, longitudinal disturbances and the consideration of actuator dynamics. The advantage of the method is the application of a small number of vehicle parameters. Therefore, a method for various passenger cars without significant modifications is needed. The proposed cruise control and the look-ahead method are implemented in a software-in-the-loop (SIL) environment using DSpace Autobox, which cooperates with the high-fidelity CarSim software through CAN communication. © 2016

关键词： Cruise control Application programs computer control Numerical control systems Robust control Vehicles CAN communications Feedforward feedback control Look ahead control Look ahead methods Number of vehicles Robust control designs Software in the loop(SIL) Software in the loops

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Multiple Fault-Tolerant In-Wheel Vehicle control Based on High-level control Reconfiguration

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IFAC-PapersOnLine 2017年第1期50卷 8606-8611页

作者： Mihály A. Gáspár P. Németh B. Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

The paper deals with the fault-tolerant reconfigurable control design of a four-wheel independently-actuated (4WIA) electric vehicle. The purpose of the proposed method is to ensure the velocity and path tracking of the 4WIA vehicle in the event of a fault or performance degradation in one or even several in-wheel electric motors. The novelty of the presented method is the high-level control reallocation method based on the Linear Parameter Varying (LPV) control framework, by which the torque vectoring and steering of the vehicle are modified in order to deal with the impact of faulty in-wheel motors. The operation of the designed fault-tolerant method is validated in CarSim simulation environment. © 2017

关键词： 4WIA vehicle in-wheel vehicle reconfigurable control trajectory tracking

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Reuse of Off-the-Shelf Components 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Maurizio Morisio

ISBN: (数字)9783540346074

ISBN: (纸本)9783540346067

Software reuse as an umbrella concept has been around for several decades. Over time, new techniques and approaches have been proposed to implement the concept, from libraries of reusable assets to product lines, to generative methods. These latter techniques are mostly used in intra-organizational reuse, and require considerable formal knowledge over the evolution of technology and required functionality in a domain over several years. On the other end of the spectrum, extra-organizational reuse is based on reuse of off-the-shelf (OTS) software (both open and closed source, acquired for free or for a fee). Here, a limited investment and immediate availability of the assets have widely spread the approach. On the other hand, the reusing organization has no control on the evolution of the functionality and assumptions of the asset. Even when the assets are open source, they are seldom modified. The theme for this ninth meeting is the reuse of off-the-shelf (OTS) components and related problems: * Documentation of OTS components * Processes to identify and select OTS components * Integration and evolution problems * Reliability and security of OTS components and legal issues * Interaction with the developer community or with the vendor The proceedings you are holding cover these issues as well as development and use of product lines, variability modeling, aspect-based development, composition of components and services. June 2006 Maurizio Morisio Organization Organizing Committee General: Giancarlo Succi, Free University Bolzano/Bozen Program: Maurizio Morisio, Politecnico di Torino Workshops Peter Knauber, Mannheim University of Applied Sciences, Germany

关键词： Software engineering/Programming and Operating Systems Software engineering Management of Computing and Information Systems Programming Techniques

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Building Better Graphical User Interfaces for CACSD - The Case for Object-Oriented Programming

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IFAC Proceedings Volumes 1991年第4期24卷 147-151页

作者： C.P. Jobling Control and Computer-aided Engineering Research Group Department of Electrical and Electronic Engineering. University of Wales Swansea UK

Graphical user interfaces are becoming the de facto standard for all kinds of applications on computers that range from IBM-PC compatibles to super workstations. Graphical user interfaces are. however, notoriously difficult to create. In this paper we review the changing expectations of computer users which are a direct result of developments in computer graphics. The support for these changing requirements that are provided by the current standards are discussed and finally the development of object-oriented programming and its relationship to graphical user interfaces are presented. The conclusions discuss the potential benefits that the new programming methodology provides for the development of future interfaces for CACSD systems.

关键词： computer-aided design control system design computer graphics programming languages programming support object-oriented programming

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Reducing the Modeling Error by Observer Based PID Regulators for a Class of Factorable Nonlinear Plants

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IFAC-PapersOnLine 2015年第11 11期48卷 662-667页

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

A PID regulator tuning method is introduced for HAMMERSTEIN and WIENER type block-oriented cascade factorable nonlinear models. Then the YOULA-parameterization approach is discussed which allows to develop an observer... 详细信息

关键词： Proportional control systems Parameterization Hammerstein model Nonlinear process observer PID regulators YOULA regulator

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NARX Neural Network Modeling of Batch Distillation Process

NARX Neural Network Modeling of Batch Distillation Process

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11th IEEE International Conference on System engineering and Technology, ICSET 2021

作者： Putri, Adi Novitarini MacHbub, Carmadi Hidayat, Egi Muhammad Idris School of Electrical Engineering and Informatics Institut Teknologi Control Computer System Research Group Bandung Indonesia

ISBN: (纸本)9781665437660

The batch distillation model is highly nonlinear due to the influence of mass and composition of the initial material to be separated. It is also caused by the thermodynamics of the system which is not ideal. Therefore, analytical batch distillation modeling does not fulfill superposition theory, or is nonlinear. Thus, any well-established linear control schemes can not be applied here. Meanwhile, modeling a system using the Nonlinear Autoregressive with eXogenous inputs (NARX) is quite widely used today because of its ability to represent non-linear system dynamics. This paper propose a system identification using NARX Neural Network (NARX-NN) to modeling batch distillation process. In order to prove the superiority of NARX-NN's accuracy in the system identification process, a comparison with linear ARMA models is done. In this study, ARMA approximation was carried out in two ways. The first way is to use a neural network, while the second method is through approximation to the discrete transfer function. The validation results show that the NARX-NN achieves significantly better fit compared to the linear models. NARX-NN and ARMA-NN were compared and their MSE ratio for delay input and output 1 and 3, respectively have the smallest value, i.e 1.71e-04 © 2021 IEEE.

关键词： Thermodynamics Analytical models System dynamics Conferences Neural networks Transfer functions Systems engineering and theory

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A hyperbolic view on robust control 19

A hyperbolic view on robust control

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

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

ISBN: (纸本)9783902823625

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. © IFAC.

关键词： Robust control

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