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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Mihály, András Gáspár, Péter Szabó, Zoltán Sename, Oliver Dugard, Luc Department of Control and Transport Automation Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Bertalan L. U. 2. Budapest Hungary Computer and Automation Research Institute Systems and Control Laboratory Kende U. 13-17 Budapest Hungary Control Systems Department GIPSA-Lab 11 Rue des Mathématiques ENSE3 BP 46 St martin d'Hrescedex GrenobleF-38402 France

ISBN: (纸本)9789633131022

The paper presents a collision mitigation method in which the aim is to stabilize the motion of the vehicle after a light impact has occurred. A yaw rate servo control based on the bicycle model is applied for control purposes. The collision is assumed to have been detected by a passive safety system, e.g., airbag sensors. The control system is activated by the monitoring signal. After the collision has occurred the motion of the vehicle and the operation of the control system are illustrated through CarSim simulation examples. Two control solutions are analyzed: in the first case active steering is used while in the second case steering is combined with differential braking. With the knowledge of certain vehicle parameters and the impact force and direction, post impact vehicle states (yaw rate, velocities, roll rate) can be analyzed. A sensitivity analysis is carried out to determine the validity range of the vehicle model in the presence of uncertainties and different kinds of impact forces. Several software packages are used for the design and analysis of the controlled system. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.

关键词： Automobile steering equipment

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Recursive filtering for a class of nonlinear systems with missing measurements

Recursive filtering for a class of nonlinear systems with mi...

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2012 UKACC International Conference on control, control 2012

作者： Hu, Jun Wang, Zidong Shen, Bo Cai, Chenxiao Lam, James Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Department of Information Systems and Computing Brunel University London UB8 3PH United Kingdom Institute for Automatic Control and Complex Systems University of Duisburg-Essen D-47057 Duisburg Germany School of Automation Nanjing University of Science and Technology 210094 Nanjing China Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781467315609

This paper is concerned with the finite-horizon recursive filtering problem for a class of nonlinear time-varying systems with missing measurements. The missing measurements are modeled by a series of mutually independent random variables obeying Bernoulli distributions with possibly different occurrence probabilities. Attention is focused on the design of a recursive filter such that, for the missing measurements, an upper bound for the filtering error covariance is guaranteed and such an upper bound is subsequently minimized by properly designing the filter parameters at each sampling instant. The desired filter parameters are obtained by solving two Riccati-like difference equations that are of a recursive form suitable for online applications. A simulation example is exploited to demonstrate the effectiveness of the proposed filter design scheme. © 2012 IEEE.

关键词： Difference equations

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Identifying poles from time-domain data using discrete Laguerre system

Identifying poles from time-domain data using discrete Lague...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Soumelidis, Alexandros Bokor, Jozsef Schipp, Ferenc Systems and Control Laboratory Computer and Automation Research Institute of the Hungarian Academy of Sciences Kende str. 13-17 Budapest H-1111 Hungary Department of Numerical Analysis Faculty of Informatics Eotvos Lorand University Budapest Hungary

ISBN: (纸本)9781467325318

In a recent paper the authors proposed a new frequency-domain approach to identify poles in discrete-time linear systems. The discrete rational transfer function is represented in a rational Laguerre-basis, where the basis elements are expressed by powers of the Blaschke-function. This function can be interpreted as a congruence transform on the Poincaré unit disc model of the hyperbolic geometry. The identification of a pole is given as a hyperbolic transform of the limit of a quotient-sequence formed from the Laguerre-Fourier coefficients. This paper extends this approach for using discrete time-domain data directly. © 2012 IEEE.

关键词： Poles

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control design based on the integration of steering and suspension systems

Control design based on the integration of steering and susp...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Balázs Németh Péter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

The paper proposes an integration of the steering system and a variable-geometry suspension system as part of a driver assistance system. The predefined trajectory required by the driver is followed with a steering command. During maneuvers the control system generates an auxiliary front steering angle and the camber angle of the front wheels according to driver demands in order to improve road stability. Simultaneously, the variable-geometry suspension system is able to modify the camber angle of the wheels in order to improve the half-track change. The design of an integrated control system is based on the robust H ∞ method, which meets the performance specifications and guarantees robustness against model uncertainties. The efficiency of the actuator integration is guaranteed by a reachable set. The operation of the control system is illustrated through a simulation example.

关键词： Vehicles Suspensions Wheels Actuators Vehicle dynamics Approximation methods

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When multivariate forecasting meets unsupervised feature learning - Towards a novel anomaly detection framework for decision support

When multivariate forecasting meets unsupervised feature lea...

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International Conference on Information systems, ICIS 2012

作者： Wang, Jiawei Ren, Jimmy Sj Wang, Wei Li, Xin Li, Qiudan Liao, Stephen S.Y. Department of Information Systems USTC-CityU Joint Advanced Research Centre 166 Ren'ai Road Suzhou China Department of Information Systems City University of Hong Kong 83 Tat Chee Avenue Hong Kong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781627486040

Many organizations adopt information technologies to make intelligent decisions during operations. Time-series data plays a crucial role in supporting such decision making processes. Though current studies on time-series based decision making provide reasonably well results, the anomaly detection essence underling most of the scenarios and the plenitude of unlabeled data are largely overlooked and left unexplored. We argue that by using multivariate forecasting and unsupervised feature learning, these two important research gaps could be filled. We carried out two experiments in this study to testify our approach and the results showed that decision support performance was significantly improved. We also proposed a novel framework to integrate the two methods so that our approach may be generalized to a larger problem domain. We discussed the advantages, the limitations and the future work of our study. Both practical and theoretical contributions were also discussed in the paper. © 2012 by the AIS/ICIS Administrative Office All rights reserved.

关键词： Decision support systems

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Fault tolerant adaptive estimation of nonlinear processes using redundant measurements

Fault tolerant adaptive estimation of nonlinear processes us...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Miranda, M. Edelmayer, A. Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes 5101 Mérida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781467325318

This paper presents a dual layer approach for robust fault tolerant estimation of nonlinear processes using a combined adaptive extended Kalman filter and fault detection and filter reconfiguration. From the one hand, the filter is made robust in face of environment uncertainty using adaptive filtering. To this end, the filter identifies the measurement covariance by means of recursive estimation, upon which the adaptation relies, to suppress the effect of sporadic variations in the quality of measurements as well as compensates for incipient sensor faults. From the other hand, fault monitoring is continuously applied to the filter's innovation in an attempt to initiate filter reconfiguration when the adaptation mechanism alone is not able to overcome the failure situation. The discussion of the results is embedded in the application framework of state estimation of a batch distillation process. © 2012 IEEE.

关键词： Fault detection

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Active suspension control design for unmanned ground vehicles

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Periodica Polytechnica Transportation Engineering 2012年第1期40卷 27-32页

作者： Nagy, Dávid Gáspár, Péter Department of Control for Transportation and Vehicle Systems BME H-1111 Budapest Stoczek Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17 H-1111 Budapest Hungary

This paper presents the design of an active suspension control system for an unmanned ground vehicle (UGV). The purpose is to design an active suspension control for a low-speed (less than 1 m/s) o-road UGV in order to be able to move through rugged terrain with the least pitch and roll motion. Classical active suspension design methods cannot be used for minimizing pitch and roll angles, therefore a new approach is applied. The control design is based on the LQG method. The control system uses only pitch and roll angular rate signals, which ensures a simple and cheap control system, but any bias error on the gyro signals cause some problems in reconstructing angles. The control algorithm consists of an optimal state-feedback fed by an augmented observer for estimating the states and the bias error of the gyro sensors. The appropriate tuning of the observer is introduced, which eliminates the bias error problem and ensures the fast reconstruction of the states for the optimal state-feedback. In simulations, the active suspension control system shows high performance at minimizing pitch and roll angles. © Periodica Polytechnica 2012.

关键词： Gyroscopes

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Model-based ℋ2/ℋ∞ control design of integrated vehicle tracking systems

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Periodica Polytechnica Transportation Engineering 2012年第2期40卷 87-94页

作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation BME Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17. H-1111 Budapest Hungary

The paper presents the design of an integrated heavy vehicle system which consistsof the driveline, the brake, the suspension and the steering components. The purpose ofthe integration is to create an adaptive cruise control which is able to keep the distance from the preceding vehicle and track the path on roads. The vehicle model consists of the dynamics of the sprung mass and the unsprung masses and handles the effects of road and wind disturbances. The design of the adaptive cruise-control system is based ontheℋ2/ ℋ∞ control method. The operation of the controlled system is illustrated through simulation examples. © Periodica Polytechnica 2012.

关键词： Magnetic levitation vehicles

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control of platoons containing diverse vehicles with the consideration of delays and disturbances

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Periodica Polytechnica Transportation Engineering 2012年第1期40卷 21-26页

作者： Mihály, András Gáspár, Péter Department of Control for Transportation and Vehicle Systems BME H-1111 Budapest Stoczek Hungary Péter Gáspár Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17 H-1111 Budapest Hungary

The paper focuses on the design of a platoon control system with diverse vehicle formation. After a brief summary of the vehicle model and the control criteria, the paper demonstrates methods for eliminating the longitudinal oscillations caused by the communication and actuator delays and environmental disturbances. The realization and evaluation is done with diverse control strategies. These control methods are demonstrated in a vehicle simulation environment. © Periodica Polytechnica 2012.

关键词： Vehicles

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Synchronization of a linear singularly perturbed complex network with potential application in electric power systems

Synchronization of a linear singularly perturbed complex net...

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International Conference on automation and Computing (ICAC)

作者： Chenxiao Cai Zidong Wang Jun Hu School of Automation Nanjing University of Science and technology Nanjing China Department of Information Systems and Computing Brunel University London UK Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

This paper is concerned with the synchronization problem for a linear singularly perturbed complex network. The slow sub-network and the fast subnetwork are obtained on the different time-scale by employing singularly perturbed decomposition method. Sufficient conditions for the synchronization of the two sub-networks are obtained by introducing the reference error system and analyzing the corresponding stability. These conditions are characterized in terms of the feasibility of a set of linear matrix inequalities that can be easily solved by using semi-definite programming method. A practical model concerning an electric system grid with N synchronous machines is established, which can be used to illustrate the potential applicability of the proposed results.

关键词： Synchronization Complex networks Couplings Stability criteria Power system stability

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