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Lane Keeping control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject ...

引用

American control Conference

作者： Changfang Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecom-munications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

关键词： Wheels Vehicles Roads Tires Friction Aerodynamics Vehicle dynamics

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions.

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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Integrated Approach to Hypersonic Vehicle Modeling

Integrated Approach to Hypersonic Vehicle Modeling

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Chinese control Conference

作者： Xiaofeng Su Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications School of Electrical Engineering and Automation Henan Polytechnic University

ISBN: (纸本)9781467325813

This paper is devoted to the modeling problem of hypersonic vehicle with significant couplings. An integrated approach is developed to analytically model the dynamics of hypersonic vehicle, in which the effects of variable mass, spherical rotating earth, and couplings among the sub-models are considered. Furthermore, a preliminary analysis is conducted using the general data of a hypersonic vehicle. The simulation results show that the maximum of the Coriolis force can reach values up to 7.02% of the vehicle weight, and that the thermal load determined by the nonuniform aerodynamic heating and the properties of the structure has a significant influence on the elastic deformation.

关键词： Hypersonic vehicle modeling Inertial dynamics Aerodynamics Elasticity Heating hypersonic vehicles Aerodynamics elasticity Coriolis force Vehicle weight Heating Couplings Thermal loading elastic deformation

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Preface

Preface

引用

IEEE Workshop on Evolving and Adaptive Intelligent systems (EAIS)

作者： Plamen Angelov Dimitar Filev Nik Kasabov José Antonio Iglesias Communication Systems Department InfoLab21 Lancaster University LA1 4WA UK Intelligent Control & Information Systems Ford Research & Advanced Engineering 2101 Village Road MD #1437 Dearborn MI 48121 USA Knowledge Engineering and Discovery Research Institute School of Computing and Informatics Sciences Auckland University of Technology 581 Great South Rd 1020 New Zealand Carlos III University of Madrid Avda. Universidad 30 28911 Leganés Spain

An important research challenge that needs to be address in the area of intelligent systems is the development of new, innovative and original methods, algorithms and implementations of systems with a high level of intelligent; that is, with a high level of flexibility and autonomy. This intelligence needs to be developed by understanding the environment in which these systems operate. However, these environments could be non-stationary, unpredictably changing and partially or completely unknown. For this reason, in order to develop an intelligent system - able to face with problems such as modeling, control, prediction, classification or data mining - in such environments, they need to be able to evolve, to self-develop, to self-organize, to self-evaluate and to self-improve. This is the cornerstone behind the Evolving and Adaptive Intelligent systems.

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Automatic spike detection based on real-time multi-channel template

Automatic spike detection based on real-time multi-channel t...

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2011 4th International Conference on Biomedical Engineering and Informatics, BMEI 2011

作者： Ji, Zhanfeng Wang, Xingyu Sugi, Takenao Goto, Satoru Nakamura, Masatoshi Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Ministry of Education Shanghai China Department of Advanced Systems Control Engineering Saga University Saga Japan Research Institute of Systems Control Saga University Saga Japan

ISBN: (纸本)9781424493524

Automatic EEG spike detection provide valuable information for diagnosis of epilepsy. In the past 30 years, a number of algorithms were proposed. However, the basic idea of most algorithms is to identify spike activities. We have developed an algorithm based on identify non-spike activities for off-line analysis. In this paper, we improved the algorithm for online application using real-time template. Template method is a typical spike detection method. It was not widely employed because of the difficulty of making template. Our results suggested that multi-channel template is meaningful and effective for real-time detection. Spike activities can be detected with a delay of about 2 s. We also designed an simple user-friendly monitor interface for monitor and review spike events in real-time. © 2011 IEEE.

关键词： multi-channel template real-time spike detection Spike spike spikes jigs(templates) Real time algorithms MONITOR analysis of flowline

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Knowledge-based diagnosis of process systems using procedure HAZID information

Knowledge-based diagnosis of process systems using procedure...

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Lecture Notes in Computer Science

作者： Werner-Stark, Ágnes Németh, Erzsébet Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary School of Chemical Engineering University of Queensland Brisbane QLD Australia Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

ISBN: (纸本)9783642238536

Earlier investigations show that the results of hazard identification (HAZID) and analysis (e.g. HAZOP or FMEA) can effectively be used for knowledge-based diagnosis of complex process systems in their steady-state operation. In order to extend this approach for transient operating conditions controlled by operating procedures, the notion of nominal input-output event sequences of qualitative signals has been introduced, and the deviations used in the procedure HAZID analysis have been defined therefrom. The diagnosis can then be performed algorithmically by matching the deviation sequences of the observed input-output event sequences and the nominal ones generated by qualitative dynamic models. The concepts and methods are illustrated using a simple case study consisting of a simple tank, controlled by an operating procedure. © 2011 Springer-Verlag.

关键词： Hazards

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Robust model matching for geometric fault detection filters

Robust model matching for geometric fault detection filters

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作者： Seiler, Peter Bokor, József Vanek, Balint Balas, Gary J. Aerospace and Engineering Mechanics Department University of Minnesota United States Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

ISBN: (纸本)9781457700804

Geometric fault detection and isolation filters are known for having excellent fault isolation properties. However, they are generally assumed to be sensitive to model uncertainty and noise. This paper proposes a robust model matching method to incorporate model uncertainty into the design of geometric fault detection filters. Several existing methods for robust filter synthesis are described to solve the robust model matching problem. It is then shown that the robust model matching problem has an interesting self-optimality property for multiplicative input uncertainty models. Finally, a simple example is presented to study the effect of parametric uncertainty and unmodeled dynamics on the performance of a geometric filter. © 2011 AACC American Automatic control Council.

关键词： Bandpass filters

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On hyperbolic wavelets

On hyperbolic wavelets

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作者： Soumelidis, Alexandros Schipp, Ferenc Bokor, József Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary

ISBN: (纸本)9783902661937

A hyperbolic wavelet concept that can be used to describe, represent, and identify signals belonging to the space of functions H2 on the unit disc is constructed. The wavelet is derived as the voice-transform belonging to the unitary representation of the Blaschke group upon H2 on the disc. An alternative for discretization is also proposed and an efficient algorithm is constructed to compute the wavelet coefficients. © 2011 IFAC.

关键词： Signal analysis

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Discrete event model structure identification using process mining

Discrete event model structure identification using process ...

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31st IASTED International Conference on Modelling, Identification, and control, MIC 2011

作者： Werner-Stark, Agnes Gerzson, Miklós Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Egyetemstr. 10 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9780889868632

A novel structure identification procedure for discrete event systems described by Petri nets are proposed in this paper for model-based diagnostic purposes that utilize the notions and tools of process mining. The identification of the structurally different discrete event system models describing a system in its normal and/or faulty modes was used for model-based isolation of the considered faulty modes. From the available process mining techniques that allow for the automatic construction of process models in Petri net form based on event logs, the genetic algorithm-based structure identification procedure has been found to be most capable of identifying the characteristic structural elements of the faulty models. The proposed procedures are illustrated on a simple example of an operated parking gate automaton with two faulty modes.

关键词： Discrete event simulation

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Robust H∞ filter design using frequency gridding

Robust H∞ filter design using frequency gridding

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作者： Seiler, Peter Vanek, Balint Bokor, József Balas, Gary J. Aerospace and Engineering Mechanics Department University of Minnesota United States Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

ISBN: (纸本)9781457700804

This paper considers the design of robust H∞ filters for continuous-time linear systems with uncertainties described by integral quadratic constraints (IQCs). The synthesis problem can be converted into an infinite-dimensional optimization with frequency dependent linear matrix inequality constraints on the filter and IQC multipliers. This optimization is approximated by a finite dimensional semidefinite program by restricting the filter to be a linear combination of basis functions and enforcing the constraints on a finite, but dense, grid of frequencies. A heuristic algorithm is described to quickly solve the resulting finite dimensional optimization. A small example is provided to demonstrate the proposed algorithm. © 2011 AACC American Automatic control Council.

关键词： Optimization

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