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2008 IEEE International Conference on Fuzzy systems, FUZZ 2008

作者： Petres, Zoltán Nagy, Szabolcs Gáspar, Péter Baranyi, Peter Dept. of Telecommunications and Media Informatics Budapest University of Technology and Economics Kende utca 13-17 1111Budapest Hungary Systems and Control Lab. Computer and Automation Research Institute Hungarian Academy of Sciences Kende utca 13-17 1111Budapest Hungary

ISBN: (纸本)9781424418190

This paper is focusing on rollover prevention to provide a heavy vehicle with the ability to resist overturning moments generated during cornering. A combined yaw-roll model including the roll dynamics of unsprung masses is studied. This model is nonlinear with respect to the velocity of the vehicle. In our model the velocity is handled as an LPV scheduling parameter. The Linear Parameter-Varying model of the heavy vehicle is transformed Into a proper polytopic form by Tensor Product model transformation. The H∞ gain-scheduling based control is Immediately applied to this form for the stabilization. The effectiveness of the designed controller is demonstrated by numerical simulation. © 2008 IEEE.

关键词： Scheduling

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Modelling and identification of a small unmanned aerial vehicle

Modelling and identification of a small unmanned aerial vehi...

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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The systems and control Laboratory of the computer and automation Research Institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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An Algorithm Restricting Motion into Curve-Like Forbidden Regions

An Algorithm Restricting Motion into Curve-Like Forbidden Re...

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International Conference on control, Mechatronics and automation (ICCMA)

作者： Emre YAZICI Nusrettin GULEC Control & Automation Eng. Dept. Istanbul Technical University NISO Software Technologies Istanbul & Izmir Turkey Defense Systems Technologies ASELSAN Inc. Ankara Turkey

In robotic systems, there are often parts of the workspace where motion may cause damage to surrounding environment or the system itself. For such systems, forbidden regions are defined and motion into these are restricted by special algorithms. It is essential to keep these regions at optimal size and shape in order to ensure maximum operational capability whilst avoiding any risks of damage. In this paper, a hierarchical algorithm tackling these problems for two-axis gimballed systems and motion forbidden regions defined by second order curves is proposed. The method also supports safe operation in case of multiple dynamic forbidden regions in real-time. The proposed algorithm is verified through simulations and experiments conducted on an actual surveillance system.

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Analysis of the PV Energy Potential in the Bulgarian Danube River Region between Ruse and Silistra

Analysis of the PV Energy Potential in the Bulgarian Danube ...

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Communications, Information, Electronic and Energy systems (CIEES), International Conference on

作者： Katerina Gabrovska-Evstatieva Ivaylo Stoyanov Tsvetelina Kaneva Nikolay Valov Vladimir Tsankov Boris Evstatiev Nicolay Mihailov Dept. of Computer Science University of Ruse Ruse Bulgaria Dept. of Electric Power Engineering University of Ruse Ruse Bulgaria Dept. of Computer Systems and Technologies University of Ruse Ruse Bulgaria Dept. of Automation and Electronics University of Ruse Ruse Bulgaria

ISBN: (数字)9798350352863

ISBN: (纸本)9798350352870

The goal of the study is to assess and compare the photovoltaic energy potential in the central-eastern part of the Bulgarian Danube region between the cities of Ruse and Silistra. To achieve this the solar radiation and the temperature of the environment should be obtained and analyzed. The goal of the study is to assess and compare the photovoltaic energy potential in the central-eastern part of the Bulgarian Danube region between the cities of Ruse and Silistra. To achieve this the solar radiation and the temperature of the environment should be obtained and analyzed. The goal of the study is to assess and compare the photovoltaic energy potential in the central-eastern part of the Bulgarian Danube region between the cities of Ruse and Silistra. To achieve this the solar radiation and the temperature of the environment should be obtained and analyzed.

关键词： Photovoltaic systems Electric potential Temperature distribution Renewable energy sources Urban areas Rivers Solar radiation Thermal pollution

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Grey Box Fault Detection in Heat Exchanger Networks

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IFAC Proceedings Volumes 1997年第18期30卷 191-196页

作者： E. Weyer K.M. Hangos Dept. of Chemical Engineering University of Queensland Brisbane QLD 4072 Australia Systems and Control Research Laboratory Computer and Automation Institute HAS H-1518 Budapest PO Box 63 Hungary

A grey box model-based method for fault diagnosis is proposed in this paper which is based on a first principle model of the process unit: a heat exchanger, and on a grey box model of the fault: the deterioration of the heat transfer surface by aging. Under normal operating conditions the heat transfer coefficient is constant or slowly decreasing due to a layer of settled material building up on the heat transfer surface, and we propose to use a recursive least squares estimator with forgetting factor to track the heat transfer coefficients during these stages. In old heat exchangers, big chunks of the settled material can break away from the surface causing the heat transfer coefficients to rise sharply. This fault is detected via detection of abrupt positive jump in the estimated heat transfer coefficients using a Hinkley detector

关键词： Fault diagnosis grey box modelling fault modelling identification

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A course in air traffic control for developing countries development and implementation

A course in air traffic control for developing countries dev...

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2003 IEEE Aerospace Conference

作者： Dimirovski, Georgi Marko Dogus University Dept. of Computer Engineering and Information Technologies Acibadem Zeamet Sk. No: 21 Kadikoy TR-81010 Istanbul Turkey SS Cyril and Metbodius University Inst. of Automation and Systems Engineering FEE Karpos 2 Rugjer Boskovic b.b. MK-1000 Skopje Macedonia

ISBN: (纸本)078037651X

This paper presents a working implementation of a course in Air Traffic control (in the Rep. of Macedonia), which is believed to be properly tailored according to the needs of small developing countries that are likely to be users of this technology only. One version was designed for the undergraduate studies in Traffic Engineering at the Technical Faculty (TFB) in Bitola. The other version is designed for the graduate studies in automation & systems Engineering at Faculty of Electrical Engineering (FEE) in Skopje. While it may not he widely suitable for developing countries in general, it is believed these have largely met the objectives for such dedicated comes. Since, in all countries, some knowledge on air traffic control is indispensable in order to meet the internationally approved criteria, requirements and standards for proper world-wide air traffic operations. © 2003 IEEE.

关键词： Air traffic control

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On-line Reconfiguration of Real-Time Robot Motion and Force control

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IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot control Force control Embedded systems Rapid prototyping Non-linear control

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Synthesis of Model Predictive control for an Electrohydraulic Servo System Using Orthonormal Functions

Synthesis of Model Predictive Control for an Electrohydrauli...

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Communications, Information, Electronic and Energy systems (CIEES), International Conference on

作者： Georgi Mihalev Stanimir Yordanov Krasimir Ormandzhiev Hristina Stoycheva Todor Todorov Dept. of Automation Information and Control Systems Technical University of Gabrovo Gabrovo Bulgaria Dept. of Power Engineering Technical University of Gabrovo Gabrovo Bulgaria Dept. of Comunication Technique and Technologies Technical University of Gabrovo Gabrovo Bulgaria

ISBN: (数字)9798350352863

ISBN: (纸本)9798350352870

The paper presents the implementation of a Continuous-Time Model Predictive control (CMPC) regulator for controlling an electrohydraulic servo system. The control object is a test bench consisting of three modules and a PC-based data acquisition and control system. The system is modeled in state-space form, accounting for parametric uncertainties. The synthesis of the model predictive controller is performed by approximating the control signal using Laguerre orthonormal functions. The article includes mathematical formulas and relationships that illustrate the modeling approach. Simulations and robust analysis of the closed-loop system are conducted. Through a real-time control system, experimental data and graphs are obtained, demonstrating the performance and optimality of the synthesized control strategy.

关键词： Analytical models Uncertainty Mathematical models Stability analysis Robustness Electrohydraulics Closed loop systems Servomotors Voltage control Predictive control

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Synchronizing Sequences For Verification Of Finite State Machines

Synchronizing Sequences For Verification Of Finite State Mac...

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International Conference on Radio Electronics & Info Communications (UkrMiCo)

作者： Maryna Miroshnyk Olexander Shkil Elvira Kulak Dariia Rakhlis Yurii Pahomov Anatolii Miroshnyk dept. Specialized Computer Systems Ukrainian State University of Railway Transport Kharkiv Ukraine dept. Computer Engineering Design Kharkiv National University of Radio Electronics Kharkiv Ukraine dept. Automation and Control Technical Systems of the National Technical University "Kharkov Polytechnic Institute" Kharkiv Ukraine

ISBN: (数字)9781728126920

ISBN: (纸本)9781728126937

The method of detection and localization of design errors in HDL-models of finite state machines with arbitrary output functions was proposed. The diagnostic experiment is carried out bypassing all arcs of the Mealy machine, starting from the initial vertex, including for machines of the "non-exclusive" class. To ensure the return of the machine with a possible design error in the initial state, it is suggested to use synchronizing sequences. Diagnostic experiments were performed in the Active-HDL design environment.

关键词： Automata Decision trees Hardware design languages Simulation Finite element analysis Visualization Signal analysis

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Further development on the LPV fault tolerant control for vehicle dynamics 9

Further development on the LPV fault tolerant control for ve...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Fergani, S. Sename, O. Dugard, L. Gáspár, P. GIPSA-Lab. Control Systems Dept. CNRS-Grenoble INP ENSE3 BP 46 St.Martin-d'Hères CedexF-38402 France Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary

This paper aims at presenting the efficiency of the Linear Parameter Varying method for vehicle dynamics control, in particular when some actuators may be in failure. The case of the suspension actuators failure and braking actuators failure are presented. The main objective is to enhance the vehicle dynamics even with faulty actuators through the suspension control (for comfort and road holding improvements) and the braking/steering control (for road handling and safety). Indeed, the LPV/H∞ fault tolerant MIMO gain-scheduled Vehicle Dynamic control (VDSC) involves the steering actuators, rear brakes and four suspension systems, and aims at enhancing the yaw stability, lateral and vertical car performances (see Poussot-Vassal et al. (2011b), Doumiati et al. (2013)). This strategy is scheduled by 3 varying parameters (ρb,ρs and ρl). These parameters depend on a special monitoring system defined to evaluate the impact of braking/suspension actuator failures on the vehicle dynamical performances. The proposed LPV control structure then allows to handle such failures by an online adaptation of the control input distribution. Simulation results performed on a nonlinear model experimentally validated on a vehicle Renault Mégane Coupé MIPS (Mulhouse) subject to critical driving situations show that the proposed methodology is effective and robust. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Steering

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