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IFAC-PapersOnLine 2023年第2期56卷 5518-5524页

作者： Zoltán Szabó József Bokor Péter Gáspár Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Eotvos Loránd Research Network (ELKH) Budapest Hungary

The paper proposes a system representation formed by a minimal collection of sufficiently long restricted trajectories generated by an observable discrete time LTI system. Conditions are given under which such a collection is a system representation and also an exhaustive parametrization of these representations is provided. These can be also interpreted as a generalized persistency condition which complements the results encountered for the controllable case. In terms of the proposed representation some system properties are investigated and a controllable-autonomous decomposition is given. Finally it is shown how the representation associated to the inverse system, to the parallel and cascade connection, respectively, can be derived.

关键词： Modeling LTI system representation data based

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Improvements in Optical Flow-based Aircraft Partial State Estimation 17

Improvements in Optical Flow-based Aircraft Partial State Es...

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17th International Workshop on Cellular Nanoscale Networks and their Applications, CNNA 2021

作者： Kun, Szabolcs Bauer, Peter ELKH Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary

ISBN: (纸本)9781665439480

This paper presents a new multiple step approximate linear solution for the estimation of aircraft angular rates and ground velocity vector direction from optical flow. It is compared to the simplest nonlinear method from the literature. Basic simulation tests show that it is faster and equally or more accurate than the methods published before so detailed evaluation in more realistic conditions will be the future research direction. © 2021 IEEE.

关键词： Aircraft

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Indoor vehicle-in-the-loop simulation of unmanned micro aerial vehicle with artificial companion

Indoor vehicle-in-the-loop simulation of unmanned micro aeri...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Antal Hiba Viktor Kortvelyesi Albert Kiskaroly Omkar Bhoite Patrik David Andras Majdik ELKH Computational Optical Sensing and Processing Laboratory Institute for Computer Science and Control (SZTAKI) Budapest Hungary ELKH Machine Perception Research Laboratory Institute for Computer Science and Control (SZTAKI) Budapest Hungary

Vehicle-in-the-loop simulation is an extension of the well-known hardware-in-the-loop technique, where a vehicle moves in real space while a simulator generates input for onboard sensors real-time. VIL frameworks designed for unmanned aerial vehicles have many open challenges. This paper introduces an indoor VIL for micro aerial vehicles in a drone arena equipped with precise positioning system and reliable wireless communication. This indoor setup stands as a prototype and predecessor for other outdoor VIL simulators for large scale applications. The raw optical navigation performance is tested which is the building block for sensor fusion and on-board fast sensor consistency check. A use-case of a companion drone in cooperative navigation is also presented.

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Optical flow-based angular rate sensor fault detection on UAVs*

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IFAC-PapersOnLine 2022年第14期55卷 46-51页

作者： Peter Bauer Szabolcs Kun Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) ELKH Budapest Hungary

The paper first extends the previous work of the authors dealing with optical flow-based angular rate estimation. Extension means consideration of camera position and orientation relative to the UAV body system (non-aligned camera). After the extension the proposed method is evaluated with virtual reality (Unreal-Carla) image sequences considering simulated aircraft flight trajectories and different frames per second (fps) rates. Based-on the results showing high fps requirements for agile flight scenarios a reversed method is proposed for angular rate sensor fault detection considering the integration of system dynamics based-on angular rate and velocity measurements and comparing the predicted image feature positions with the measured ones. The feature position differences are the error measures completed with up-down counters. The results are promising however, only basic evaluation of the proposed methods is done paving the way for detailed evaluation and development outlined in the conclusion.

关键词： angular rate fault detection optical flow UAV

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Stability focused evaluation and tuning of special ground vehicle tracking algorithms

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IFAC-PapersOnLine 2023年第2期56卷 9282-9287页

作者： Peter Bauer Mihaly Nagy Gergely Istvan Kuna Adam Kisari Erno Simonyi Antal Hiba Istvan Drotar Research Center of Vehicle Industry Széchenyi István University Győr Hungary Systems and Control Laboratory Institute for Computer Science and Control ELKH Budapest Hungary Computational Optical Sensing and Processing Laboratory Institute for Computer Science and Control ELKH Budapest Hungary Széchenyi István University Győr Hungary

This paper deals with a special tracking problem when a ground vehicle should be tracked by a multicopter flying ahead of the vehicle. Pre-designed vehicle route is assumed and the UAV stops or slows down at every intersection to react to route changes. After introducing the problem, the methods applied in a real flight demonstration in the Smart City module of ZalaZONE proving ground are presented. Then new methods are introduced to possibly improve performance. The main focus of the article is the evaluation of the stability of the methods and the provision of tuning guidelines. All of the introduced methods is tuned based-on the guidelines considering real ground vehicle test data and the high fidelity simulation of the applied multicopter. The two best methods are compared in detail and guidelines of their applicability are provided.

关键词： vehicle tracking forerunner UAV stability velocity scaling control PD control freedrive routedrive

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Parameter Uncertainty Analysis in Precise Pointing control of Flexible Spacecraft

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IFAC-PapersOnLine 2022年第20期55卷 241-246页

作者： János Bezsilla Béla Takarics Bálint Vanek Jian Guo Systems and Control Laboratory ELKH Institute for Computer Science and Control Budapest Hungary Faculty of Aerospace Engineering Delft University of Technology Delft The Netherlands

This article focuses on the validation of a classical PID controller scheme for flexible spacecraft with regards to the effect of parameter uncertainty on system stability and pointing precision. A high-fidelity simulation environment with external disturbances was built in Simulink using a control-oriented model of an Earth-observing satellite with a flexible appendage and on-board microvibration sources in orbit around the planet. Then, a PID control loop was designed with sensor dynamics, time delay behaviour, and a smooth trajectory generator. After declaring the natural frequencies, damping ratio, and rotation angle of the appendage, as well as the propellant tank mass to be uncertain, two worst-case scenarios were identified. Comparing the response of worst-case systems with nominal settings, only a minor drop has been found in the phase margins, with little to no difference in the pointing errors (smaller than ±2 arcsec for both roll and pitch).

关键词： flexible spacecraft nonlinear dynamics attitude tracking precise pointing control PID control parameter uncertainty

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Route selection method with ethical considerations for automated vehicles under critical situations

Route selection method with ethical considerations for autom...

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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Balá zs Né meth Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) E&#x00F6 tv&#x00F6 s Lor&#x00E1 nd Research Network (ELKH) Budapest Hungary

Route selection for automated vehicle is a challenging task under critical situations, i.e., which can lead to serious or fatal injury. Due to the high risk of a dangerous collision with its consequences on human participants, the selection on possible routes poses ethical problems. This paper proposes a multi-layer route selection strategy for automated vehicles under critical situations, in which ethical considerations have been incorporated. The selection strategy contains a graph-based quantitative evaluation layer and a layer with qualitative evaluation based on the ethical principles. The operation of the route selection method through some examples is illustrated.

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Robust Minimum Gain Lemma

Robust Minimum Gain Lemma

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IEEE Conference on Decision and control

作者： Tamás Baár Tamás Luspay ELKH Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9781665436601

The computation of the minimum sensitivity of uncertain Linear Time Invariant (LTI) systems is presented in the paper. The system interconnection is given by a generic Linear Fractional Transformation (LFT) of a nominal model and an uncertain block, where the input-output behavior of the latter is described by Integral Quadratic Constraints (IQC). The extension of the Minimum Gain Lemma is presented for such interconnections, resulting in a convex optimization problem subject to Linear Matrix Inequality (LMI) constraints. With the aim of the Generalized-KYP (GKYP) lemma the minimum gain/sensitivity is computed over a certain finite frequency range. Connection with the already existing literature is highlighted, providing an insight on the obtained results. A numerical example is given to illustrate and validate the proposed methodology.

关键词： Linear systems Uncertainty Sensitivity analysis Conferences Computational modeling Convex functions Linear matrix inequalities

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Analysis and control of Gene Regulation Network Models Using Kinetic Semi-Discretization

Analysis and Control of Gene Regulation Network Models Using...

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European control Conference (ECC)

作者： Mihály A. Vághy Irene Otero-Muras Gábor Szederkenyi Faculty of Information Technology and Bionics Pazmany Peter Catholic University Budapest Hungary Spanish Council for Scientific Research Carrer del Catedratic Agustin Escardino Benlloch Institute for Integrative Systems Biology Valencia Spain Systems and Control Laboratory ELKH Institute for Computer Science and Control (SZTAKI) Budapest

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper the exogenous control of gene reg-ulatory networks is investigated through the semi-discretized partial integro-differential equation (PIDE) describing the time-evolution of the network's probability density function. With an appropriate finite volume method the semi-discretized system is a mass-conservative linear compartmental model, and thus it preserves most qualitative properties of the solution of the PIDE, namely, it is nonnegative and mass conservative. These advantages combined with the newly investigated mesh-invariance of control allows us to efficiently determine the reachability set. The possibilities of this framework are demon-strated through an illustrative example from literature.

关键词： Solid modeling Analytical models Computational modeling Volume measurement Sociology Switches Mathematical models

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Distribution-Free Inference for the Regression Function of Binary Classification

arXiv

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arXiv 2023年

作者： Tamás, Ambrus Csáji, Balázs Csanád SZTAKI The Institute for Computer Science and Control ELKH: Eötvös Loránd Research Network 13-17 Kende utca Budapest1111 Hungary Budapest Hungary

One of the key objects of binary classification is the regression function, i.e., the conditional expectation of the class labels given the inputs. With the regression function not only a Bayes optimal classifier can be defined, but it also encodes the corresponding misclassification probabilities. The paper presents a resampling framework to construct exact, distribution-free and non-asymptotically guaranteed confidence regions for the true regression function for any user-chosen confidence level. Then, specific algorithms are suggested to demonstrate the framework. It is proved that the constructed confidence regions are strongly consistent, that is, any false model is excluded in the long run with probability one. The exclusion is quantified with probably approximately correct type bounds, as well. Finally, the algorithms are validated via numerical experiments, and the methods are compared to approximate asymptotic confidence ellipsoids. Copyright © 2023, The Authors. All rights reserved.

关键词： Numerical methods

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