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arXiv 2022年

作者： Berberich, Julian Iannelli, Andrea Padoan, Alberto Coulson, Jeremy Dörfler, Florian Allgöwer, Frank University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70550 Germany Department of Information Technology and Electrical Engineering ETH Zurich Zurich8092 Switzerland

Willems' Fundamental Lemma provides a powerful data-driven parametrization of all trajectories of a controllable linear time-invariant system based on one trajectory with persistently exciting (PE) input. In this paper, we present a novel proof of this result which is inspired by the classical adaptive control literature and differs from existing proofs in multiple aspects. The proof involves a quantitative and directional PE notion, allowing to characterize robust PE properties via singular value bounds, as opposed to binary rank-based PE conditions. Further, the proof is constructive, i.e., we derive an explicit PE lower bound for the generated data. As a contribution of independent interest, we generalize existing PE results from the adaptive control literature and reveal a crucial role of the system's zeros. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear time-invariant system

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URLLC Networks enabled by STAR-RIS, Rate Splitting, and Multiple Antennas

URLLC Networks enabled by STAR-RIS, Rate Splitting, and Mult...

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International Workshop on Mobile Terahertz systems (IWMTS)

作者： Eduard A. Jorswieck Mohammad Soleymani Ignacio Santamaria Jesús Gutiérrez Institute for Communications Technology TU Braunschweig Germany Signal and System Theory Group University of Paderborn Germany Dept. of Communications Engineering University of Cantabria Spain IHP - Leibniz-Institut für Innovative Mikroelektronik Frankfurt (Oder) Germany

ISBN: (数字)9798350365832

ISBN: (纸本)9798350365849

The challenges in dense ultra-reliable low-latency communication networks to deliver the required service to multiple devices are addressed by three main technologies: multiple antennas at the base station (MISO), rate splitting multiple access (RSMA) with private and common message encoding, and simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RIS). Careful resource allocation, encompassing beamforming and RIS optimization, is required to exploit the synergy between the three. We propose an alternating optimization-based algorithm, relying on minorization-maximization. Numerical results show that the achievable second-order max-min rates of the proposed scheme outperform the baselines significantly. MISO, RSMA, and STAR-RIS all contribute to enabling ultra-reliable low-latency communication (URLLC).

关键词： Wireless networks Interference Ultra reliable low latency communication Reconfigurable intelligent surfaces Minimax techniques MIMO Encoding Resource management MISO Optimization

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Active Control DampingWith The Use Of Voice Coil Actuators 34th

Active Control DampingWith The Use Of Voice Coil Actuators

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34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024

作者： Cardellino, Giada Melz, Tobias Feldmann, Robert Adams, Christian Franco, Francesco Petrone, Giuseppe De Rosa, Sergio Technical University of Darmstadt System Reliability Adaptive Structures and Machine Acoustics SAM Otto-Berndt-Straße 2 Darmstadt64287 Germany Fraunhofer-Instituts für Betriebsfestigkeit und Systemzuverlässigkeit LBF Bartningstaße 47 Darmstadt64289 Germany Graz University of Technology Institute of Fundamentals and Theory in Electrical Engineering Professorship for Acoustics and Environmental Noise Inffeldgasse 16c Graz8010 Austria University of Naples Federico II Department of Industrial Engineering pasta-Lab Via Claudio 21 Napoli80125 Italy

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A control framework for autonomous e-scooters

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IFAC-PapersOnLine 2021年第2期54卷 252-258页

作者： Raffaele Soloperto Philipp Wenzelburger David Meister Dominik Scheuble Veronika S.M. Breidohr Frank Allgöwer University of Stuttgart Institute for Systems Theory and Automatic Control Pfaffenwaldring 9 70569 Stuttgart Germany University of Stuttgart Faculty 7: Engineering Design Production Engineering and Automotive Engineering Pfaffenwaldring 9 70569 Stuttgart Germany

In this paper, we address the core challenges of self-stabilization, obstacle detection, and collision avoidance arising when developing autonomous electric scooters for sharing systems. In particular, we firstly demonstrate how an e-scooter can balance itself by the usage of a reaction wheel combined with a braking mechanism. Secondly, we show how a depth-camera can be utilized to generate a grid map representation of the environment surrounding the e-scooter and how this can be used to design a computationally tractable algorithm which ensures obstacle avoidance as well as path following. Finally, the goal of this paper is to provide a starting point for the development of autonomous e-scooters for sharing systems by combining approaches from various research communities in a common application framework.

关键词： E-scooters Self-stabilization Collision avoidance Obstacle detection Smart-mobility

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Validation concept for scenario-based connected test benches of a highly automated vehicle 1

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7. Internationale ATZ-Tagung Automatisiertes Fahren - 7th International ATZ Conference on Automated Driving, 2021

作者： Wäschle, Moritz Wolter, Kai Han, Chenlei Pecha, Urs Bause, Katharina Behrendt, Matthias Institute of Product Engineering Karlsruhe Institute of Technology Germany Institute for Vehicle System Technology Karlsruhe Institute of Technology Germany Institute of Electrical Energy Conversion University of Stuttgart Germany

ISBN: (数字)9783658347543

ISBN: (纸本)9783658347536

Highly automated functions and components for vehicle guidance lead to increasing demands while still expected high reliability and safety. The partners within Smart Load project addresses these challenges with new validation concepts such as the cross-company or institute connection of test benches. Based on the IPEK-X-in-the-Loop approach applying mixed physical-virtual models, use case specific validation environments are modeled, compared and built. The authors realize the scenario "cornering of a people mover" with a location-dis-tributed connection of a simulation environment, a gearbox test bench and an engine simulation in a closed-loop setup. All partners involved in the network can implement independent fallback mechanisms and substitute models. The connections is supported by modeling interrelated elements like scenarios in the systems Modeling Language. Furthermore, the technical implementation is supported using substitute models, a toolchain for deriving concrete scenarios and the use of an adapted Distributed Co-Simulation Protocol. In result, the distributed tests show the inter-dependencies of different components on distributed test benches, connected to a total vehicle simulation. © 2021 Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature.

关键词： Automatic guided vehicles

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SELD-TCN: Sound Event Localization & Detection via Temporal Convolutional Networks

SELD-TCN: Sound Event Localization & Detection via Temporal ...

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European Signal Processing Conference (EUSIPCO)

作者： Karim Guirguis Christoph Schorn Andre Guntoro Sherif Abdulatif Bin Yang Robert Bosch GmbH Renningen Germany Institute of Signal Processing and System Theory University of Stuttgart Stuttgart Germany

ISBN: (数字)9789082797053

ISBN: (纸本)9781728150017

The understanding of the surrounding environment plays a critical role in autonomous robotic systems, such as self-driving cars. Extensive research has been carried out concerning visual perception. Yet, to obtain a more complete perception of the environment, autonomous systems of the future should also take acoustic information into account. Recent sound event localization and detection (SELD) frameworks utilize convolutional recurrent neural networks (CRNNs). However, considering the recurrent nature of CRNNs, it becomes challenging to implement them efficiently on embedded hardware. Not only are their computations strenuous to parallelize, but they also require high memory bandwidth and large memory buffers. In this work, we develop a more robust and hardware-friendly novel architecture based on a temporal convolutional network (TCN). The proposed framework (SELD-TCN) outperforms the state-of-the-art SELDnet performance on four different datasets. Moreover, SELD-TCN achieves 4x faster training time per epoch and 40x faster inference time on an ordinary graphics processing unit (GPU).

关键词： Training Recurrent neural networks Convolution Memory management Graphics processing units Task analysis Visual perception

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SLPC: A VRNN-based approach for stochastic lidar prediction and completion in autonomous driving

arXiv

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arXiv 2021年

作者： Eskandar, George Braun, Alexander Meinke, Martin Armanious, Karim Yang, Bin University of Stuttgart Institute of Signal Processing and System Theory Stuttgart Germany Robert Bosch GmbH Lidar Perception Stuttgart Germany

Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction framework that is based on generative models namely Variational Recurrent Neural Networks (VRNNs), titled Stochastic LiDAR Prediction and Completion (SLPC). Our algorithm is able to address the limitations of previous video prediction frameworks when dealing with sparse data by spatially inpainting the depth maps in the upcoming frames. Our contributions can thus be summarized as follows: we introduce the new task of predicting and completing depth maps from spatially sparse data, we present a sparse version of VRNNs and an effective self-supervised training method that does not require any labels. Experimental results illustrate the effectiveness of our framework in comparison to the state of the art methods in video prediction. Copyright © 2021, The Authors. All rights reserved.

关键词： Autonomous vehicles

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High-order Fully Actuated Approach for Output Position Control of Two Mass systems based on Extended State Observer

High-order Fully Actuated Approach for Output Position Contr...

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Fully Actuated system theory and Applications (CFASTA), Conference on

作者： Ping Li Guang-Ren Duan Bi Zhang Yuzhong Wang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.

关键词： Robust control Uncertain systems Simulation Position control Observers Control systems Stability analysis

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Chaotic Neural Network with Legendre Function Self-feedback and Applications

Chaotic Neural Network with Legendre Function Self-feedback ...

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作者： Zhang, Yu Wei, SiFan Wang, Yu Xu, Yaoqun School of Computer and Information Engineering Harbin University of Commerce Harbin150028 China Heilongjiang Provincial Key Laboratory of Electronic Commerce and Information Processing Harbin150028 China Heilongjiang Cultural Big Data Theory Application Research Center Harbin150028 China Institute of System Engineering Harbin University of Commerce Harbin150028 China

A new transient chaotic neuron model which introduces Legendre function into the self-feedback term is constructed. The dynamic characteristics of the single neuron are analyzed by the time evolution graph and the inverted bifurcation graph of the largest Lyapunov exponent. The network parameters are set for settling the combinatorial optimization problem. The effectiveness of this model has been verified by the simulation results in nonlinear function optimization, traveling salesman problem (TSP). © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Traveling salesman problem

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Safe Exploration and Escape Local Minima with Model Predictive Control under Partially Unknown Constraints

arXiv

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arXiv 2022年

作者： Soloperto, Raffaele Mesbah, Ali Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Department of Chemical and Biomolecular Engineering University of California BerkeleyCA94720 United States

In this paper, we propose a novel model predictive control (MPC) framework for output tracking that deals with partially unknown constraints. The MPC scheme optimizes over a learning and a backup trajectory. The learning trajectory aims to explore unknown and potentially unsafe areas, if and only if this might lead to a potential performance improvement. On the contrary, the backup trajectory lies in the known space, and is intended to ensure safety and convergence. The cost function for the learning trajectory is divided into a tracking and an offset cost, while the cost function for the backup trajectory is only marginally considered and only penalizes the offset cost. We show that the proposed MPC scheme is not only able to safely explore the unknown constraints, but also escape from local minima that may arise from the presence of obstacles. Moreover, we provide formal guarantees for convergence and recursive feasibility of the MPC scheme, as well as closed-loop constraint satisfaction. Finally, the proposed MPC scheme is demonstrated in simulations using an example of autonomous vehicle driving in a partially unknown environment where unknown obstacles are present. Copyright © 2022, The Authors. All rights reserved.

关键词： Model predictive control

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