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63rd IEEE Conference on Decision and control, CDC 2024

作者： Zeiringer, Thomas Holzl, Stefan L. Horn, Martin Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (纸本)9798350316339

A method for synthesizing a chirp signal given its desired spectrum is proposed, extending the application of established experiment design methods to chirp signals. Further, aspects concerning plant-friendly system identification are discussed and variations of the regular chirp signal are therefore introduced. An analytical expression for the system's response to a chirp signal is derived and used to discuss the application of chirp signals in detail. Finally, an experiment is presented to compare chirp and noise signals for system identification. © 2024 IEEE.

关键词： Design of experiments

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Globally Asymptotically Stable control of Integrators with Long Dead Time in the Presence of Actuator Constraints 63

Globally Asymptotically Stable Control of Integrators with L...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Holzl, Stefan L. Institute of Automation and Control Graz University of Technology Austria

ISBN: (纸本)9798350316339

Different concepts to control integrators with long dead time have been presented over the last 40 years. Although this particular plant model is of practical interest, another practical issue of high interest, i.e. actuator constraints, has often enough been neglected in the treatises. This paper presents a control scheme (the so-called Conditioned Smith-Åström Predictor) that guarantees global asymptotic stability for integrators with long dead time. Furthermore, it offers a straightforward design procedure and-yet another practical aspect of increasing interest-an explicit disturbance estimate (independent of constraints). A highlight of the proposed stability proof is that it uses well-established graphical methods that allow for an easy verification of closed-loop stability even in the presence of unmodelled dynamics and dead time mismatch, the latter of which is illustrated in the paper. This makes it an appealing alternative to other methods found in literature. © 2024 IEEE.

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Robust Internal Model-based control for Linear-Time-Invariant Systems in Discrete-time Domain 63

Robust Internal Model-based Control for Linear-Time-Invarian...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Azimi, Atabak Koch, Stefan Reichhartinger, Markus Institute of Automation and Control at Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model-based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

This paper introduces a new strategy for robustly controlling linear discrete-time systems that experience both periodic disturbances modeled by an uncertain exosystem and bounded matched disturbances. The strategy, called internal model-based sliding mode control, combines the robustness of sliding mode control with the precise tracking capabilities of internal model-based control. This new approach, inspired by implicitly discretized first order sliding mode control, offers superior performance with reduced chattering compared to explicit methods while maintaining simplicity. By effectively suppressing chattering and leveraging the exosystem model incorporated in the internal model-based controller, the proposed method achieves superior disturbance rejection compared with feedback loops relying either on internal model-based control or sliding mode control only. The presented simulation example illustrates the application of the proposed controller and the obtained results show that significant disturbance rejection improvement is achieved. © 2024 IEEE.

关键词： Disturbance rejection

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State Estimation in Networked control Systems with Time-Varying Delays: A Simple yet Powerful Observer Framework 63

State Estimation in Networked Control Systems with Time-Vary...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Stanojevic, Katarina Steinberger, Martin Horn, Martin Institute of Automation and Control Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

This paper presents a distinct framework for the design of an observer-based feedback control strategy for networked control systems (NCS) affected by unknown time-varying transmission delays larger than the sampling time Td. The pivotal element of the proposed strategy lies in the configuration of network nodes and a buffering mechanism which enable state estimation at the controller's side using observer strategies not initially designed for NCS. Consequently, the Luenberger-type observer can be designed independently from the utilized network, thus leading to a substantial reduction in the complexity typically associated with uncertain and time-varying NCS. Furthermore, the proposed framework allows the strategic incorporation of predicted state estimates in the controller design. This mitigates the effect of the network delay by reducing it by Td, which can significantly improve the system performance, as demonstrated in a simulation example. © 2024 IEEE.

关键词： Networked control systems

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fROS: A Generic Fieldbus Framework for ROS

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-16页

作者： Schneider, Daniel Kastner, Ludwig Schick, Bernhard Watzenig, Daniel Kempten University of Applied Sciences Institute for Advanced Driver Assistance Systems and Connected Mobility Graz University of Technology Institute of Automation and Control

As the development of advanced driver assistance systems (ADAS) continues, more and more software functions and sensors are being introduced to the market. This is accompanied by an increase in the amount of data that has to be transmitted to multiple receivers in the vehicle under hard real-time requirements. The use of deterministic and non-deterministic Fieldbus protocols enables communication between sensor and actuator or ECUs. For the purpose of verifying and validating the developed software modules, but also for type approval, an objective and thus data-driven toolchain is mandatory. By using suitable middleware such as Robotic Operating System (ROS), the complexity of integrating multiple (reference) sensors as well as prototypical software functions can be broken down into subtasks and thus distributed to the hardware in a computationally efficient manner. Recording and manipulating sensor ECU communication while driving is also possible under certain circumstances. However, at least to our knowledge, there is no public ROS driver available to integrate automotive-specific Fieldbus protocols except for CAN. In the following paper, we introduce a generic and open-source framework for integrating on-board communication of various Fieldbus protocols and demonstrate the integration in ROS as a real-world use case. To validate the presented methodology, we perform a time analysis of the presented ROS node and compare it to a ROS-independent reference measurement system while performing a standardized vehicle dynamic driving test. In addition, we objectively compare two different on-board sensors from a series vehicle with two distinct reference sensors in a real-world scenario. IEEE

关键词： Real time systems

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Impact of Thermal Aging on Winding Insulation Loss-of-Life Fraction Using H∞ Algorithm for Integrated permanent Magnet In-Wheel Motor

Impact of Thermal Aging on Winding Insulation Loss-of-Life F...

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2023 IEEE International Automated Vehicle Validation Conference, IAVVC 2023

作者： Hashemi, Maliheh Stolz, Michael Watzenig, Daniel Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (纸本)9798350322538

To improve the reliability of in-wheel structures based on permanent magnet synchronous motors (PMSM), thermal management is a crucial requirement. However, online thermal analysis for in-wheel motors which drives electric vehicles (EVs) specially autonomous electric vehicles (A-EVs) is a highly challenging task due to the complex thermal distribution affected by geometrical and material parameters and intricate boundary conditions. In the pursuit of avoiding winding insulation to get overheated and the motor lifetime to be shortened, real-time temperature estimation is needed. In this contribution we focus on a model-based robust temperature estimation for a PMSM on the stator and rotor parts, specifically to evaluate gradual winding insulation deterioration. The proposed temperature estimation method is based on H∞ algorithm applied on a low-order lumped parameter thermal network (LPTN). Then, the insulation loss-of-life fraction is investigated when an over-current occurs during a short-time thermal overload. Finally, a comparison between numerical simulation results and experimental results confirms the robustness, feasibility and effectiveness of the presented model. © 2023 IEEE.

关键词： Thermoanalysis

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Dual-Weight Particle Filter for Radar-Based Dynamic Bayesian Grid Maps 1

Dual-Weight Particle Filter for Radar-Based Dynamic Bayesian...

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1st IEEE International Conference on Mobility, Operations, Services and Technologies, MOST 2023

作者： Ronecker, Max Peter Stolz, Michael Watzenig, Daniel Graz University of Technology Institute of Automation and Control Graz Austria

ISBN: (纸本)9798350319958

Through constant improvements in recent years radar sensors have become a viable alternative to lidar as the main distancing sensor of an autonomous vehicle. Although robust and with the possibility to directly measure the radial velocity, it brings it's own set of challenges, for which existing algorithms need to be adapted. One core algorithm of a perception system is dynamic occupancy grid mapping, which has traditionally relied on lidar. In this paper we present a dual-weight particle filter as an extension for a bayesian occupancy grid mapping framework to allow to operate it with radar as its main sensors. It uses two separate particle weights that are computed differently to compensate that a radial velocity measurement in many situations is not able to capture the actual velocity of an object. We evaluate the method extensively with simulated data and show the advantages over existing single weight solutions. © 2023 IEEE.

关键词： Autonomous vehicles

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Discretization-Chattering-Free Implementation of Arbitrary-Order Sliding Mode controllers 63

Discretization-Chattering-Free Implementation of Arbitrary-O...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Andritsch, Benedikt Watermann, Lars Koch, Stefan Reichhartinger, Markus Reger, Johann Horn, Martin Institute of Automation and Control Graz University of Technology Graz Austria Technische Universität Ilmenau Control Engineering Group Ilmenau Germany

ISBN: (纸本)9798350316339

In this paper an implementation of sliding mode control for disturbed integrator chains that does not suffer from the discretization chattering effect is presented. The method is based on an Euler forward discretization of the sliding mode controller. In a vicinity of the origin, that properly scales with the discretization time, the controller is altered to eliminate discretization chattering which can also improve the control accuracy. Finite-time stability of the origin is proven in the absence of a disturbance. In the disturbed case boundedness of the control error is shown. The control actuation is shown to be locally bounded. Exemplary applications to first- and second-order sliding mode control show the effectiveness of the method. © 2024 IEEE.

关键词： Sliding mode control

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Anti-Windup Schemes for Discrete-Time Super Twisting Algorithms 22

Anti-Windup Schemes for Discrete-Time Super Twisting Algorit...

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22nd IFAC World Congress

作者： Reichhartinger, Markus Vogl, Sebastian Koch, Stefan Institue of Automation and Control Graz University of Technology Graz Austria Sebastian Vogl Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (纸本)9781713872344

A discrete-time super twisting algorithm is extended such that the windup effect is avoided in the case of limitations in the amplitude of the actuating signal. This is achieved by proposing a so-called incremental version of the discrete-time super twisting algorithm. It is shown that this version of the algorithm coincides with the original formulation of the algorithm as long as the actuating signal is not limited. However, it is also shown in this paper that it can be easily extended for windup prevention if limitations in the actuating signal occur. The proposed incremental super twisting algorithm is further modified such that in case of actuator saturation not only boundedness of the state variable of the controller is ensured, also a consistency with regard to its input-output signals is achieved. This consideration results in the so-called error recalculation super twisting algorithm. Results obtained by applying the developed algorithms in simulations and an experimental case study are presented. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Anti-windup Constrained control Discrete-time control algorithms Robust control Sliding mode control

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Limit Cycle Analysis of Guideline-based treated Graves’ Disease Patients

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IFAC-PapersOnLine 2025年第1期59卷 247-252页

作者： Thomas Benninger Martin Horn Markus Reichhartinger Institute of Automation and Control Graz University of Technology Graz 8010 Austria

A brief review of existing medical dosage guidelines for Graves’ disease is conducted. This motivates to derive a recommendation strategy and a performance assessment via limit cycle stability analysis. For this purpose, an existing mathematical treatment model is simplified by incorporating medical aspects. From an application point of view, this is related to suboptimal treatments which can be approximated by a proportional controller in combination with a time-discretization of the closed-loop model for incorporating the effect of regular appointments with a physician. The presented results highlight critical aspects to be considered during treatment.

关键词： Biomedical system modeling Decision support control disease control Modeling Kinetic modeling control of biological systems

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