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American control Conference

作者： Artemi Makarow Christoph Rosmann Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

This paper proposes a sampling-based model predictive control scheme with a single degree of freedom in control. A variable horizon and stabilizing terminal conditions ensure recursive feasibility, asymptotic stability, and improvement of the closed-loop performance. The initial derivation leads to a computationally demanding mixed-integer nonlinear programming problem. To address this issue, the paper presents an algorithm that seeks the optimal horizon while rolling out a finite number of control input candidates. The proposed derivative-free optimization even finds the control invariant terminal set online at reasonable computational overhead. The approach is straightforward to implement and aims for fast, albeit small-scale systems. A comparative analysis with a fixed-horizon scheme and standard model predictive control on a nonlinear benchmark system shows high closed-loop performance with low computational effort.

关键词： Asymptotic stability Optimization Nonlinear systems Trajectory Predictive control Benchmark testing Real-time systems

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Model Predictive control of the Vertical Gradient Freeze Crystal Growth Process

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IFAC-PapersOnLine 2021年第6期54卷 218-225页

作者： Stefan Ecklebe Tom Buchwald Patrick Rüdiger Jan Winkler Institute of Control Theory Technische Universität Dresden 01062 Dresden Germany Institute of Traffic Engineering Brandenburg University of Technology Cottbus-Senftenberg 03046 Cottbus Germany Institute of Natural Materials Technology Technische Universität Dresden 01062 Dresden Germany

This contribution presents the application of nonlinear model predictive control to the Vertical Gradient Freeze crystal growth process. Due to the time-varying spatial extent of the crystal and melt during growth, this process is characterised by two coupled free boundary problems that form a so called two-phase Stefan problem which is of nonlinear nature. To apply model predictive control to this process, a simplified, spatially distributed representation of the system is derived and transferred into a spatially lumped form by means of the finite element method. For this model, a nonlinear control problem is formulated, that takes process limitations into account and tries to satisfy different quality objectives by formulating demands on the systems spatiotemproal temperature distribution. This provides the foundation for the presented predictive control design. Finally, the approximated model and the controller are verified for different real-world scenarios that include model errors and parameter uncertainties.

关键词： Vertical Gradient Freeze Two-phase Stefan problem Distributed parameter systems Free boundary value problem Nonlinear control systems Predictive control

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Core components of automated driving - algorithms for situation analysis, decision-making, and trajectory planning

Core components of automated driving - algorithms for situat...

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5th ATZ-Fachtagung Automatisiertes Fahren - Von der Fahrerassistenz zum autonomen Fahren, 2019

作者： Lienke, Christian Schmidt, Manuel Wissing, Christian Keller, Martin Manna, Carlo Nattermann, Till Bertram, Torsten TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Active and Passive Safety Technology Dortmund40547 Germany

ISBN: (纸本)9783658279899

Automated driving is a key technology for the future of transportation. There are several motivations to develop automated vehicles. First and foremost, it promises to reduce the number of traffic accidents. Figure 1 shows the accidents recorded by the German police over the past years ([1]) ranging back to 1960. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2020.

关键词： Decision making

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Challenges of Trajectory Planning with Integrator Models on Curved Roads ⁎

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IFAC-PapersOnLine 2020年第2期53卷 15588-15595页

作者： Jan Eilbrecht Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel 34121 Kassel Germany

In the context of trajectory planning for autonomous vehicles, a widely used vehicle model relies on linear integrator dynamics. We consider planning with this model type, with a focus on the requirement to account for curved road topologies. As our analysis reveals, this generally gives rise to non-convex, coupled constraints on the vehicle’s states and inputs, which impedes computationally efficient planning. We propose a method to resolve this issue by modification of the non-convex constraints. This modification is based on inner approximations of sub-level sets of nonlinear functions, which are obtained by quantifier elimination. The efficacy of the method is demonstrated in two example scenarios.

关键词： Autonomous driving trajectory planning vehicle dynamic systems constrained control

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Efficient Localization on Highways Employing Public HD Maps and Series-Production Sensors

Efficient Localization on Highways Employing Public HD Maps ...

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21st Stuttgart International Symposium on Automotive and Engine Technology, 2021

作者： Stannartz, Niklas Theers, Mario Sons, Marc Llarena, Adalberto Kuhn, Markus Kind, Oliver Maria Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany Automated Driving and Integral Cognitive Safety ZF Automotive Germany GmbH Düsseldorf40547 Germany Automated Driving and Integral Cognitive Safety ZF Automotive Germany GmbH Gelsenkirchen45881 Germany

ISBN: (纸本)9783658335205

Compared to standard navigation maps, HD maps contain precise additional information for automated vehicles. To exploit this information, a lane-level accurate localization estimate within the HD map needs to be available. Here, the computation and memory overhead of the localization algorithm needs to be as small as possible to enable a reasonable usage of HD map information. Since the accuracy of GNSS measurements is insufficient for an accurate localization at lane-level, HD maps commonly contain geo-referenced landmarks like lane markings and boundaries that can be detected by series-production camera sensors, especially on highways. These measurements are fused with the motion measurements provided by the ESP sensors of the vehicle within a Bayesian filtering framework. Here, the most popular localization algorithm coming from the field of robotics is the particle filter (PF). However, for a robust estimation, a sufficiently high number of particles is required which is in contradiction to the objective to minimize the computational and memory overhead of the localization algorithm. Hence, in this contribution a memory and run-time efficient Extended Kalman-Filter (EKF) based solution is proposed employing measurements from series-production vehicle sensors and a public HD map from two highways near Düsseldorf. Experimental results achieved with the EKF are comparable with the localization accuracy provided by the PF while run-time and memory consumption are considerably reduced. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2021.

关键词： Extended Kalman filters

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Research on Switching Power Supply Based on Soft Switching Technology 8th

Research on Switching Power Supply Based on Soft Switching T...

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8th International Conference on Communications, Signal Processing, and Systems, CSPS 2019

作者： Zhang, Zhihong He, Hong Tianjin City Electrical Engineering Technology Research Institute Tianjin300232 China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789811394089

Aiming at the problem that it is difficult to realize zero voltage and zero current switching (ZVZCS) in the current switching power supply, the resonance energy of the lagging arm is insufficient. In this paper, with TMS320F2812 as the control core, the DC/DC part of the switching power supply is designed by using the PWM phase shift control full-bridge ZVZCS technology in the series diode of the hysteresis arm of the converter circuit. The soft switch is well implemented in the case of load change. The MATLAB simulation results show that the soft switching power supply has the advantages of high output precision, fast dynamic response and small overshoot. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Three term control systems

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Distributed Finite-Time Cooperative Localization for Three-Dimensional Sensor Networks

arXiv

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arXiv 2023年

作者： Wu, Jinze Zino, Lorenzo Lin, Zhiyun Rizzo, Alessandro The Department of Electronics and Telecommunications Politecnico di Torino Torino Italy Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China The Institute for Invention Innovation and Entrepreneurship New York University Tandon School of Engineering BrooklynNY United States

This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange information on a network structure. First, we derive a necessary and sufficient condition for node localizability using barycentric coordinates. Then, building on this theoretical result, we design a distributed localizability verification algorithm, in which we propose and employ a novel distributed finite-time algorithm for sum consensus. Finally, we develop a distributed localization algorithm based on conjugate gradient method, and we derive a theoretical guarantee on its performance, which ensures finite-time convergence to the exact position for all localizable nodes. The efficiency of our algorithm compared to the existing ones from the state-of-the-art literature is further demonstrated through numerical simulations. © 2023, CC BY.

关键词： Conjugate gradient method

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Do We Run Large-scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

arXiv

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arXiv 2023年

作者： Kuckling, Jonas Luckey, Robin Avrutin, Viktor Vardy, Andrew Reina, Andreagiovanni Hamann, Heiko The Department of Computer and Information Science University of Konstanz Konstanz78457 Germany The Centre for the Advanced Study of Collective Behaviour University of Konstanz Germany The Institute of Computer Engineering University of Lübeck Lübeck Germany The Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany The Department of Computer Science The Department of Electrical and Computer Engineering Memorial University of Newfoundland St. John's Canada IRIDIA Université Libre de Bruxelles Brussels Belgium

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning. © 2023, CC BY.

关键词： Multipurpose robots

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Digitization of Matrix-Headlights That Move as in the Real Test Drive*

Digitization of Matrix-Headlights That Move as in the Real T...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Mirko Waldner Maximilian Krämer Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

This contribution presents a novel approach to transfer the illumination of a mechanical actuated automotive matrix-headlamp into a virtual environment. The digitization enables Hardware-in-the-Loop-Evaluations of high definition matrix-headlights in the light laboratory at any day time. This contribution explains the necessary modifications of the virtual night drive simulation for correct illumination with the actuated digitized headlight. The modifications depend on whether the camera is connected to the mechanical actuator or is rigid in the test stand. The advantages and disadvantages of each variant and its implementation are explained. The digitization under the influence of the mechanical movement is evaluated with a real matrix-headlight with 84 pixels as a demonstrator. The different camera variants are compared, and recommendations for the best implementation are given.

关键词： Lighting Cameras Light sources Vehicle dynamics Virtual environments Actuators Roads

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Effects of Microplastics on the Phytoremediation of Cd, Pb, and Zn Contaminated Soils by Solanum Photeinocarpum and Lantana Camara

SSRN

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SSRN 2023年

作者： Yu, Qiankui Gao, Bo Wu, Ping Chen, Minni He, Chuanqian Zhang, Xingfeng College of Environmental Science and Engineering Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541004 China College of Tourism & Landscape Architecture Guilin University of Technology Guilin541004 China Key Laboratory of Urban Environment and Health Institute of Urban Environment Chinese Academy of Sciences Xiamen361021 China University of Chinese Academy of Sciences Beijing100049 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China

Microplastics are emerging pollutants and have become a global environmental issue. The impacts of microplastics on the phytoremediation of heavy metal–contaminated soils are unclear. A pot experiment was conducted to investigate the effects of four additions (0, 0.1%, 0.5%, and 1% w·w−1) of polyethylene (PE) and cadmium (Cd), lead (Pb), and zinc (Zn) contaminated soil on the growth and heavy metal accumulation of two hyperaccumulators (Solanum photeinocarpum and Lantana camara). PE significantly decreased the pH and activities of dehydrogenase and phosphatase in soil, while it increased the bioavailability of Cd and Pb in soil. Peroxidase (POD), catalase (CAT), and malondialdehyde (MDA) activity in the plant leaves were all considerably increased by PE. PE had no discernible impact on plant height, but it did significantly impede root growth. PE affected the morphological contents of heavy metals in soils and plants, while it did not alter their proportions. PE increased the content of heavy metals in the shoots and roots of the two plants by 8.01-38.32% and 12.24-46.28%, respectively. However, PE significantly reduced the Cd extraction amount in plant shoots, while it significantly increased the Zn extraction amount in the plant roots of S. photeinocarpum. For L. camara, a lower addition (0.1%) of PE inhibited the extraction amount of Pb and Zn in the plant shoots, but a higher addition (0.5% and 1%) of PE stimulated the Pb extraction amount in the plant roots and the Zn extraction amount in the plant shoots. Our results indicated that PE microplastics have negative effects on the soil environment, plant growth, and the phytoremediation efficiency of Cd and Pb. These findings contribute to a better knowledge of the interaction effects of microplastics and heavy metal–contaminated soils. © 2023, The Authors. All rights reserved.

关键词： Polyethylenes

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