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arXiv 2019年

作者： Berberich, Julian Romer, Anne Scherer, Carsten W. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany Institute of Mathematical Methods in the Engineering Sciences Numerical Analysis and Geometrical Modeling Department of Mathematics University of Stuttgart Stuttgart70569 Germany

We consider the problem of designing robust state-feedback controllers for discrete-time linear time-invariant systems, based directly on measured data. The proposed design procedures require no model knowledge, but only a single open-loop data trajectory, which may be affected by noise. First, a data-driven characterization of the uncertain class of closed-loop matrices under state-feedback is derived. By considering this parametrization in the robust control framework, we design data-driven state-feedback gains with guarantees on stability and performance, containing, e.g., the H∞-control problem as a special case. Further, we show how the proposed framework can be extended to take partial model knowledge into account. The validity of the proposed approach is illustrated via a numerical example. Copyright © 2019, The Authors. All rights reserved.

关键词： State feedback

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Environment Modeling for the Application in optimization-based Trajectory Planning

Environment Modeling for the Application in optimization-bas...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Lienke, Christian Keller, Martin Glander, Karl-Heinz Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany Active Passive Safety Technology ZF Group Düsseldorf40547 Germany

ISBN: (纸本)9781538644522

The paper at hand proposes an environment model for trajectory planning in structured environments. It is composed of a static and a dynamic environment model. The generated static potential field takes restrictions imposed by the static environment into account. The dynamic environment model is based on the physical interpretation of the required safety distance. By the use of an advanced obstacle trajectory prediction method, the safety distance is calculated in accordance to the predicted situation. As the safety distance affects the dynamic potential field, information provided by the obstacle trajectory prediction is directly considered in the ego vehicle trajectory planning process. On account of the predictive character of the developed environment potential field, simulation experiments demonstrate the feasibility and effectiveness of the proposed method. © 2018 IEEE.

关键词： Trajectories

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Definition of critical traffic scenarios to evaluate trigger criteria for collision avoidance

Definition of critical traffic scenarios to evaluate trigger...

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18th International Stuttgart Symposium on Automotive and Engine Technology, 2018

作者： Homann, Andreas Bertram, Torsten Buß, Markus Keller, Martin Glander, Karl-Heinz TU Dortmund University Institute of Control Theory and Systems Engineering Germany ZF TRW Active & Passive Safety Technology Düsseldorf Germany

ISBN: (纸本)9783658211936

This contribution examines the parameters, which influence a critical situation in road traffic decisively. For this purpose, sets of simulations are performed to evaluate the impact. By this knowledge, a trigger criteria for collision avoidance, which take all parameters into account is defined. The criteria utilizes an easy planning method to assess if an evasive maneuver or braking intervention will lead to collision free driving © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2018.

关键词： Highway accidents

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Lipschitz continuity of solutions and corresponding multipliers to distributed and boundary semilinear elliptic optimal control problems with mixed pointwise control-state constraints

arXiv

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arXiv 2021年

作者： Nhu, V.H. Tuan, N.Q. Giang, N.B. Huong, N.T.T. Faculty of Fundamental Sciences PHENIKAA University Yen Nghia Ha Dong Hanoi12116 Viet Nam Department of Optimization and Control Theory Institute of Mathematics Vietnam Academy of Science and Technology 18 Hoang Quoc Viet road Hanoi Viet Nam Department of Mathematics Hanoi Pedagogical University 2 Xuan Hoa Vinh Phuc Phuc Yen Viet Nam Department of Information and Technology National University of Civil Engineering 55 Giai Phong Str. Hanoi Viet Nam School of Applied Mathematics and Informatics Hanoi University of Science and Technology 1 Dai Co Viet Hanoi Viet Nam

This paper is concerned with the existence and regularity of mininizers as well as of corresponding multipliers to an optimal control problem governed by semilinear elliptic equations, in which mixed pointwise control-state constraints are considered in a quite general form and the controls act simultaneously in the domain and on the boundary. Under standing assumptions, the minimizers and the corresponding multipliers do exist. Furthermore, by applying the bootstrapping technique and establishing some calculation tools for functions in Sobolev spaces of fractional order, the optimal solutions and the associated Lagrange multipliers are shown to be Lipschitz *** Codes 49K20, 35J25 Copyright © 2021, The Authors. All rights reserved.

关键词： Differential equations

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Stability analysis and controller design for a novel nonlinear system: Fuzzy parameter varying system

Stability analysis and controller design for a novel nonline...

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作者： Zhang, Hongyang Ban, Xiaojun Wu, Fen Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Mechanical and Aerospace Engineering North Carolina State University Raleigh United States

The novel fuzzy parameter varying system is proposed to deal with nonlinear time-varying models. It has the advantages of the T-S fuzzy system and the linear parameter varying system. It provides a new idea for solving nonlinear time-varying control problem. In this paper, some sufficient conditions are provided to guarantee the globally asymptotically stable of the equilibrium and to synthesize a T-S state feedback control law which can stabilize the closed loop fuzzy parameter varying system. Numerical simulations verify the effectiveness of our results. © 2018 - IOS Press and the authors. All rights reserved.

关键词： Linear systems

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Online calibration of a camera system in road traffic scenarios for the validation of automated driving functionalities 9

Online calibration of a camera system in road traffic scenar...

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9. GMM-Fachtagung Automotive meets Electronics, AmE 2018 - 9th GMM Symposium Automotive meets Electronics, AmE 2018

作者： Schmidt, Manuel Nattermann, Till Glander, Karl-Heinz Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany ZF TRW Automated Driving and Integral Cognitive Safety Düsseldorf40547 Germany

ISBN: (纸本)9783800745241

In this contribution, we introduce an algorithm that allows the estimation of a transformation between two sensor systems. The primary system consists of non-imaging sensors like for example lidar and radar or even a fused combination of these. A camera always represents the secondary system. The algorithm aims at automating the process of calibration entirely during driving. This way, much flexibility and robustness are guaranteed. Changing the placement of the camera remains possible without the need to do a cumbersome manual calibration. © AmE 2018: Autom. meets Elect. All rights reserved.

关键词： Cameras

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Extremum Seeking for Maximizing Higher Derivatives of Unknown Maps in Cascade with Reaction-Advection-Diffusion PDEs

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IFAC-PapersOnLine 2019年第29期52卷 210-215页

作者： Tiago Roux Oliveira Jan Feiling Miroslav Krstic Department of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) Rio de Janeiro – RJ Brazil Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Stuttgart Germany Department of Mechanical and Aerospace Engineering University of California - San Diego (UCSD) La Jolla – CA USA

We present a generalization of the scalar Newton-based extremum seeking algorithm, which maximizes the map’s higher derivatives in the presence of dynamics described by Reaction-Advection-Diffusion (RAD) equations. Basically, the effects of the Partial Differential Equations (PDEs) in the additive dither signals are canceled out using the trajectory generation paradigm. Moreover, the inclusion of a boundary control for the RAD process stabilizes the closed-loop feedback system. By properly demodulating the map output corresponding to the manner in which it is perturbed, the extremum seeking algorithm maximizes the n-th derivative only through measurements of the own map. The Newton-based extremum seeking approach removes the dependence of the convergence rate on the unknown Hessian of the higher derivative, an effort to improve performance and remove limitations of standard gradient-based extremum seeking. In particular, our RAD compensator employs the same perturbation-based (averaging-based) estimate for the Hessian’s inverse of the function to be maximized provided by a differential Riccati equation applied in the previous publications free of PDEs. We prove local stability of the algorithm, maximization of the map sensitivity and convergence to a small neighborhood of the desired (unknown) extremum by means of backstepping transformation, Lyapunov functional and the theory of averaging in infinite dimensions.

关键词： Adaptive control Extremum Seeking Partial Differential Equations Averaging theory Backstepping in Infinite Dimensions

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Flatness-Based Feed-Forward control Design for Solenoid Actuators Considering Eddy Currents

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IFAC-PapersOnLine 2019年第15期52卷 567-572页

作者： Tristan Braun Johannes Reuter Joachim Rudolph ZF Friedrichshafen AG Corporate Research & Development 88038 Friedrichshafen Germany Institute of System Dynamics Konstanz University of Applied Sciences 78462 Konstanz Germany Chair of Systems Theory and Control Engineering Saarland University Campus A5 1 66123 Saarbrücken Germany

Flatness-based feed-forward control of solenoid actuators is considered. For precise motion planning and accurate steering of conventional solenoids, eddy currents cannot be neglected. The system of ordinary differential equations including eddy currents, that describes the nonlinear dynamics of such actuators, is not differentially flat. Thus, a distributed parameter approach based on a diffusion equation is considered, that enables the parametrization of the eddy current by the armature position and its time derivatives. In order to design the feedforward control, the distributed parameter model of the eddy current subsystem is combined with a typical nonlinear lumped parameter model for the electrical and mechanical subsystems of the solenoid. The control design and its application are illustrated by numerical and practical results for an industrial solenoid actuator.

关键词： differential flatness feed-forward control motion planning distributed parameter systems diffusion equation eddy currents solenoid valves

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Learning references with Gaussian processes in model predictive control applied to robot assisted surgery

arXiv

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arXiv 2019年

作者： Matschek, Janine Gonschorek, Tim Hanses, Magnus Elkmann, Norbert Ortmeier, Frank Findeisen, Rolf Laboratory for Systems Theory and Automatic Control Otto-von-Guericke Univ. Magdeburg Germany Software Engineering Otto-von-Guericke Univ. Magdeburg Germany Fraunhofer-Institute for Factory Operation and Automation Magdeburg Germany

One of the key benefits of model predictive control is the capability of controlling a system proactively in the sense of taking the future system evolution into account. However, often external disturbances or references are not a priori known, which renders the predictive controllers shortsighted or uninformed. Adaptive prediction models can be used to overcome this issue and provide predictions of these signals to the controller. In this work we propose to learn references via Gaussian processes for model predictive controllers. To illustrate the approach, we consider robot assisted surgery, where a robotic manipulator needs to follow a learned reference position based on optical tracking measurements. Copyright © 2019, The Authors. All rights reserved.

关键词： Model predictive control

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Application of improved PSO-BP neural network in fault detection of liquid-propellant rocket engine 15

Application of improved PSO-BP neural network in fault detec...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Ningning Xue, Wei Zhao, Songbo Gao, Qiang Li, Dahua Xu, Liang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China Beijing Aerospace Propulsion Institute Beijing100076 China

ISBN: (纸本)9781538660720

Because liquid-propellant rocket engine (LRE) is working in complex environment, the reliability of some traditional fault detection methods is low due to the characteristics of limited fault samples, small samples, high coupling and nonlinear variation of the main engine. In order to improve the shortcomings of fault detection in traditional method, this paper presents a fault detection algorithm (PSO-BP) based on improved particle swarm optimization (PSO) algorithm and BP neural network. The structure of BP neural network is established, the collected samples are input into PSO algorithm to optimize, and the optimal BP parameters are found, and the fault detection model of the main engine is established. Finally, the established model is used to simulate the fault. The simulation results show that the proposed algorithm can improves the accuracy of fault detection in the health management of LRE and provides a guarantee for the market demand of commercial launch. © 2018 IEEE.

关键词： Fault detection

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