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Quasi full information feedback control law of linear systems

IFAC-PapersOnLine 2017年第1期50卷 904-909页

作者： Yu S. Wang J. Kim J.-S. Chen H. Allgöwer F. State Key Laboratory of Automotive Simulation and Control Jilin University Changchun 130012 China Department of Control Science and Engineering Jilin University Changchun 130012 China Department of Electrical and Information Engineering Seoul National University of Science and Technology Seoul 139-743 South Korea Institute for Systems Theory and Automatic Control University of Stuttgart Germany

In this paper, disturbance observer based quasi full information feedback control law of linear systems is proposed, where the feedback control law is with direct measurement of the plant states and the estimation of the disturbances. It shows that the system under control is input to state stable from the derivative of the disturbances to the system states provided that the given matching condition is satisfied. Furthermore, the effect of the disturbances can be compensated entirely if the disturbance is constant. The proposed scheme is verified by a simple numerical example and the stability control of four-wheel steering vehicle. © 2017

关键词： disturbance observer disturbance rejection input-to-state stability linear systems robust control

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Spline-Based Motion Planning for Automated Driving

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IFAC-PapersOnLine 2017年第1期50卷 9114-9119页

作者： Götte C. Keller M. Nattermann T. Haß C. Glander K.-H. Bertram T. Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund 44227 Germany Active & Passive Safety Technology ZF TRW Düsseldorf 40547 Germany

The paper at hand proposes an efficient trajectory planning approach for automated vehicles. The concept of potential field based online trajectory optimization is enhanced by a spline-based interpolation strategy, valid for normal driving functions. The resulting benefits of the developed Timed Elastic Spline (TES) approach concern improvements in computational efficiency and faster convergence and thus effect the computation time. An optimization algorithm is applied to generate the optimal trajectory considering the objectives of collision avoidance and comfort. The results show the performance of the developed algorithm, which is designed to solve a broad range of traffic scenarios. Additionally measurements indicate that the algorithm is suitable for real time application. © 2017

关键词： automated driving optimal trajectory optimization trajectory planning vehicles

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Pseudo-spectral-enhanced Output Regulation for Hypersonic Flight Vehicle

Pseudo-spectral-enhanced Output Regulation for Hypersonic Fl...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Yuehui Ji Hailiang Zhou School of Electrical Engineering and Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Tianjin Institute of Metrological Supervision and Testing(TIMST) Tianjin China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

An asymptotic flight tracking controller is constructed by output regulation technology for hypersonic flight vehicles subjected to nonlinear non-minimum phase dynamic. The standard dynamic inversion technology cannot be utilized directly in control system design due to the unstable zero-dynamics in hypersonic flight vehicle. Hence, the output regulation theory is investigated to design a nonlinear asymptotic tracking controller in sinusoidal flight maneuver cases. Meanwhile, pseudo spectral technology is introduced to solve the center manifold equation in the standard output regulation problem. Finally, Numerical Simulation shows that the proposed control scheme can afford favorable tracking performance and suppress unstable zero dynamics effectively.

关键词： Vehicle dynamics Mathematical model Trajectory Nonlinear dynamical systems Eigenvalues and eigenfunctions Regulators Manifolds

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Kinodynamic trajectory optimization for real-time vehicle guidance

Kinodynamic trajectory optimization for real-time vehicle gu...

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Automotive meets Electronics, AmE 2017

作者： Homann, Andreas Keller, Martin Götte, Christian Glander, Karl-Heinz Hass, Carsten Bertram, Torsten Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF TRW Active and Passive Safety Technology Düsseldorf40547 Germany

ISBN: (纸本)9783800743698

In order to develop automated driving systems an approach to generate trajectories is of essential importance. The trajectory has to satisfy two fundamental requirements. On the one hand collision free driving of the vehicle has to be ensured and on the other hand the limited driving dynamics has to be complied. The real-time capable trajectory optimization including a complex vehicle dynamics model causes high computational costs. In this contribution the trajectory optimization is based on the kinodynamics of a mass point. The road limits and obstacles are included in the optimization problem by a potential field. © VDE verlag GMBH ∙ Berlin ∙ Offenbach.

关键词： Trajectories

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Exploiting Sparse Structures in Nonlinear Model Predictive control with Hypergraphs

Exploiting Sparse Structures in Nonlinear Model Predictive C...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Christoph Rosmann Maximilian Kramer Artemi Makarow Frank Hoffmann Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Germany

This paper proposes a hypergraph formulation for solving MPC problems. The hypergraph approach exploits the sparse structure in the calculation of derivatives. It is therefore computationally more efficient in case of multiple-shooting, collocation and full-discretization methods compared to a dense formulation. Recent advances in realtime optimization rely on automatic differentiation (AD) to compute derivatives. An extensive analysis compares MPC variants with both hypergraph and AD on two benchmark control problems. Even though AD requires a computational overhead to set up the problem structure, solving the nonlinear program at each iteration is fast. The overhead in the hypergraph approach is negligible, and computational effort in the solving phase is inferior but comparable to AD. This observation favors the hypergraph representation for MPC problems with non-static problem structure.

关键词： Trajectory Optimization Predictive control System dynamics Splines (mathematics) Optimal control Computational modeling

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A lyapunov-based small-gain theorem for infinite networks

arXiv

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arXiv 2019年

作者： Kawan, Christoph Mironchenko, Andrii Swikir, Abdalla Noroozi, Navid Zamani, Majid Institute of Informatics Ludwig Maximilian University of Munich Germany Faculty of Computer Science and Mathematics University of Passau Passau94032 Germany Department of Electrical and Computer Engineering Technical University of Munich Germany Otto-von-Guericke University Magdeburg Laboratory for Systems Theory and Automatic Control Magdeburg Germany Computer Science Department University of Colorado BoulderCO80309 United States Computer Science Department Ludwig Maximilian University of Munich Germany

This paper presents a small-gain theorem for networks composed of a countably infinite number of finite-dimensional subsystems. Assuming that each subsystem is exponentially input-to-state stable, we show that if the gain operator, collecting all the information about the internal Lyapunov gains, has a spectral radius less than one, the overall infinite network is exponentially input-to-state stable. The effectiveness of our result is illustrated through several examples including nonlinear spatially invariant systems with sector nonlinearities and a road traffic *** Codes 37B25, 37L15, 93D05, 93A15 Copyright © 2019, The Authors. All rights reserved.

关键词： Large scale systems

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Fault Detection of Liquid-Propellant Rocket Engines Based on LSSVM

Fault Detection of Liquid-Propellant Rocket Engines Based on...

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2018 International Conference on Information, Electronic and Communication engineering(IECE 2018)

作者： Ning-ning LI Wei XUE Xiang GUO Song-bo ZHAO Liang XU School of Electrical and Electronic Engineering and Tianjin Key Laboratory for Control Theory &Applications in Complicated Systems Tianjin University of Technology Beijing Aerospace Propulsion Institute Big data Center PICC Property and Casualty Company Limited

In terms of fault diagnosis of liquid-propellant rocket engine, the fault diagnosis accuracy of the traditional method is low the characteristics of engine fault data are small sample and nonlinear variation. In order to improve the accuracy of sensor fault diagnosis and overcome the scarcity of related samples, the particle swarm optimization(PSO) with strong global searching ability is used to optimize the LS-SVM parameters, and the LSSVM optimal parameter values are obtained by iteration to improve the model fitting accuracy and generalization ability. At the same time, the traditional support vector machine and BP neural network model are used for the detection. The simulation results show that the least squares support vector machine(SVM) detection method based on particle swarm optimization has the advantages of high precision and high speed. It has certain effect and positive significance for improving the safety of liquid-propellant rocket engine test and engine failure loss.

关键词： Liquid-propellant rocket engine Fault detection LSSVM PSO

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Application of QGA-BP Network in Objective Evaluation of Speech Jamming Effect

Application of QGA-BP Network in Objective Evaluation of Spe...

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IEEE International Conference on Mechatronics and Automation

作者： Jiaqing Mo Wei Xue Songbo Zhao Ningning Li Liang Xu Dahua Li Qiang Gao School of Information Science and Engineering Xinjiang University Urumqi China Beijing Aerospace Propulsion Institute Beijing China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China

In order to overcome the shortcomings of traditional BP (Back Propagation) in the process of evaluation for continuous speech jamming effect, a method based on QGA (Quantum Genetic Algorithm) is proposed to optimize the BP network for objective evaluation of speech jamming effect. The MFCC feature of continuous speech data under different distortion conditions are extracted by the Mel cepstrum, which are set to the model inputs in the QGA-BP method. Then the QGA is used to optimize the weight and threshold of BP neural network from multiple spots. A QGA-BP model is constructed to accomplish the mapping from the input to the Mean Opinion Score (MOS). Representative speech data is used to verify this method, and the results show that the convergence speed of QGA-BP model is improved compared with the traditional BP network. Meanwhile, the convergence error can be effectively controlled within 4%, and the model correlation coefficient and the standard deviation are closer to the ideal parameters.

关键词： Jamming evaluation BP neural network QGA Mel cepstrum Characteristic parameter Subjective MOS

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On Exploitation of Supply Chain Properties by Sequential Distributed MPC

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IFAC-PapersOnLine 2017年第1期50卷 7947-7952页

作者： Köhler P.N. Müller M.A. Pannek J. Allgöwer F. Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Production Engineering University of Bremen Germany BIBA Bremer Institut für Produktion und Logistik GmbH Germany

In this work, we propose a sequential distributed MPC algorithm for control of a linear supply chain. The algorithm is developed by closely taking into account supply chain specifics and requirements from practice, e.g., orders and leavings are both treated as decision variables at each stage and communication between stages is kept low. We present the rather surprising result that terminal equality constraints employed in the local MPC formulations are inherently satisfied for the overall system, despite the presence of bilateral dynamic couplings and solving the local MPC problems sequentially. This is due to the stock and flow nature of the problem. The proposed algorithm is shown to be recursively feasible, to asymptotically satisfy a constant customer demand and to achieve asymptotic convergence of the local stock and backlog to the desired levels. This is illustrated by numerical simulations. © 2017

关键词： Complex logistic systems Decentralized decision making in complex systems distributed control Modeling Multiagent systems

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A Novel Observer Approach for Self Sensing of Single-Coil Digital Valves

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IFAC-PapersOnLine 2017年第1期50卷 782-787页

作者： Braun T. Reuter J. Rudolph J. Institute of System Dynamics Konstanz University of Applied Sciences Konstanz 78462 Germany Chair of Systems Theory and Control Engineering Saarland University Campus A5 1 Saarbrücken 66123 Germany

Observer-based self sensing for digital (on–off) single-coil solenoid valves is investigated. Self sensing refers to the case where merely the driving signals used to energize the actuator (voltage and coil current) are available to obtain estimates of both the position and velocity. A novel observer approach for estimating the position and velocity from the driving signals is presented, where the dynamics of the mechanical subsystem can be neglected in the model. Both the effect of eddy currents and saturation effects are taken into account in the observer model. Practical experimental results are shown and the new method is compared with a full-order sliding mode observer. © 2017

关键词： Observer design Self sensing actuators Singular perturbation analysis

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