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Development of methods of the fractal dimension estimation for the ecological data analysis 22

22nd International Conference on Soft Computing: Evolutionary Computation, Genetic Programming, Swarm Intelligence, Fuzzy Logic, Neural Networks, Chaos, Bayesian Methods, Intelligent Image Processing, Bio-Inspired Robotics, MENDEL 2016

作者： Jura, Jakub Kuběna, Aleš Antonín Novák, Martin Department of Instrumentation and Control Engineering FME Czech Technical University in Prague Prague Czech Republic Institute of Information Theory and Automation Czech Academy of Sciences Prague Czech Republic

ISBN: (纸本)9783319580876

This paper deals with an estimating of the Fractal Dimension of a hydrometeorology variables like an Air temperature or humidity at a different sites in a landscape (and will be further evaluated from the land use point of view). Three algorithms and methods of an estimation of the Fractal Dimension of a hydrometeorology time series were developed. The first results indicate that developed methods are usable for the analysis of a hydrometeorology variables and for a testing of the relation with autoregulation functions of ecosystem. © Springer International Publishing AG 2017.

关键词： Fractal dimension

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Networked Quadrotor Predictive control Based on Identified Models

Networked Quadrotor Predictive Control Based on Identified M...

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Chinese control Conference

作者： Yuxin Liang Guo-Ping Liu Zhonghua Pang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Engineering University of South Wales Pontypridd UK Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing China

In order to achieve good performance of controlling quadrotors with networked delays, this paper firstly proposes a novel experimental architecture aiming to boost the whole process of the experiment and save expenses. Secondly, different from traditional methods of mathematical modelling, the models adopted in this paper are identified rather than derived or calculated using measured systematic parameters. Thirdly, the dynamic models of the system need to be verified before implemented into further experiments. Finally, based on the classic scheme of a proportional-integral-derivative (PID) control algorithm, a predictive PID controller is designed for quadrotor trajectory tracking, and the results show that the designed controller can fulfill the task of tracking with time delays.

关键词： Mathematical model Predictive models Delays Data models Prediction algorithms Numerical models Observers

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Interval consensus for multiagent networks

arXiv

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arXiv 2018年

作者： Fontan, Angela Shi, Guodong Hu, Xiaoming Altafini, Claudio Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden Research School of Engineering Australian National University CanberraACT0200 Australia Department of Optimization and Systems Theory Royal Institute of Technology StockholmSE-100 44 Sweden Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden

The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in the consensus dynamics by saturating the values that an agent transmits to its neighboring nodes. We show in the paper that when the intersection of the intervals imposed by the agents is nonempty, the resulting constrained consensus problem must converge to a common value inside that intersection. In our algorithm, convergence happens in a fully distributed manner, and without need of sharing any information on the individual constraining intervals. When the intersection of the intervals is an empty set, the intrinsic nonlinearity of the network dynamics raises new challenges in understanding the node state evolution. Using Brouwer fixed-point theorem we prove that in that case there exists at least one equilibrium, and in fact the possible equilibria are locally stable if the constraints are satisfied or dissatisfied at the same time among all nodes. For graphs with sufficient sparsity it is further proven that there is a unique equilibrium that is globally attractive if the constraint intervals are pairwise disjoint. Copyright © 2018, The Authors. All rights reserved.

关键词： Fixed point arithmetic

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An Input-Output Framework for Submanifold Stabilization

An Input-Output Framework for Submanifold Stabilization

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作者： Montenbruck, Jan Maximilian Arcak, Murat Allgower, Frank Department of Electrical Engineering and Computer Sciences University of California at Berkeley BerkeleyCA94720 United States Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70174 Germany

We study submanifold stabilization problems from an input-output perspective, where plant and controller are relations on their sets of input-output signals. In contrast to the classical input-output approaches, we consider signals whose integral $p$-fold distance to a submanifold is finite. For feedback interconnections of relations on such signals, we develop a framework to show that the distance of the output of the plant to the desired submanifold remains bounded. Within this framework, we present a small-gain theorem, a feedback theorem for conic relations, and a feedback theorem for passive relations. We connect our findings to multiplier theory and present applications to synchronization and pattern generation. © 1963-2012 IEEE.

关键词： Feedback

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Development and test of a lane change prediction algorithm for automated driving

Development and test of a lane change prediction algorithm f...

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3. Internationale ATZ-Fachtagung Fahrerassistenzsysteme, 2017

作者： Wissing, Christian Glander, Karl-Heinz Haß, Carsten Nattermann, Till Bertram, Torsten TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF TRW Active and Passive Safety Düsseldorf40547 Germany

ISBN: (纸本)9783658190583

Due to a large number of integrated advanced driver assistance systems (ADAS) the driver nowadays can hand over the driving task to the vehicle in specific, monotone driving scenarios. Short reaction times and the constant awareness of the computer reduces the number of accidents and thus increases safety. Currently available ADAS still need to be constantly monitored by the driver in case a situation appears that cannot be handled properly by the system. © Springer Fachmedien Wiesbaden GmbH 2017.

关键词： Advanced driver assistance systems

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Kinodynamic Trajectory Optimization for Real-Time Vehicle Guidance

Kinodynamic Trajectory Optimization for Real-Time Vehicle Gu...

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AmE 2017 - Automotive meets Electronics;8th GMM-Symposium

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

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.

关键词： trajectory optimization Vehicle driving Vehicle navigation potential field trajectory Vehicle dynamics Automobile driving vehicle material point

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Cascaded Evolutionary Multi-Objective System Optimization for a Proportional Directional control Valve

Cascaded Evolutionary Multi-Objective System Optimization fo...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Artemi Makarow Jan Braun Christoph Rosmann Georg Schoppel Ingo Glowatzky Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany Bosch Rexroth AG Lohr am Main Germany

During the development of mechatronic systems hard- and software components are integrated into a single system. Mostly, a digital control concept is designed to control the interactions of the different sub-systems from different domains and to reach the desired system performance requirements. In the case of a proportional directional control valve, the closed-loop control response is used as a metric of the system performance. The performance can be either improved by optimizing the controller as well as the valve's hardware design parameters. When performing a holistic model-based system optimization, the optimization vector contains the controller and the hardware design parameters. A variation of the design parameters requires a time-consuming Finite-Element-Method (FEM) simulation. In contrast, the impact of different controller parameters on the system performance can be simulated with a low computational effort. Actually, following the control theory, the controller parameters must only be adjusted when the plant changes its characteristic. This contribution presents a cascaded evolutionary multi-objective optimization process which enables the subordinated controller design in the context of a holistic multi-objective system optimization of a directional control valve. The required optimization time decreases significantly since the outer optimization loop mainly focuses on the hardware improvement without the impact of the controller robustness. A real industrial application motivates the developed approach, but the cascaded process is evaluated more generally investigating well-known benchmark functions from the literature for multi-objective optimization.

关键词： Optimization Valves Finite element analysis Computational modeling Mathematical model Solenoids

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Approximation and implementation of transformation based feedback laws for distributed parameter systems

Approximation and implementation of transformation based fee...

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88th Annual Meeting on the International Association of Applied Mathematics and Mechanics, GAMM 2017

作者： Ecklebe, Stefan Riesmeier, Marcus Woittennek, Frank Institute of Control Theory Technische Universität Dresden Georg-Schumann-Str. 7a Dresden01062 Germany Institute of Automation and Control Engineering UMIT – Private University of Health Sciences Medical Informatics and Technology Eduard-Wallnoefer-Zentrum 1 Hall in TirolA-6060 Austria

A novel approach to the efficient numerical approximation and implementation of transformation based state feedback originating from backstepping or flatness based approaches is applied to a flatness based feedback la... 详细信息

关键词： Backstepping

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On optimum design of frame structures

arXiv

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arXiv 2019年

作者： Tyburec, Marek Zeman, Jan Kružík, Martin Henrion, Didier Departement of Mechanics Faculty of Civil Engineering Czech Technical University in Prague Thákurova 7 Prague 6166 29 Czech Republic Departement of Physics Faculty of Civil Engineering Czech Technical University in Prague Thákurova 7 Prague 6166 29 Czech Republic Institute of Information Theory and Automation Czech Academy of Sciences Pod vodárenskou věží 4 Prague 8182 08 Czech Republic LAAS-CNRS University of Toulouse 7 Avenue du Colonel Roche Toulouse31400 France Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Karlovo náměstí 13 Prague 2121 35 Czech Republic

Optimization of frame structures is formulated as a non-convex optimization problem, which is currently solved to local optimality. In this contribution, we investigate four optimization approaches: (i) general non-linear optimization, (ii) optimality criteria method, (iii) non-linear semidefinite programming, and (iv) polynomial optimization. We show that polynomial optimization solves the frame structure optimization to global optimality by building the (moment-sums-of-squares) hierarchy of convex linear semidefinite programming problems, and it also provides guaranteed lower and upper bounds on optimal design. Finally, we solve three sample optimization problems and conclude that the local optimization approaches may indeed converge to local optima, without any solution quality measure, or even to infeasible points. These issues are readily overcome by using polynomial optimization, which exhibits a finite convergence, at the prize of higher computational demands. Copyright © 2019, The Authors. All rights reserved.

关键词： Shape optimization

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Explicit Input Signal Design for Stable Linear Ensemble Systems

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IFAC-PapersOnLine 2017年第1期50卷 3051-3056页

作者： Tie L. Zhang W. Zeng S. Li J.-S. School of Automation Science and Electrical Engineering Beihang University (Beijing University of Aeronautics and Astronautics) Beijing 100191 China Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States Institute for Systems Theory and Automatic Control University of Stuttgart Germany

The control of ensemble systems arising in multiple science and engineering domains has recently received increased attention due to a number of newly emerging applications. While structural controllability of linear ensemble systems has been extensively studied, the problem of constructing an actual input signal that will steer an ensemble system between arbitrarily given ensemble states remains a challenging task. In this paper, we consider a class of continuous-time stable linear ensemble systems and design explicit control laws to steer such ensembles between states of interest. The control is synthesized using the discrete-time counterpart of the original continuous-time ensemble system. Simulations are provided to demonstrate the effectiveness of the developed design method. © 2017

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