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European control Conference (ECC)

作者： Emre Aydiner Florian D. Brunner W. P. M. H. Heemels Frank Allgö wer Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Stuttgart Germany Department of Mechanical Engineering Eindhoven University of Technology

In this paper we present a robust self-triggered model predictive control (MPC) scheme for discrete-time linear time-invariant systems subject to input and state constraints and additive disturbances. In self-triggered model predictive control, at every sampling instant an optimization problem based on the current state of the system is solved in order to determine the input applied to the system until the next sampling instant, as well as the next sampling instant itself. This leads to inter-sampling times that depend on the trajectory of the system. By maximizing the inter-sampling time, the amount of communication in the control system is reduced. In order to guarantee robust constraint satisfaction, Tube MPC methods are employed. Specifically, in order to account for the uncertainty in the system, homothetic sets are used in the prediction of the future evolution of the system. The proposed controller is shown to stabilize a closed and bounded set including the origin in its interior.

关键词： Electron tubes control systems Robustness Predictive control Additives Shape Linear systems

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Constrained Model Predictive control of High Dimensional Jump Markov Linear Systems

Constrained Model Predictive Control of High Dimensional Jum...

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American control Conference

作者： Jens Tonne Martin Jilg Olaf Stursberg Volkswagen AG Baunatal (Germany) Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel (Germany)

ISBN: (纸本)9781479917730

This paper proposes a model predictive control (MPC) approach for discrete-time jump Markov linear systems (JMLS) considering constraints on the inputs as well as on the expectancy of the states. Prediction equations for the first moment of the states are formulated, in which the dependencies on the inputs, on the expected values of disturbances, and on the current states are directly considered. For the computation of the matrices needed for predicting the first moment of the states, a recursive algorithm is presented. Finally, the prediction equations are used to formulate the MPC problem as a quadratic program (QP). Due to the recursive structure of the prediction equations and the formulation as a QP, the computational effort is low compared to existing approaches. Simulation results demonstrate the properties of the presented MPC approach and its capabilities of controlling large-scale JMLS online.

关键词： Markov processes Mathematical model Optimization Bismuth Probability distribution Predictive control Linear systems

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Object Classification in a High-Level Sensor Data Fusion Architecture for Advanced Driver Assistance Systems

Object Classification in a High-Level Sensor Data Fusion Arc...

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International Conference on Intelligent Transportation

作者： Michael Aeberhard Torsten Bertram Group ConnectedDrive at BMW Group Research and Technology Munich Germany Institute of Control Theory and Systems Engineering Technical University of Dortmund

Reliable estimation of an object's type is an important aspect of advanced driver assistance systems (ADAS) and automated driving applications. A type-specific ADAS reaction or object prediction can therefore be realized, improving the performance of the system. Object detection research usually focuses strongly on the state and existence estimation of detected objects. In this paper, an approach is presented for estimating an the class type of an object within the framework of a high-level sensor data fusion architecture. A novel classification fusion approach using the Dempster-Shafer evidence theory is presented. The performance of the algorithms are evaluated using a test vehicle with 12 sensors for surround environment perception in an overtaking scenario on a closed test track and on the highway in real traffic.

关键词： Vehicles Data models Data integration Training data Advanced driver assistance systems Probability Object detection

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Performance evaluation of nonlinear surfaces for sliding mode control of a hydraulic valve

Performance evaluation of nonlinear surfaces for sliding mod...

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IEEE Conference on control Technology and Applications (CCTA)

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

This paper discusses the problem of position control of a directional valve in absence of a plant model. Due to strong nonlinearities of the system, advanced control strategies are mandatory if ideal closed-loop performance is recommended. Oftentimes, strategies based on complex PID-control structures using nonlinear gains for different controller branches, containing many highly correlated parameters are introduced to reach the desired performance. In order to overcome the complexity, this paper discusses different sliding mode strategies and ways of defining the closed-loop performance by using nonlinear sliding surfaces. A new analytic approach based on the idea of dynamical pole placement to define an adaptive sliding surface is presented for increasing the closed-loop performance. The automated parameter design is carried out by using a hardware-in-the-loop optimization of the step responses. Test results confirm an improved closed-loop performance for the introduced approach compared to other linear and nonlinear sliding surfaces.

关键词： Valves Optimization Nonlinear dynamical systems Sliding mode control Steady-state Solenoids

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Tracking control of Leader-follower Multi-agent Systems Subject to Actuator Saturation

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 84-91页

作者： Airong Wei Xiaoming Hu Yuzhen Wang the School of Control Science and Engineering Shandong University the Optimization and Systems Theory Royal Institute of Technology

This paper addresses the tracking problem of leaderfollower multi-agent systems subject to actuator saturation.A leader node or command generator is considered, which generates the desired tracking trajectory. To track such a leader,a new family of scheduled low-and-high-gain feedback controllers is designed for each follower, provided that the linear dynamic mode is asymptotically null controllable with bounded controls,and such control laws rely on the asymptotic property of a class of parametric algebraic Ricatti equations. We show that if the associated undirected graph of the system is connected, with the proposed control law, all the followers can track the leader eventually. A simulation example is finally given to illustrate the performance of the proposed control scheme.

关键词： Multi-agent systems actuator saturation leader-following low-and-high-gain

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Application specific stability of 3-D Roesser-like model realizations

Application specific stability of 3-D Roesser-like model rea...

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International Workshop on Multidimensional (nD) Systems

作者： Joerg Velten Anton Kummert Alexandros Gavriilidis Krzysztof Galkowski Chair for Communication Theory University of Wuppertal Wuppertal Germany Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

Stability of multidimensional (k-D) systems is still a challenging field of work. Well known and established stability measures may lead to complex mathematical problems, while simple tests are restricted to special cases of n-D systems. A new stability test for certain discrete 3-D system realizations given in a Roesser-like model description is proposed. This test is suitable for signals bounded with respect to all three coordinate directions, like spatio temporal video image signals. The 3-D system is observed in real operation, i.e. considering a sequence of processing, which leads to a 1-D state space description, allowing for application of a 1-D stability test. Since application of 1-D stability tests to higher dimensional problems is not a completely new approach, main contribution of this paper is the regular and well structured decomposition of a discrete 3-D system description into a classical 1-D state space description.

关键词： Mathematical model Solid modeling Stability criteria Computational modeling MIMO Electronic mail

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Event-triggered control for Vehicle Platooning

Event-triggered Control for Vehicle Platooning

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American control Conference

作者： Steffen Linsenmayer Dimos V. Dimarogonas Institute for Systems Theory and Automatic Control University of Stuttgart Germany ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781479917730

This paper presents a method to control vehicular platoons in an event-triggered fashion. Therefore, every vehicle broadcasts its position and velocity information only at discrete event times. These events are determined by a trigger rule only depending on the agents state and on time. Two control architectures are considered. The first one, called symmetric bidirectional, uses information of the front and back neighbor in the control law. The architecture is analyzed with a linear controller and it is shown that the state error converges to an adjustable region around the origin. In earlier work it is suggested to use a nonlinear controller if solely information from the front neighbor is available. Thus, a nonlinear event-triggered predecessor-following control is developed and analyzed additionally. Not only bounds are given for the state of each vehicle, but it is also shown that the converging input converging state property holds. In both cases we guarantee the existence of a lower bound on the inter-event times. The benefits of both strategies are verified in numerical simulations.

关键词： Integrated circuits

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A model predictive combined planning and control approach for guidance of automated vehicles

A model predictive combined planning and control approach fo...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Christian Gotte Martin Keller Carsten Hass Karl-Heinz Glander Alois Seewald Torsten Bertram TU Dortmund Institute of Control Theory and Systems Engineering Dortmund Germany ZF TRW 40547 Dusseldorf Germany ZF TRW Dusseldorf Germany

A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and control (CPC) algorithm extends the Timed Elastic Band (TEB) approach by a suitable vehicle dynamics model, which facilitates stable vehicle guidance. The problem of trajectory generation is reformulated such that a nonlinear model predictive control (NMPC) method can be applied. The analysis of different traffic scenarios shows the functionality of the developed concept.

关键词： Vehicles Trajectory Vehicle dynamics Planning Tires Wheels Predictive models

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Distributed Coordination for Separable Convex Optimization with Coupling Constraints

Distributed Coordination for Separable Convex Optimization w...

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IEEE Annual Conference on Decision and control

作者： Simon K. Niederlander Jorge Cortes Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Mechanical and Aerospace Engineering University of California San Diego United States

ISBN: (纸本)9781479978878

This paper considers a network of agents described by an undirected graph that seek to solve a convex optimization problem with separable objective function and coupling equality and inequality constraints. Both the objective function and the inequality constraints are Lipschitz continuous. We assume that the constraints are compatible with the network topology in the sense that, if the state of an agent is involved in the evaluation of any given local constraint, this agent is able to fully evaluate it with the information provided by its neighbors. Building on the saddle-point dynamics of an augmented Lagrangian function, we develop provably correct distributed continuous-time coordination algorithms that allow each agent to find their component of the optimal solution vector along with the optimal Lagrange multipliers for the equality constraints in which the agent is involved. Our technical approach combines notions and tools from nonsmooth analysis, set-valued and projected dynamical systems, viability theory and convex programming.

关键词： Agents inequality constraint Network topology Separable Objective function undirected graph convex programming Lagrange multipliers Constraint Equality Convex function Distribute

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