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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Yang, Xin-Rong Liu, Guo-Ping Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China School of Engineering University of South Wales PontypriddCF37 1DL United Kingdom

ISBN: (纸本)9783902823625

This brief studies the causal consensus problem of singular (descriptor) multi-agent systems with networked communication delays and agents described by general singular systems. For the studied systems, only the information of outputs are available through the network. An observer-based networked predictive control scheme is employed to compensate for the communication delays actively. Furthermore, based on the output feedback, observer and the networked predictive control scheme, a novel protocol is proposed in this paper. By using the tools of graph, algebra and singular system theory, the necessary and sufficient conditions are given for the existence of the proposed protocol to solve the considered consensus problem. The given conditions depend on not only the topologies of singular multi-agent systems but also the structure properties of each agent dynamics. Moreover, a consensus algorithm is proposed to design the novel observer-based predictive protocol. A numerical example demonstrates the effectiveness of compensation for networked delays using the provided consensus algorithm. © IFAC.

关键词： Multi agent systems

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Driving Simulator Study on an Emergency Steering Assist

Driving Simulator Study on an Emergency Steering Assist

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Martin Keller Carsten Hass Alois Seewald Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universitat Dortmund TRW Automotive GmbH

ISBN: (纸本)9781479938414

This contribution is concerned with an emergency steering assist and its evaluation through subject testing in a driving simulator. In an emergency traffic situation where a rear end collision is imminent a swerving maneuver is often too difficult for most drivers. Therefore an assistance system is usefull that supports the driver by steering torque overlay. The paper presents the algorithm used for the assistance. The system was prototypically implemented in a driving simulator and testet with subjects to evaluate the benefits and challenges. The results show that the collision avoidance behaviour of the driver can be improved by the emergency steering assist.

关键词： Vehicles Wheels Switches Torque Collision avoidance Roads

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Computation of piecewise affine terminal cost functions for model predictive control

Computation of piecewise affine terminal cost functions for ...

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17th International Conference on Hybrid Systems: Computation and control, HSCC 2014, Part of the 7th Cyber Physical Systems, CPS Week 2014

作者： Brunner, Florian D. Lazar, Mircea Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven Netherlands

ISBN: (纸本)9781450327329

This paper proposes a method for the construction of piecewise affine terminal cost functions for model predictive control (MPC). The terminal cost function is constructed on a predefined partition by solving a linear program for a given piecewise affine system, a stabilizing piecewise affine controller, an invariant set and a piecewise convex stage cost function. The constructed terminal cost function satisfies the sufficient conditions for asymptotic stability if it is used in anMPC scheme. In general, the constructed terminal cost function will be nonconvex. However, optional additional constraints in the linear program ensure that the cost function is convex, reducing the computational effort involved with solving the MPC optimization problem. Multiple examples illustrate the approach. Copyright 2014 ACM.

关键词： Cost functions

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Moving horizon H8 control of variable speed wind turbines with actuator saturation

Moving horizon H8 control of variable speed wind turbines wi...

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作者： Ma, Miaomiao Chen, Hong Liu, Xiangjie Allgöwer, Frank Beijing Key Laboratory of New Technology and System on Measuring and Control for Industrial Process North China Electric Power University No. 2 Beinong Road Huilongguan Changping District Beijing 102206 China Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart 70550 Germany Department of Control Science and Engineering Jilin University Campus NanLing Renmin Strasse 5988 Changchun 130025 China

This study suggests a moving horizon H8 control scheme for variable speed wind turbines above the rated wind speed to maintain the output power at the rated value for variable operating points. A constrainedH8 control problem is solved at each sampling time with the update of not only the initial condition but also the prediction model based on different operating points. Closed-loop properties inclusive of L2 disturbance attenuation are discussed in the framework of dissipation theory. The moving horizon H8 control considers the non-linear dynamic aspect of the wind turbine, the turbulent nature of the wind and actuator saturations. Analysis and simulation results for WD34 wind turbine show possible improvements on the output electrical power regulation performance for variable operating points, while respecting actuator saturation limits. © The Institution of engineering and Technology 2014.

关键词： Wind turbines

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Cooperative estimation for synchronization of heterogeneous multi-agent systems using relative information 19

Cooperative estimation for synchronization of heterogeneous ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wu, Jingbo Ugrinovskii, Valery Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany School of Information Technology and Electrical Engineering University of New South Wales ADFA Australian Defence Force Academy CanberraACT2600 Australia

ISBN: (纸本)9783902823625

In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements are available, this is of high relevance. The objective is to improve the scalability of the existing distributed estimation algorithms by restricting the agents to estimating only their local states and those of immediate neighbours. The presented estimation algorithm also guarantees robust performance against model and measurement disturbances. It is shown that it can be integrated into output synchronization algorithms. © IFAC.

关键词： Multi agent systems

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High gain observer for embedded Acrobot 19

High gain observer for embedded Acrobot

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Anderle, Milan Čelikovský, Sergej Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 Prague166 27 Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 Prague182 08 Czech Republic

ISBN: (纸本)9783902823625

Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. The control of the 4-link model using the embedding method is based on a definition of constraining functions for knees control whereas the remaining angle in the hip is controlled in the same way as it would be an Acrobot's angle. The ability of feedback tracking of the walking-like trajectory of the 4-link with observed geometry during a swing phase of a single step is demonstrated in simulations. © IFAC.

关键词： Mechanical actuators

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Semi-receding horizon algorithm for “sufficiently exciting” MPC with adaptive search step

Semi-receding horizon algorithm for “sufficiently exciting...

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IEEE Conference on Decision and control

作者： Eva Žáčeková Matej Pčolka Sergej Čelikovský Michael Šebek Department of Control Engineering Czech Technical University Prague Institute of Information Theory and Automation Academy of Sciences of the Czech Republic

In this paper, the task of finding an algorithm providing sufficiently excited data within the MPC framework is tackled. Such algorithm is expected to take action only when the re-identification is needed and it shall be used as the “least costly” closed loop identification experiment for MPC. The already existing approach based on maximization of the smallest eigenvalue of the information matrix increase is revised and an adaptation by introducing a semi-receding horizon principle is performed. Further, the optimization algorithm used for the maximization of the provided information is adapted such that the constraints on the maximal allowed control performance deterioration are handled more carefully and are incorporated directly into the process instead of using them just as a termination condition. The effect of the performed adaptations is inspected using a numerical example. The example shows that the employment of the semi-receding horizon brings major improvement of the identification properties of the obtained data and the proposed adaptive-search step algorithm used for the “informativeness” optimization brings further significant increase of the contained information while the aggravation of the economical and tracking aspects of the control are kept at acceptable level.

关键词： Cost function Vectors Eigenvalues and eigenfunctions Adaptation models Mathematical model Tuning

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A distributed model predictive control scheme for networks with communication failure

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IFAC Proceedings Volumes 2014年第3期47卷 12004-12009页

作者： Rainer M. Schaich Matthias A. Müller Frank Allgöwer Department of Engineering Science University of Oxford OX1 3PJ UK Institute of Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

A method to ensure recursive feasibility and asymptotic stability for a distributed model predictive control scheme in case of temporary communication failure is presented. The considered networks are made up of dynamically uncoupled nonlinear systems, coupled through constraints and objectives. The proposed method substitutes affected coupling constraints in such a way that the scheme can not become infeasible, while a decrease in the cost is guaranteed.

关键词： Distributed model predictive control Communication failure Collision avoidance

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An inverse problem of tomographic type in population dynamics

An inverse problem of tomographic type in population dynamic...

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IEEE Annual Conference on Decision and control

作者： Shen Zeng Steffen Waldherr Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart 70550 Stuttgart Germany Institute for Automation Engineering Otto-von-Guericke University Magdeburg

ISBN: (纸本)9781467360890

In this paper we address an inverse problem on populations described by probability distributions. From a theoretical point of view, this problem can be seen as a natural extension to the classical observability problem. We consider a population that is described by a classical linear finite-dimensional system in which the initial state is a random vector subject to a non-parametric probability distribution. The problem is to reconstruct this initial state distribution from the time-evolution of the probability distribution of the output. We reveal as a novel viewpoint, that, at its core, this problem is a tomography problem which is a well-known subject in the field of inverse problems. Furthermore we show how this tomography problem is inherently linked with the observability properties of the finite-dimensional system thereby establishing a beautiful link between a control theoretic question and tomography problems.

关键词： Probability distribution Inverse method Tomography Multidimensional systems INITIAL CONDITIONS Population dynamics Observability

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Robust self-triggered MPC for constrained linear systems

Robust self-triggered MPC for constrained linear systems

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European control Conference (ECC)

作者： F. D. Brunner W. P. M. H. Heemels F. Allgöwer Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Mechanical Engineering Eindhoven University of Technology The Netherlands

In this paper we propose a robust self-triggered model predictive control algorithm for linear systems with additive bounded disturbances and hard constraints on the inputs and state. In self-triggered control, at every sampling instant the time until the next sampling instant is computed online based on the current state of the system. The goal is to achieve a low average sampling rate, thereby minimizing communication in the control system and possibly reducing the number of control updates as is required in sparse control applications. Naturally, and intentionally, our approach leads to long spans of time in which the plant is controlled in an open-loop fashion. Especially for unstable plants or large disturbances this necessitates taking into account the disturbance characteristics in the design of the control law in order to prevent constraint violation in the closed-loop system. We use constraint tightening methods as proposed in Tube Model Predictive control to guarantee robust constraint satisfaction. The self-triggered controller is shown to stabilize a robust invariant set in the state space for the closed-loop system.

关键词： Robustness Electron tubes Closed loop systems Cost function Predictive control

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