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On the Steady-State Inverse-Optimality of Passivity-based Cooperative control

IFAC Proceedings Volumes 2013年第27期46卷 138-143页

作者： Mathias Bürger Daniel Zelazo Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Faculty of Aerospace Engineering Technion - Israel Institute of Technology Haifa 32000 Israel

We consider a passivity based cooperative control problem, and show that the steady-state behavior of the networked system is intimately related to a family convex network optimization problems. This result provides a duality interpretation between the different signals in the cooperative control system. In particular, we show that the input and output signals as well as the dynamic controller state and controller output are pairs of dual variables. The presented results facilitate an optimal controller design in networked systems. We show how this novel interpretation leads the way to an optimal routing design in distribution networks.

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Objective evaluation of software architectures in driver assistance systems: Methods-quality model-metrics

Objective evaluation of software architectures in driver ass...

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作者： Ahrens, Dirk Frey, Andreas Pfeiffer, Andreas Bertram, Torsten BMW Group Driving Dynamics Driver Assistance and Active Safety 80788 Munich Germany Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221 Dortmund Germany Aerospace Informatics and Avionics Ingolstadt University of Applied Sciences 85019 Ingolstadt Germany

This paper describes methods and the obtained results for objective evaluation of software architectures in the automotive embedded domain. Software architecture is the key factor for influencing and fulfilling non-functional requirements that are addressed to a software system. Among others scalability, extensibility and portability are to be mentioned as major criteria. Until today however there is no approach that allows evaluating and measuring the quality of such software architectures objectively and quantitatively. The approach described here tries to close this gap and offers software architects methods and tools to be applied automatically to any existing architecture draft measuring an objective 'quality value'. Initially a quality model is developed which consists of several quality characteristics and quality attributes which are highly adapted and specialized to the specific needs of the automotive embedded software domain. After the identification of relevant quality attributes eight objective architecture metrics are developed and presented. The whole methodology is fully integrable into existing development processes. The suggested steps and artifacts can be added as optional upgrade. For a better understanding of the surrounding environment the current development process and necessary extensions are also explained. All metrics have been implemented in a fully functioning prototypical tool which can be operated via a graphical user interface (GUI) on any Java compliant system without further requirements. The user can freely configure which metrics shall be applied and how they are weighted to do an individual evaluation according to the software's specific needs or requirements. To prove its benefit for automotive applications and long-term establishment in the software development process the approach is evaluated. This is done in two consecutive steps. Firstly the general functioning and applicability is approved by using the metrics for several

关键词： Software architecture

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Phenomenological modeling and measurement of proportional solenoid with stroke-dependent magnetic hysteresis characteristics

Phenomenological modeling and measurement of proportional so...

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International Conference on Mechatronics (ICM)

作者： Michael Ruderman Andrey Gadyuchko Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany Steinbeis Innovation Centrum of Magnetic Engineering Ilmenau Germany

In this paper, a phenomenological model of stroke-dependent magnetic characteristics of proportional solenoids is proposed. The Discrete Dynamic Preisach hysteresis model is extended so as to map a bivariate hysteresis of the flux linkage depending on both, the coil current and anchor stroke. Moreover an elaborated and hardware implemented method for measuring the magnetic characteristics using the primary excitation coil only is addressed. Is is shown how the model can be identified by a set of quasi-static magnetic measurements. The dynamic measurement with time-varying current and stroke is used to evaluate the model-based flux linkage prediction.

关键词： Magnetic hysteresis Solenoids Coils Current measurement Couplings Temperature measurement Voltage measurement

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An Explicit Solution to Constrained Stabilization via Polytopic Tubes

An Explicit Solution to Constrained Stabilization via Polyto...

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IEEE Annual Conference on Decision and control

作者： Florian D. Brunner Mircea Lazar Frank Allgower Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology The Netherlands

ISBN: (纸本)9781467357159

This paper proposes a method to obtain stabilizing controllers for constrained linear systems with assigned sets of initial conditions. The controller synthesis method is based on invariant tubes and works for linear time-invariant systems and for linear systems with multiplicative uncertainties. Given a compact initial condition set, a sequence of sets and an associated sequence of control laws is computed such that the initial condition set is contained in the first set of the sequence and every state in any set of the sequence is controlled to the next set in the sequence while satisfying state and input constraints. Assumptions on the parameterizations of the sets and the control laws are given that guarantee recursive feasibility of the tube synthesis problem and convergence of the closed-loop trajectories. For a particular type of parameterization it is shown that these assumptions are satisfied. Numerical simulations are presented that illustrate the developed synthesis method.

关键词： Electron tubes Lyapunov methods Cost function Trajectory Standards Robustness

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Stabilizing linear model predictive control: On the enlargement of the terminal set

Stabilizing linear model predictive control: On the enlargem...

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European control Conference (ECC)

作者： Florian D. Brunner Mircea Lazar Frank Allgöwer Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology The Netherlands

It is well known that a large terminal set leads to a large region where the MPC problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Contrary to existing approaches, the method uses the convex hull of a trajectory as the basis for the construction. This trajectory may be any feasible trajectory of the system terminating in an invariant set around the origin and is not restricted to consist only of equilibrium points. The method is applied in an MPC scheme where the terminal set is calculated at initialization.

关键词： Trajectory Xenon Cost function Interpolation Kernel Electron tubes Closed loop systems

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Model predictive trajectory tracking of a reentry hypersonic vehicle based on convex optimization

Model predictive trajectory tracking of a reentry hypersonic...

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Chinese control Conference (CCC)

作者： Feng Tan Hongpu Chen Mingzhe Hou Haihong Zhao Center for control theory and guidance technology Harbin Institute of Technology 150001 China School of mechanical and electrical engineering Harbin Institute of Technology 150001 China

The guidance and control problem of hypersonic vehicles is challenging due to the strong nonlinearity and big uncertainty of the system and multiple constraints during the flight, such as heat and dynamic pressure. Trajectory-tracking problem of a reentry hypersonic vehicle is studied in this paper and a model predictive control (MPC) strategy is proposed. In order to improve the speed of MPC, the optimization problem at each time step is transformed into a convex form and accordingly convex optimization is used to obtain the control action. The resulting model predictive control method is able to take into consideration the actuator constraints and requirements on heat and dynamic pressure, which set it aside form most classical methods. Errors caused by model uncertainty are revised according to real-time information of the system. The newly developed convex optimization solver CVXGEN is utilized successfully in the method evaluation. Providing solve times in milliseconds, which makes real-time implementations of the MPC controller feasible. Simulation results show that the proposed trajectory tracking strategy can realize good performance with the existence of aerodynamic uncertainty. All the constraints are fulfilled even when the given nominal trajectory has violations.

关键词： Convex functions Predictive control Trajectory Vehicles Aerodynamics Predictive models Uncertainty

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Real-time experimental platform of networked control systems based on PC/104 controller and web laboratory

Real-time experimental platform of networked control systems...

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Chinese Automation Congress (CAC)

作者： Baoran An Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Engineering University of South Wales United Kingdom

This paper describes the design and implementation of a PC/104-based real-time controller which has a higher realtime performance. The improvement works based on the architecture of a whole web-based laboratory called Networked control System Laboratory (NCSLab) are finished to make it possible to apply into networked control experiment. Moreover, some practical tests are carried out to validate realtime performance. The experimental results illustrate the feasibility and efficiency of the designed PC/104-based realtime controller and the improved NCSLab. The whole platform can help to design practical real-time networked control systems in modern industry.

关键词： Real-time systems Algorithm design and analysis Servers Software packages Linux Computer architecture Monitoring

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A Projected SQP Method for Nonlinear Optimal control with Quadratic Convergence

A Projected SQP Method for Nonlinear Optimal Control with Qu...

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IEEE Annual Conference on Decision and control

作者： Florian A. Bayer Giuseppe Notarstefano Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart 70550 Stuttgart Germany Department of Engineering Universita del Salento Lecce Italy

ISBN: (纸本)9781467357159

In this paper, we propose a discrete-time Sequential Quadratic Programming (SQP) algorithm for nonlinear optimal control problems. Using the idea by Hauser of projecting curves onto the trajectory space, the introduced algorithm has guaranteed recursive feasibility of the dynamic constraints. The second essential feature of the algorithm is a specific choice of the Lagrange multiplier update. Due to this ad hoc choice of the multiplier, the algorithm converges locally quadratically. Finally, we show how the proposed algorithm connects standard SQP methods for nonlinear optimal control with the Projection Operator Newton method by Hauser.

关键词： nonlinear optimal control Quadratic Convergence ad hoc Multiplying circuits algorithms

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Efficient trajectory optimization using a sparse model

Efficient trajectory optimization using a sparse model

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European Conference on Mobile Robots (ECMR)

作者： Christoph Rösmann Wendelin Feiten Thomas Wösch Frank Hoffmann Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Germany Siemens Corporate Technology Research Group Robotics Germany

The “timed elastic band” approach optimizes robot trajectories by subsequent modification of an initial trajectory generated by a global planner. The objectives considered in the trajectory optimization include but are not limited to the overall path length, trajectory execution time, separation from obstacles, passing through intermediate way points and compliance with the robots dynamic, kinematic and geometric constraints. “Timed elastic bands” explicitly consider spatial-temporal aspects of the motion in terms of dynamic constraints such as limited robot velocities and accelerations. The trajectory planning operates in real time such that “timed elastic bands” cope with dynamic obstacles and motion constraints. The “timed elastic band problem” is formulated as a scalarized multi-objective optimization problem. Most objectives are local and relate to only a small subset of parameters as they only depend on a few consecutive robot states. This local structure results in a sparse system matrix, which allows the utilization of fast and efficient optimization techniques such as the open-source framework “g2o” for solving “timed elastic band” problems. The “g2o” sparse system solvers have been successfully applied to VSLAM problems. This contribution describes the application and adaptation of the g2o-framework in the context of trajectory modification with the “timed elastic band”. Results from simulations and experiments with a real robot demonstrate that the implementation is robust and computationally efficient.

关键词： Trajectory Optimization Robots Linear programming Acceleration Collision avoidance Modeling

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Nonsmooth optimization based multiple robust controller design under coupling partitioned uncertainty

Nonsmooth optimization based multiple robust controller desi...

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European control Conference (ECC)

作者： Jiaqi Liu X. Z. Gao K. Zenger Center for Control Theory and Guidance Technology Harbin Institute of Technology China Department of Automation and Systems Technology School of Electrical Engineering Finland

This paper proposes a nonsmooth optimization technique to cope with the H ∞ synthesis problem under weak coupling uncertainty. For some kind of systems, a single controller cannot be found in terms of a given robust performance objective, whereas a multiple robust controller can satisfy the desired performances by introducing extra controllers and dividing the entire uncertainty into small partitioned sets. Such partitioned sets can be generated based on the small gain theorem and μ -analysis. In addition to solving the weak-coupled parametric uncertainty, the partition with decoupled algorithm can improve the design efficiency. However, the multiple robust controller design has to be transformed into a nonsmooth optimization problem. This paper uses the Clarke subdifferential and steepest descent method to acquire the gradient information of the nonsmooth function. The validity of our method is illustrated and verified by a practical controller design case-study for a satellite attitude control problem.

关键词： Uncertainty Robustness Optimization Partitioning algorithms Couplings Algorithm design and analysis Satellites

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