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Conference on control and Fault-Tolerant Systems (SysTol)

作者： Balázs Németh András Mihály Péter Gáspár Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) H-1111 Budapest Hungary

This paper presents a design method for the cruise control of connected automated vehicles. The proposed control system contains layers with different functionalities, which are interconnected in a hierarchical structure. The reason for using layers is to separate the functionalities which require different computation efforts. The layer on the high level computes a reference speed signal for the vehicle, which considers the economy and time performance requirements. It requires the solution of a complex optimization problem, which is performed in a cloud with low frequency. There are two further layers on the level of the vehicle, such as the signal analysis and the local control layers. The purpose of the signal analysis layer is to examine the feasibility of the reference speed regarding vehicle safety performances. This layer is designed to require low computation effort and on-board sensor measurements, thus analysis can be performed with high frequency. The proposed hierarchical cruise control is able to handle the priorities between the various performance requirements, thus safe motion of the vehicle is guaranteed under every circumstances.

关键词： Fault tolerance Cloud computing Design methodology Fault tolerant systems Safety Frequency measurement High frequency

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A simultaneous localization and mapping algorithm for sensors with low sampling rate and its application to autonomous mobile robots 10th

A simultaneous localization and mapping algorithm for sensor...

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10th CIRP Sponsored Conference on Digital Enterprise Technologies - Digital Technologies as Enablers of Industrial Competitiveness and Sustainability, DET 2020

作者： Kis, Krisztián Balázs Csempesz, János Csáji, Balázs Csanád Sztaki Institute for Computer Science and Control Ëotvö S Loránd Research Network Kende u. 13-17. BudapestH-1111 Hungary

In this paper we suggest a Simultaneous Localization and Mapping (SLAM) algorithm for Autonomous Mobile Robots (AMRs) which have LiDAR (light detection and ranging) type planar sensors with low sampling rate, e.g., less than 1 Hz. The proposed method uses 2-dimensional point clouds for its internal occupancy map representation and applies Point Set Registration (PSR) algorithms for mapping and localization. The approach is validated on both synthetic and real-world data. The results demonstrate that the proposed method is efficient, even when the observations are imprecise as well as the difference between consecutive measurements is high in terms of position and orientation. © 2020 Elsevier B.V.. All rights reserved.

关键词： Geometry

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Integrated adaptive velocity and semi-active suspension control for different road profiles

Integrated adaptive velocity and semi-active suspension cont...

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Mediterranean Conference on control and Automation (MED)

作者： Hakan Basargan Andrá s Mihá ly Pé ter Gá spá r Oliver Sename BME Department of Control for Transportation and Vehicle Systems Stoczek u. 2 Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) E&#x00F6 tv&#x00F6 s Lor&#x00E1 nd Research Network (ELKH) Budapest Hungary GIPSA-lab INPG Universit&#x00E9 Grenoble Alpes Grenoble France

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This study represents the integrated comfort-oriented velocity design, tracking control, and adaptive semi-active suspension control method. The velocity design approach is based on the ISO 2631-1 standard, while the proposed velocity tracking control method is based on the LPV control architecture. A road adaptive semi-active suspension control method, where a trade-off between vehicle stability and driving comfort is accomplishable to achieve desirable performance results at different road profiles and velocities. The trade-off is accomplishable due to flexibility and online reconfigurability of the LPV control method by online modification of scheduling variables. The design is based on the performance index, road profile, and the designed velocity of the velocity. The velocity designer, velocity tracking controller, and adaptive suspension controller have been integrated and simulated in the TruckSim environment to show the operation of the proposed method.

关键词： Suspensions (mechanical systems) Databases Roads ISO Standards Design methodology Stability criteria Dynamic scheduling

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Development of Virtual Learning Factory Toolkit for Production Engineering Education 13

Development of Virtual Learning Factory Toolkit for Producti...

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Mahmood, Kashif Otto, Tauno Kuts, Vladimir Terkaj, Walter Urgo, Marcello Haidegger, Geza Department of Mechanical and Industrial Engineering Tallinn University of Technology Tallinn Estonia STIIMA-CNR Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing National Research Council Milan Italy Manufacturing and Production Systems Division Department of Mechanical Engineering Politecnico di Milano Milan Italy SZTAKI – Institute for Computer Science and Control Budapest Hungary

The advent of industry 4.0 and the continuous digitalization of production ask for the enhancement of human skills and competences in the field of information and communication technology (ICT). Therefore, higher education has to keep pace with the global market needs for the necessary ICT skills and the overall understanding of the complexity of industries in 21st century. This paper focuses on the development and integration of Virtual Learning Factory (VLF) tools that can be used in production management and engineering education. The digital tools integrated in VLF toolkit can help students to exploit enabling technologies like simulation and virtual reality in their manufacturing studies and practical projects with industrial companies. © 2021 DAAAM International. All rights reserved.

关键词： Engineering education

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LPV-Based control Design with Guarantees: a Case Study for Automated Steering of Road Vehicles

LPV-Based Control Design with Guarantees: a Case Study for A...

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European control Conference (ECC)

作者： Balázs Németh Máté Fazekas Zoltán Bagoly Péter Gáspár Olivier Sename Eötvös Loránd Research Network (ELKH) Kende u. 13-17 Institute for Computer Science and Control (SZTAKI) Budapest Hungary Department of Control for Transportation and Vehicle Systems (KJIT) Budapest University of Technology and Economics (BME) Stoczek u. 2. Budapest Hungary Grenoble INP GIPSAlab Univ. Grenoble Alpes CNRS Grenoble France

This paper proposes a Linear Parameter Varying (LPV) based steering control design method, which contains data aided control elements, e.g., learning-based agents. The framework is based on a supervisory control structure, which contains a supervisor, a LPV controller and the data aided control element. The goal of this paper is to provide a safe steering control, with which the human steering intervention can be effectively imitated. Moreover, in the proposed framework the data aided control can be adapted to the actual requirements on driving style, without re-designing the LPV control. Thus, a general control structure with performance guarantees on path following constraints is provided, in which the data aided steering control element can be varied. The effectiveness of the proposed method through driver-in-the-loop scenarios is illustrated, in which different settings on the control system are analyzed.

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A Sampling-and-Discarding Approach to Stochastic Model Predictive control for Renewable Energy Systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 7142-7147页

作者： Balázs Cs. Csáji Krisztián B. Kis András Kovács Institute for Computer Science and Control (SZTAKI) Budapest Kende utca 13-17 Hungary H-1111

The paper applies the scenario approach to stochastic model predictive control for renewable energy systems. First, the controllable and the (quasi-periodic) uncontrollable parts are decomposed. The latter is modeled by a Box-Jenkins system with appropriately chosen inputs. For the controllable part, a linear state space model is used with an affine state-feedback controller. Several numerical experiments are presented on a public lighting microgrid, e.g., about forecasting the energy balance, the effects of various controller parametrizations, reoptimization frequencies, and discarding unfavorable scenarios. The results indicate that even a low order, time-independent controller with a slow reoptimization frequency can be efficient.

关键词： stochastic model predictive control chance-constrained optimization partially controllable systems randomized methods scenario approach renewable energy system

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Improving Kernel-Based Nonasymptotic Simultaneous Confidence Bands

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IFAC-PapersOnLine 2023年第2期56卷 10357-10362页

作者： Balázs Csanád Csáji Bálint Horváth Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) 13-17 Kende utca H-1111 Budapest Hungary Institute of Mathematics Eötvös Loránd University (ELTE) 1/C Pázmány Péter sétány H-1117 Budapest Hungary Institute of Mathematics Budapest University of Technology and Economics (BME) 1 Egry József utca H-1111 Budapest Hungary

The paper studies the problem of constructing nonparametric simultaneous confidence bands with nonasymptotic and distribition-free guarantees. The target function is assumed to be band-limited and the approach is based on the theory of Paley-Wiener reproducing kernel Hilbert spaces. The starting point of the paper is a recently developed algorithm to which we propose three types of improvements. First, we relax the assumptions on the noises by replacing the symmetricity assumption with a weaker distributional invariance principle. Then, we propose a more efficient way to estimate the norm of the target function, and finally we enhance the construction of the confidence bands by tightening the constraints of the underlying convex optimization problems. The refinements are also illustrated through numerical experiments.

关键词： nonparametric methods nonlinear system identification statistical data analysis estimation and filtering convex optimization randomized algorithms

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Collision-free trajectory design for dance choreography of virtual drones in hierarchical structure

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IFAC-PapersOnLine 2022年第6期55卷 502-507页

作者： Balázs Németh Attila Lelkó Zoltán Antal Ajtony Csaba Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Kende u. 13-17 H-1111 Budapest Hungary School of Music University of Victoria 3800 Finnerty Road Victoria BC V8P 5C2 Canada

This paper proposes a collision-free trajectory design for dance choreography of virtual drones using a hierarchical design structure. The trajectory on two levels is designed, i.e., on the level of individual virtual drones and on the level of their centralized coordination. The design on the drone level through reinforcement learning has been carried out, with which dance steps of virtual drones in their motion can be achieved. The coordination level contains a prediction algorithm, which guarantees the avoidance of collision, even at the faultiness of some virtual drones. The effectiveness of the hierarchical design on the example of a Viennese waltz dance choreography in augmented reality has been illustrated.

关键词： trajectory design collision avoidance reinforcement learning tech art

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Decoupling of Discrete-time Dynamical Systems Through Input-Output Blending

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IFAC-PapersOnLine 2020年第2期53卷 921-926页

作者： Tamás Baár Péter Bauer Tamas Luspay Institute for Computer Science and Control (SZTAKI) Budapest Kende u. 13-17. 1111 Hungary

This paper presents a subsystem decoupling method for Linear Time Invariant Discrete-time systems. The aim is to control a selected subsystem, while not affecting the remaining dynamics. The paper extends earlier continuous time results to discrete time systems over a finite frequency interval. Decoupling is achieved by suitable input and output blend vectors, such that they maximize the sensitivity of the selected subsystem, while at the same time they minimize the transfer through the undesired dynamics. The proposed algorithm is based on an optimization problem involving Linear Matrix Inequalities, where the H - index of the controlled subsystem is maximized, while the transfer through the dynamics to be decoupled is minimized by a sparsity like criteria. The present approach has the advantage that it is directly applicable to stable and unstable subsystems also. Numerical examples demonstrate the effectiveness of the method.

关键词： Decoupled subsystems Linear Parameter Varying systems Generalized Kalman-Yakubovich-Popov lemma Linear Matrix Inequality,Minimum Sensitivity Mode control

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Parameter Varying Mode Decoupling for LPV systems

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IFAC-PapersOnLine 2020年第2期53卷 1219-1224页

作者： Tamás Baár Péter Bauer Tamás Luspay Institute for Computer Science and Control (SZTAKI) Budapest Kende u. 13-17. 1111 Hungary

The paper presents the design of parameter varying input and output transformations for Linear Parameter Varying systems, which make possible the control of a selected subsystem. In order to achieve the desired decoupling the inputs and outputs of the plant are blended together, and so the MIMO control problem is reduced to a SISO one. The new input of the blended system will only interact with the selected subsystem, while the response of the undesired dynamical part is suppressed in the single output. Decoupling is achieved over the whole parameter range, and no further dynamics are introduced. Linear Matrix Inequality methods form the basis of the proposed approach, where the minimum sensitivity is maximized for the subsystem to be controlled, while the H ∞ norm of the subsystem to be decoupled is minimized. The method is evaluated on a flexible wing aircraft model.

关键词： LPV systems Linear Matrix Inequality Minimum Sensitivity Modal control

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