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Time-Optimal Nonlinear Model Predictive control for Radar-based Automated Parking

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IFAC-PapersOnLine 2022年第14期55卷 34-39页

作者： Christopher Diehl Artemi Makarow Christoph Rösmann Torsten Bertram TU Dortmund University Institute of Control Theory and Systems Engineering 44227 Dortmund Germany

Motion planning and control are crucial components for automated vehicles. Especially in parking scenarios, high precision is required due to the small distances to obstacles. Common approaches utilize ultrasonic or camera sensors. This paper presents a radar-based system architecture for automated parking, which can operate more robustly under difficult weather conditions. Moreover, this work develops a unified planning and control framework based on nonlinear model predictive control. Real vehicles often exhibit dynamic behavior that the commonly used kinematic bicycle model does not represent. Therefore, the paper at hand proposes an extended model, which rests upon a systematic analysis of the test vehicle's dynamics for the low-velocity range. Experiments in simulation and on real-world data show the efficiency of the approach and the importance of the extended vehicle dynamics modeling for closed-loop control.

关键词： automated driving predictive control trajectory planning obstacle avoidance perception radar

Multi-Object Tracking based on Imaging Radar 3D Object Detection

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arXiv 2024年

作者： Palmer, Patrick Krüger, Martin Altendorfer, Richard Bertram, Torsten TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Koblenz56070 Germany

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for detecting and tracking surrounding traffic participants is the combination of a learning-based object detector with a classical tracking algorithm. Learning based object detectors have been shown to work adequately on lidar and camera data, while learning based object detectors using standard radar data input have proven to be inferior. Recently, with the improvements to radar sensor technology in the form of imaging radars, the object detection performance on radar was greatly improved but is still limited compared to lidar sensors due to the sparsity of the radar point cloud. This presents a unique challenge for the task of multi-object tracking. The tracking algorithm must overcome the limited detection quality while generating consistent tracks. To this end, a comparison between different multi-object tracking methods on imaging radar data is required to investigate its potential for downstream tasks. The work at hand compares multiple approaches and analyzes their limitations when applied to imaging radar data. Furthermore, enhancements to the presented approaches in the form of probabilistic association algorithms are considered for this task. © 2024, CC BY.

关键词： Object detection

control of distributed-parameter systems using normal forms: An introduction

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arXiv 2023年

作者： Gehring, Nicole Irscheid, Abdurrahman Deutscher, Joachim Woittennek, Frank Rudolph, Joachim Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Austria Systems Theory and Control Engineering Saarland University Germany Institute of Measurement Control and Microtechnology Ulm University Germany Institute of Automation and Control Engineering UMIT TIROL Private University for Health Sciences and Health Technology Austria

This paper gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form that is advantageous for the control design, analogous to the finite-dimensional case. A flatness-based controller makes use of the hyperbolic controller canonical form that follows from a parametrization of the system’s solutions. A backstepping design exploits the strict-feedback form of the system to recursively stabilize and transform the subsystems. © 2023, CC BY-NC-SA.

关键词： State feedback

Flatness-based analysis and control design for 2 × 2 hyperbolic PDEs with nonlinear boundary dynamics

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IFAC-PapersOnLine 2022年第26期55卷 13-19页

作者： F. Woittennek A. Irscheid N. Gehring Institute of Automation and Control Engineering UMIT Tirol Hall in Tirol Austria Chair of Systems Theory and Control Engineering Saarland University Saarbrücken Germany Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Linz Austria

Distributed-parameter systems represented by linear one-dimensional 2 × 2 hyperbolic PDEs with nonlinear finite-dimensional differentially flat dynamics at one boundary and control acting linearly via the opposite boundary are considered. Flatness of the overall system, deduced from the flatness of the boundary system, allows for the parametrization of the systems solutions by the trajectory of a flat output. The state associated with this parametrization corresponds to the restriction of the flat-output trajectory to a compact interval. This state is intrinsically linked to a nonlinear hyperbolic controller form and associated with the original system variables by an invertible transformation. Moreover, it allows for immediate and constructive reachability analysis. State feedback for tracking a desired reference trajectory is achieved by choosing arbitrary stable closed-loop dynamics. A numerical example illustrates the control performance for different choices of the closed-loop dynamics.

关键词： hyperbolic system flatness reachability nonlinear controller form state feedback

On the Systematic Construction of Lyapunov Functions for Polynomial systems

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On the Systematic Construction of Lyapunov Functions for Pol...

92nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)

作者： Natkowski, Lars Gerbet, Daniel Robenack, Klaus Fraunhofer Institute for Transportation and Infrastructure Systems IVI ZeunerstraBe 38 Dresden01069 Germany Institute of Control Theory Faculty of Electrical and Computer Engineering TU Dresden Georg-Schumann-StraBe 7A Dresden01187 Germany

Lyapunov functions are a widely used tool to evaluate stability properties of nonlinear dynamical systems’ equilibria. In this paper quantifier elimination is used to construct Lyapunov functions for polynomial systems from a parametric ansatz. Because the existing algorithms for quantifier elimination are inherently computationally expensive, a strategy is to simplify the quantifier elimination problem beforehand. A method is presented that may help simplifying the problem of finding suitable Lyapunov functions by deriving easier to evaluate necessary conditions. Finally, the introduced method is applied to an example system to show local asymptotic stability of an equilibrium point by constructing a Lyapunov function. © 2023 The Authors.

关键词： Lyapunov functions

EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING controlLERS FOR EULER-POINCARE systems ON MATRIX LIE GROUPS

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arXiv 2024年

作者： Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie-group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves "Euler-Poincare like" and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie-group state space. Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

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Journal of systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

Navigation with Uncertain Map Data for Automated Vehicles 1

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7. Internationale ATZ-Tagung Automatisiertes Fahren - 7th International ATZ Conference on Automated Driving, 2021

作者： Diehl, Christopher Stannartz, Niklas Bertram, Torsten TU Dortmund Institute of Control Theory and Systems Engineering Dortmund44227 Germany

ISBN: (数字)9783658347543

ISBN: (纸本)9783658347536

Using external map information for automated driving is beneficial, as this follows an extension of the sensor range and global navigation to a priori specified goal. However, common systems use high definition maps, which are expensive to construct and hard to maintain. Therefore, the paper at hand proposes an sen-sor-independent approach for navigation based on uncertain map data. This work first builds an environment model and plans a global route based on publicly available OpenStreetMap-Data. Afterward, it plans a trajectory considering the uncertainty in the map. Experiments in simulation and on real-world data show the efficiency of the approach. © 2021 Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature.

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Identification of Additive Continuous-time systems in Open and Closed Loop

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arXiv 2024年

作者： González, Rodrigo A. Classens, Koen Rojas, Cristian R. Welsh, James S. Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm10044 Sweden School of Engineering University of Newcastle Callaghan2308 NSW Australia Delft Center for Systems and Control Delft University of Technology Delft Netherlands

When identifying electrical, mechanical, or biological systems, parametric continuous-time identification methods can lead to interpretable and parsimonious models when the model structure aligns with the physical properties of the system. Traditional linear system identification may not consider the most parsimonious model when relying solely on unfactored transfer functions, which typically result from standard direct approaches. This paper presents a novel identification method that delivers additive models for both open and closed-loop setups. The estimators that are derived are shown to be generically consistent, and can admit the identification of marginally stable additive systems. Numerical simulations show the efficacy of the proposed approach, and its performance in identifying a modal representation of a flexible beam is verified using experimental data. © 2024, CC BY-NC-ND.

关键词： Continuous time systems