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IEEE Symposium on Intelligent Vehicle

作者： Michael Aeberhard Sascha Paul Nico Kaempchen Torsten Bertram Group Connected Drive BMW Group Research and Technology Munich Germany Group Information Technology BMW AG Munich Germany Institute of Control Theory and Systems Engineering Technical University Dortmund Munich Germany

Future driver assistance systems need to be more robust and reliable because these systems will react to increasingly complex situations. This requires increased performance in environment perception sensors and algorithms for detecting other relevant traffic participants and obstacles. An object's existence probability has proven to be a useful measure for determining the quality of an object. This paper presents a novel method for the fusion of the existence probability based on Dempster-Shafer evidence theory in the framework of a highlevel sensor data fusion architecture. The proposed method is able to take into consideration sensor reliability in the fusion process. The existence probability fusion algorithm is evaluated for redundant and partially overlapping sensor configurations.

关键词： Driver circuits Vehicles Electronic mail Robustness Estimation Bayesian methods Uncertainty

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Connection Profile Robustness in a Heterogeneous Network of Piecewise Affine FitzHugh-Nagumo Models

Connection Profile Robustness in a Heterogeneous Network of ...

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SICE Annual Conference

作者： Kenji Kashima Antonis Papachristodoulou Frank Allgoewer Graduate School of Information Science and Engineering Tokyo Institute of Technology Department of Engineering Science University of Oxford Institute for Systems Theory and Automatic Control University of Stuttgart

ISBN: (纸本)9781457707148

FitzHugh-Nagumo is one of the best known nonlinear neuronal models in mathematical physiology. In particular, spatio-temporal forms of this model have been used for modeling oscillatory behavior in living organisms such as the behavior of cardiac pacemaker cells. In this paper, we investigate the stability of their spatially discretized form, that is, diffusively coupled large-scale networks of piecewisely affine approximated FitzHugh-Nagumo models. Scalable criteria for ultimate boundedness are given taking connection profile (coupling strength, delay length, subsystem heterogeneity) robustness into account. This result is accomplished through a linear multi-agent system perspective for a class of piecewise affine systems.

关键词： FitzHugh-Nagumo model Piecewise affine systems Large-scale systems Time-delays Ultimate bounded-ness Mathematical physiology

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Preference modeling and model management for interactive multi-objective evolutionary optimization

Preference modeling and model management for interactive mul...

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13th International Conference on Information Processing and Management of Uncertainty, IPMU 2010

作者： Krettek, Johannes Braun, Jan Hoffmann, Frank Bertram, Torsten Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221 Dortmund Germany

ISBN: (纸本)3642140483

Multiobjective optimization and decision making are strongly inter-related. This paper presents an interactive approach for the integration of expert preferences into multi-objective evolutionary optimization. The experts underlying preference is modeled only based on comparative queries that are designed to distinguish among the non-dominant solutions with minimal burden on the decision maker. The preference based approach constitutes a compromise between global approximation of a Pareto front and aggregation of objectives into a scalar utility function. The model captures relevant aspects of multi-objective decision making, such as preference handling, ambiguity and incommensurability. The efficiency of the approach in terms of number of expert decisions and convergence to the optimal solution are analyzed on the basis of an artificial decision behavior with respect to optimization benchmarks. © 2010 Springer-Verlag Berlin Heidelberg.

关键词： Multiobjective optimization

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Event-based reduced-attention predictive control for nonlinear uncertain systems

Event-based reduced-attention predictive control for nonline...

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IEEE International Symposium on Computer-Aided control System Design

作者： Varutti, P. Faulwasser, T. Kern, B. Kögel, M. Findeisen, R. Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von- Guericke University Magdeburg Germany

ISBN: (纸本)9781424453542

Event-based control is an alternative to traditional control where new measurements are sampled only if critical events occur. This not only allows to reduce the control effort but it satisfies nowadays application requirements, such for example reduction of information exchange, computational power, or energy consumption. The work in this field is, however, still sparse and only a few results are available. Properly choosing an event-detection logic can considerably improve the overall system's performance. We propose a control algorithm which makes use of a model-based triggering strategy to reduce the control effort (reduced-attention control), while guaranteeing robustness against bounded additive perturbations for nonlinear continuous time systems. In particular, we derive conditions which guarantee that asymptotic stability of the nominal system implies practical stability of the real one in a neighborhood of the origin. A continuous stirred tank reactor is used as a benchmark problem to show the effectiveness of the presented algorithm. © 2010 IEEE.

关键词： Asymptotic stability

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Stability analysis of periodically time-varying systems using periodic Lyapunov functions

Stability analysis of periodically time-varying systems usin...

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IFAC International Workshop on Periodic control systems, PSYCO 2010

作者： Böhm, Christoph Lazar, Mircea Allgöwer, Frank Institute of Systems Theory and Automatic Control University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology Netherlands

ISBN: (纸本)9783902661869

This paper proposes a novel approach to stability analysis of discrete-time nonlinear periodically time-varying systems. The contributions are as follows. Firstly, a relaxation of standard Lyapunov conditions is derived. This leads to a less conservative Lyapunov function that is required to decrease at every period rather than at each time instant. Secondly, for linear periodic systems with constraints, we show that compared to standard Lyapunov theory, the novel stability concept yields a larger estimate of the region of attraction. An example illustrates the effectiveness of the developed theory. © 2010 IFAC.

关键词： Time varying systems

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Robust passive control for uncertain nonlinear neutral Markovian jump systems with mode-dependent time-delays

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ICIC Express Letters 2011年第1期5卷 119-126页

作者： Qiu, Jiqing Lu, Kunfeng Mahmoud, Magdi S. Yao, Na Du, Xiaoming College of Science Hebei University of Science and Technology No. 70 Yuhua East Rd. Shijiazhuang 050018 China Department of Automatic Control Beijing Institute of Technology No. 5 South Zhongguancun Street Haidian District Beijing 100081 China Systems Engineering Department KFUPM P. O. Box 985 Dhahran 31261 Saudi Arabia Science of College Chang'An University Mid-section of South Second Ring Road Xi'an 710064 China

This paper is concerned with the problem of robust passive control for uncertain nonlinear neutral system with mode-dependent time delays and Markovian jump parameters. First, novel robust stability criterion is investigated by utilizing the Lya- punov functional and combining with linear matrix inequality (LMI) approach. Then, a state feedback controller with Markovian jump parameters is established to guarantee that the resulting closed-loop system is robustly stable with an passive performance level. The time-varying delay function in this paper is not required to be either continuously differentiable, or its derivative less than one and dependent on the mode of operation. Finally, a numerical example is provided to illustrate the effectiveness of the proposed approach. © 2011 ISSN.

关键词： Linear matrix inequalities

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Optimal control over unreliable networks with uncertain loss rates

Optimal control over unreliable networks with uncertain loss...

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作者： Kögel, Markus J. Blind, Rainer Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany Design and Optimization in Chemical and Biochemical Process Engineering International Max Planck Research School for Analysis Magdeburg Germany

ISBN: (纸本)9781424474264

In this work, we consider an optimal control problem for Networked control systems (NCS), where the loop is closed via an unreliable network. In order to inform the controller about the fates of the control packets, the actuator sends acknowledgements to the controller. In this work, different types of acknowledgements are considered. Since all packets are send over a network, we consequently assume, that all packets can get lost, i.e. the measurement packets, the control packets as well as the acknowledgement packets. The loss of these packets is modeled by independent and identically distributed (iid) Bernoulli processes. Finally, we assume that the parameters of these loss processes are not known exactly. Using this setup, we derive bounds for the uncertainty in the loss rates. Moreover, we present an algorithm to design a sub-optimal controller which can tolerate a given amount of network uncertainties. © 2010 AACC.

关键词： Networked control systems

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Enhanced frameworks for safety verification of autonomous rendezvous systems

Enhanced frameworks for safety verification of autonomous re...

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18th IFAC Symposium on Automatic control in Aerospace, ACA 2010

作者： Maier, Christoph Papachristodoulou, Antonis Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Engineering Science University of Oxford Oxford United Kingdom

ISBN: (纸本)9783902661968

We consider the safety of a V-bar hopping manoeuvre which forms part of the final stage in autonomous space rendezvous. This manoeuvre is controlled by thrusters: we assume these inputs are perfect impulses and model the system in a hybrid automaton framework. We consider the operation of the system under bounded parametric uncertainties, e.g. thruster misalignment, and use the concept of Barrier function certificates to assess system safety. This methodology provides an efficient tool for the systematic investigation of the safety property and does not rely on Monte-Carlo simulations. In particular, the existence of a Barrier function certificate guarantees that all trajectories of the system starting from a given initial set do not enter a predefined unsafe region under any possible combination of parameter deviations. Such a Barrier function certificate can be constructed efficiently using the Sum of Squares (SOS) decomposition and semi-definite programming (SDP).

关键词： Lyapunov methods

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Nonlinear dynamic of actuators with elasticities and friction

Nonlinear dynamic of actuators with elasticities and frictio...

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5th IFAC Symposium on Mechatronic systems, MECHATRONICS 2010

作者： Ruderman, M. Bertram, T. Aranovskiy, S. Institute of Control Theory and Systems Engineering Technische Universität Dortmund 4421-Dortmund Germany Department of Control Systems and Informatics Saint-Petersburg State University of Information Technologies Mechanics and Optics 197101-Saint-Petersburg Russia

ISBN: (纸本)9783902661760

To control actuators with elasticities and friction a better comprehension of the appropriate nonlinear dynamic is required. In this paper we propose a simple dynamic model of actuator subject to the nonlinear friction and elasticities combined with the structural damping. The last ones give rise to a hysteretic restoring force (torque) which conjointly with friction provides the second order oscillation system with memory. The derived model is experimentally evaluated on the high precision positioning system used for an optical equipment. © 2010 IFAC.

关键词： Hysteresis

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Robust model predictive control with disturbance invariant sets

Robust model predictive control with disturbance invariant s...

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作者： Yu, Shuyou Böhm, Christoph Chen, Hong Allgöwer, Frank Institute of Systems Theory and Automatic Control University of Stuttgart Germany Department of Control Science and Engineering State Key Laboratory of Automobile Dynamic Simulation Jilin University China

ISBN: (纸本)9781424474264

This paper proposes a robust model predictive control scheme for nonlinear systems with state and input constraints and unknown but bounded disturbances. A standard nominal model predictive control problem with tightened constraints is solved online, and its solution defines the nominal trajectory. An ancillary control law is determined off-line which keeps the trajectories of the error system in a disturbance invariant set. Thus, the evolution of original nonlinear system lies in the disturbance invariant set centered along the nominal trajectory. Furthermore, it is shown that both feasibility and stability of the closed-loop system are guaranteed if the standard nominal optimization problem is initially feasible. © 2010 AACC.

关键词： Nonlinear systems

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