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IEEE Conference on Decision and control

作者： Reza Mahboobi Esfanjani Marcus Reble Ulrich Münz Seyyed Kamaleddin Y. Nikravesh Frank Allgöwer Electrical Engineering Department Amirkabir University of Technology슠 Tehran Iran Institute for Systems Theory and Automatic Control University of Stuttgart Germany

This paper proposes a model predictive control scheme for a class of constrained nonlinear time-delay systems with guaranteed closed-loop asymptotic stability. Asymptotic stability of the closed-loop is guaranteed by utilizing an appropriate terminal cost functional and an appropriate terminal region. A novel structured procedure is derived to determine the terminal cost and the terminal region offline. For this purpose, a combination of Lyapunov-Krasovskii and Lyapunov-Razumikhin arguments is used to compute a locally stabilizing controller. The resulting conditions are formulated in terms of linear matrix inequalities.

关键词： Predictive models Predictive control Nonlinear control systems Cost function control systems Nonlinear systems Asymptotic stability Linear matrix inequalities Delay systems Optimal control

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Nonlinear hierarchical control allocation for vehicle yaw stabilization and rollover prevention

Nonlinear hierarchical control allocation for vehicle yaw st...

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European control Conference (ECC)

作者： Matthäus B. Alberding Johannes Tjønnås Tor A. Johansen Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

In ambition to minimize potential interferences between yaw stabilization and rollover prevention of an automotive vehicle, this work presents a new approach to integrate both objectives. It introduces rollover prevention in form of a nonlinear constraint on the control allocation of a yaw stabilizing controller, yielding a hierarchical allocation problem. A suitable algorithm in form of a dynamic update law addressing this problem is derived. Its implementation is computationally efficient and suitable for low cost automotive electronic control units. The proposed rollover constraint design does not require any sensory equipment in addition to the yaw stabilizing algorithm. Actuation is conducted by differential braking, while an extension to further actuators is possible. The method is validated using an industrial multi-body vehicle simulator.

关键词： Resource management Vehicles Wheels Heuristic algorithms Vehicle dynamics Actuators Friction

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Output Consensus controller Design for Nonlinear Relative Degree One Multi-Agent systems with Delays *

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IFAC Proceedings Volumes 2009年第14期42卷 370-375页

作者： Ulrich Münz Antonis Papachristodoulou Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Engineering Science University of Oxford Parks Road Oxford OX1 3PJ UK

Simple design conditions are presented for decentralized output feedback controllers that achieve output consensus between nonlinear, relative degree one Multi-Agent systems (MAS) with stable zero dynamics. It is shown that consensus is achieved even if the exchange of information between the agents suffers from time-varying communication delays and switching communication topologies. In this way the assumptions both on the network topology and the delays are minimal. The proofs are based on an invariance principle for Lyapunov-Razumikhin functions, which has been recently used to prove consensus between single integrator MAS.

关键词： Multi-agent systems relative degree one nonlinear consensus delays

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Generalized Nyquist Consensus Condition for Linear Multi Agent systems with Heterogeneous Delays

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IFAC Proceedings Volumes 2009年第20期42卷 24-29页

作者： Ulrich Münz Antonis Papachristodoulou Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering Science University of Oxford Parks Road Oxford OX1 3PJ U.K.

We study robust consensus of linear Multi-Agent systems (MAS) with heterogeneous delays. We provide a very accurate set-valued condition that guarantees consensus for arbitrary bounded delays and arbitrary connected topologies. This condition is proven using the generalized Nyquist criterion. From the set-valued condition, an explicit analytical formula is derived for single integrator MAS. In this publication, the delays affect both the agent's own state and its neighbor's state; and we assume that the delay of the agent's own state and its neighbor's state are different, e.g. due to a combination of computation delays, which affect both states, and transmission delays, which only affect the neighbor's state.

关键词： Multi-agent systems delays generalized Nyquist criterion

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Distributed shift target estimation using multiple cooperative agents

Distributed shift target estimation using multiple cooperati...

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Asian control Conference

作者： Jiangping Hu Yiguang Hong Xiaoming Hu School of Automation Engineering University of Electronic Science and Technology Chengdu China Kay Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy and Sciences Beijing China Optimization and Systems Theory Royal Institute of Technology Stockholm Sweden

In this paper we discuss the estimation of a moving target by cooperative agents equipped with sensors. To locate a moving target, a distributed algorithm is given for the networked agents based on a time-based shift. A nonlinear filter with fusing collected sensor information is proposed to estimate the trajectory of the target with unknown dynamics. The convergence of the estimation in the sensor network is analyzed and proved via a theoretic approach.

关键词： Trajectory Collaboration Information processing Sensor fusion Target tracking Convergence Information filtering Information filters Robotics and automation Distributed algorithms

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Tire slip fuzzy control of a laboratory Anti-lock Braking System

Tire slip fuzzy control of a laboratory Anti-lock Braking Sy...

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European control Conference (ECC)

作者： Mircea-Bogdan Rădac Radu-Emil Precup Stefan Preitl József K. Tar Keith J. Burnham Department of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Budapest Hungary Control Theory and Applications Centre Coventry University Coventry UK

A tire slip fuzzy control solution is designed and implemented in the framework of an Anti-lock Braking System (ABS) comprising a highly nonlinear controlled plant. The fuzzy controllers are designed to work for locally linearized models of the plant. Their parameters are tuned by mapping from simple PI controllers in terms of the modal equivalence principle. The experience from the experiments is incorporated in the design of the rules and the stability analysis enables the controller design. The benefits of filtering the input of the fuzzy controller are highlighted in real-time experimental results.

关键词： Wheels Tires Stability analysis Actuators Friction Fuzzy control Mathematical model

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Tire slip fuzzy control of a laboratory anti-lock braking system 10

Tire slip fuzzy control of a laboratory anti-lock braking sy...

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2009 10th European control Conference, ECC 2009

作者： Radac, Mircea-Bogdan Precup, Radu-Emil Preitl, Stefan Tar, Jozsef K. Burnham, Keith J. Department of Automation and Applied Informatics 'Politehnica' University of Timisoara Bd. V. Parvan 2 Timisoara300223 Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi út 96/B Budapest1034 Hungary Control Theory and Applications Centre Coventry University Armstrong Siddeley Building Priory Street CoventryCV1 5FB United Kingdom

ISBN: (纸本)9783952417393

关键词： Fuzzy control

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Avoidance of Poorly Observable Trajectories: A Predictive control Perspective

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IFAC Proceedings Volumes 2008年第2期41卷 1952-1957页

作者： Christoph Böhm Rolf Findeisen Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Germany Institute for Automation Engineering Otto-von-Guericke-Universität Magdeburg Germany

Nonlinear systems can be poorly or non-observable along specific state and output trajectories or in certain regions of the state space. Operating the system along such trajectories or in such regions can lead to poor state estimates being provided by an observer. Such trajectories should be avoided if used for state-feedback control or monitoring purposes. In this paper, we outline two possible approaches to avoid weakly observable trajectories in the frame of nonlinear predictive control. The first approach is based on the use of a term in the cost functional that penalizes weakly observable trajectories and thus leads to avoidance of weakly or non-observable regions of operation. In the second approach, the observer error dynamics are directly considered in the prediction. Large state estimation errors lead to a large penalization in the cost functional and are thus avoided. The approaches are exemplified by considering an example system.

关键词： Observability Observer Performance Nonlinear systems Predictive control Stability

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Delay-dependent rendezvous and flocking of large scale multi-agent systems with communication delays

Delay-dependent rendezvous and flocking of large scale multi...

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IEEE Conference on Decision and control

作者： Ulrich Munz Antonis Papachristodoulou Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Engineering Science University of Oxford Oxford UK

ISBN: (纸本)9781424431236

We study the stability of multi-agent system (MAS) formations with delayed exchange of information between the agents. The agents are described by second order systems. They communicate via a symmetric connected communication topology with constant, heterogeneous, symmetric delays between any two neighboring agents. We consider two different tasks for the MAS: rendezvous, where all agents meet at an arbitrary point, and flocking, where all agents reach a given formation and move in a predefined direction. Therefore, we propose a decentralized control algorithm with position coupling gains k ji . We prove that the MAS achieves rendezvous for any constant delay if the communication topology is connected and the coupling gain is sufficiently small. For larger gains, rendezvous and flocking are delay-dependent, i.e., they are reached for any delay smaller than a bound which depends on k ji . Thereby, the controllers can be tuned in a totally decentralized fashion, i.e., only based on the communication delays to their neighbors and not considering the delays in the rest of the network. For the analysis, we use both frequency and time domain methods to prove delay-independent and delay-dependent rendezvous and flocking, respectively.

关键词： Large-scale systems Multiagent systems Delay systems Topology Delay effects Stability Distributed control Communication system control Frequency domain analysis Time domain analysis

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Nonlinear Multi-Agent System Consensus with Time-Varying Delays

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IFAC Proceedings Volumes 2008年第2期41卷 1522-1527页

Most consensus protocols for Multi-Agent systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with time-varying communication delays to reach a consensus, using a recently presented method based on an invariance principle for Lyapunov-Razumikhin functions. We consider both the cases of fixed and switching topologies. In the case of a fixed topology, the underlying directed graph has to contain a spanning tree. In the case of a switching topology, only the union graph of all graphs that persist over time is required to contain a spanning tree.

关键词： Multi-agent systems nonlinear consensus time-varying delays switched systems

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