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2006 World Automation Congress, WAC'06

作者： Pedret, C. Vilanova, R. Serra, I. Moreno, R. Systems Engineering and Automatic Control Group Universitat Autònoma de Barcelona Spain

ISBN: (纸本)1889335339

The 2-DOF Observer-controller configuration is based on a right coprime factorization of the plant and makes use of an observer-based feedback control scheme combined with aprefilter controller. A two-step design procedure is accomplished;first, we can design to guarantee stability robustness and some levels of performance in terms of disturbance rejection;second, we can design the prefilter controller to guarantee open-loop processing of the reference commands. The first step is carried out by solving a constrained H ∞ optimization problem using the right coprime factorization of the plant in an active way. The second step is done by assuming a Reference Model and by solving a Model Matching Problem. The design procedure is exemplified by means of the 1992 ACC Benchmark problem. Copyright - World Automation Congress (WAC) 2006.

关键词： Benchmarking

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An undergraduate laboratory course on fuzzy controller implementation in FPGAs

An undergraduate laboratory course on fuzzy controller imple...

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2007 Mediterranean Conference on control and Automation, MED

作者： Alcántara, S. Pedret, C. Vilanova, R. Moreno, R. Systems Engineering and Automatic Control Group Autonomous University of Barcelona 08193 Bellaterra Spain

In this paper the guidelines for a lab course consisting of implementing a fuzzy controller in an FPGA are given. The aim is to introduce it at the Autonomous University of Barcelona as an undergraduate lab course on ... 详细信息

ISBN: (纸本)142441282X

关键词： Field programmable gate arrays (FPGA)

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Transputer based GA motion control for PUMA robot

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MECHATRONICS 1996年第3期6卷 349-365页

作者： Wang, Q Zalzala, AMS Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD U.K.

A new control system is described for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (TIE) establishing a transputer link to the 6503 microprocessors of the PUMA arm joints has been designed, built and tested successfully. In addition to hardware implementation, software testing for this new system had been accomplished. The new system can communicate with the PUMA lower level controller at a much shorter period (i.e. 1.75 ms) than the default 28 ms. Genetic Algorithms are used to plan the PUMA robot minimum-time motion trajectory, which is not possible by the traditional exhaustive search method. Real-time experiments have been carried out based on the new PUMA control platform, and show a very good match with simulations. controlled by the new system, PUMA perfoms better when it is interfaced with the shorter time period. Copyright (C) 1996 Elsevier Science Ltd.

关键词： Robotics

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Robust Event-Triggered MPC for Constrained Linear Discrete-Time systems with Guaranteed Average Sampling Rate

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IFAC-PapersOnLine 2015年第23期48卷 117-122页

作者： Brunner, Florian D. Heemels, W.P.M.H. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We propose a robust event-triggered model predictive control (MPC) scheme for linear time-invariant discrete-time systems subject to bounded additive stochastic disturbances and hard constraints on the input and state. For given probability distributions of the disturbances acting on the system, we design event conditions such that the average frequency of communication between the controller and the actuator in the closed-loop system attains a given value. We employ Tube MPC methods to guarantee robust constraint satisfaction and a robust asymptotic bound on the system state. Moreover, we show that based on a given periodically updated Tube MPC scheme, an appropriate event-triggered MPC scheme can be designed, with the same guarantees on constraints and region of attraction, but with a reduced number of average communications. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Discrete time control systems Closed loop systems Digital control systems Linear control systems Model predictive control Predictive control systems Probability distributions Robustness (control systems) Stochastic models Stochastic systems Constraint Satisfaction Discrete time systems Event triggered controls Linear discrete time systems Linear time invariant Predictive control Region of attraction Stochastic disturbances

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Numerical Evaluation of a Robust Self-Triggered MPC Algorithm

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IFAC-PapersOnLine 2016年第22期49卷 151-156页

We present numerical examples demonstrating the efficacy of a recently proposed self-triggered model predictive control scheme for disturbed linear discrete-time systems with hard constraints on the input and state. In order to reduce the amount of communication between the controller and the actuator, the control input is not re-computed at each point in time but only at certain sampling instances. These instances are determined in a self-triggered fashion in the sense that at every sampling instant the next sampling instant is computed as a function of the current system state. A compact set in the state space, whose size is a design parameter in the control scheme, is stabilized. © 2016

关键词： Discrete time control systems Digital control systems Model predictive control Predictive control systems Robustness (control systems) control inputs control schemes Design parameters Hard constraints Linear discrete time systems Predictive control Sampling instants Self triggered controls

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Sparse Bayesian Identification of Polynomial NARX Models

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IFAC-PapersOnLine 2015年第28期48卷 172-177页

作者： Jacobs, William R. Baldacchino, Tara Anderson, Sean R. Department of Automatic Control and Systems Engineering University of Shefield Shefield United Kingdom Dynamics Research Group Department of Mechanical Engineering University of Shefield Dynamics Research Group Department of Mechanical Engineering University of Shefield Shefield United Kingdom

In this paper a novel sparse Bayesian structure detection algorithm is introduced for the identification of nonlinear autoregressive with exogenous inputs (NARX) dynamic systems. The main advantage of this algorithm over alternatives is that parameter uncertainty is naturally incorporated, and parameter estimation by variational inference is computationally efficient, consisting of a sequence of closed form updates. The proposed framework is demonstrated through a commonly used simulated benchmark problem. © 2015

关键词： Inference engines Identification (control systems) automatic relevance determination Bench mark problems Computationally efficient NARX models Non linear autoregressive with exogenous Parameter uncertainty Variational bayes Variational inference

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The effect of ride experience on changing opinions toward autonomous vehicle safety

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Communications in Transportation Research 2021年第1期1卷 7-15页

作者： Xiaowei Shi Zhen Wang Xiaopeng Li Mingyang Pei Department of Civil and Environmental Engineering University of South FloridaTampaFL33620USA School of Information Engineering Chang'an UniversityShaanxiChina Automatic Control Group and Urban Mobility Systems Group Chalmers University of TechnologyGothenburgSE-41296Sweden

Autonomous vehicles(AVs)are a promising emerging technology that is likely to be widely deployed in the near ***'s perception on AV safety is critical to the pace and success of deploying the AV *** studies found that people's perceptions on emerging technologies might change as additional information was *** investigate this phenomenon in the AV technology context,this paper conducted real-world AV experiments and collected factors that may associate with people's initial opinions without any AV riding experience and opinion change after a successful AV ride.A number of ordered probit and binary probit models considering data heterogeneity were employed to estimate the impact of these factors on people's initial opinions and opinion *** study found that people's initial opinions toward AV safety are significantly associated with people's age,personal income,monthly fuel cost,education experience,and previous AV ***,the factors dominating people's opinion change after a successful AV ride include people's age,personal income,monthly fuel cost,daily commute time,driving alone indicator,willingness to pay for AV technology,and previous AV *** results provide important references for future implementations of the AV ***,based on the inconsistent effects for variables across different models,suggestions for future transportation survey designs are provided.

关键词： Autonomous vehicle Technology acceptance Safety Ordered probit model Binary probit model

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Avoidance of overtaking accidents

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ATZ worldwide 2010年第10期112卷 10-15页

作者： Hohm, Andree Mannale, Roman Schmitt, Ken Wojek, Christian Chair of Automotive Engineering TU Darmstadt Germany Institute of Automatic Control TU Darmstadt Germany Multimodal Interactive Systems Group TU Darmstadt Germany

This contribution describes the basic concept and practical evaluation of a driver assistance system, which early detects dangerous overtaking maneuvers on two-lane rural roads and helps to prevent accidents. The system was developed during the Proreta 2 research project by Technische Universität Darmstadt in cooperation with Continental AG. © Springer Fachmedien Wiesbaden 2010.

关键词： Bandpass filters

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An Improved Output Feedback MPC scheme for Constrained Linear systems

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IFAC-PapersOnLine 2017年第1期50卷 15506-15511页

作者： Subramanian, Sankaranarayanan Lucia, Sergio Engell, Sebastian Process Dynamics and Operations Group DortmundTU United States Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

We propose an output feedback model predictive control (MPC) scheme that is independent of the estimation method employed. The proposed approach is non-conservative by design as the feedback information subject to estimation errors is explicitly considered in the predictions. The proposed scheme is robust to both the plant-model mismatch and the estimation error and avoids the unnecessary conservatism introduced by other existing output feedback MPC approaches in the literature. We achieve this by making use of all the available information at every time-step and formulate a control policy with the assumption that bounds for the estimation error are available at all times. We show that the proposed scheme is recursively feasible and demonstrate its advantages using a double-integrator example. © 2017

关键词： Feedback Errors Estimation Linear systems Model predictive control Predictive control systems Robust control Constrained linear systems Constrained systems Estimation methods Feed back information Multi stage Output feedback Plant model mismatches Robust model predictive control

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Imitating human reaching motions using physically inspired optimization principles

Imitating human reaching motions using physically inspired o...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Albrecht, S. Ramírez-Amaro, K. Ruiz-Ugalde, F. Weikersdorfer, D. Leibold, M. Ulbrich, M. Beetz, M. Intelligent Autonomous Systems Group Institute of Automatic Control Engineering Technische Universität München Germany

ISBN: (纸本)9781612848679

We present an end-to-end framework which equips robots with the capability to perform reaching motions in a natural human-like fashion. A markerless, high-accuracy, model-based human motion tracker is used to observe how humans perform everyday activities in real-world scenarios. The obtained trajectories are clustered to represent different types of manipulation and reaching motions occurring in a kitchen environment. Using bilevel optimization methods a combination of physically inspired optimization principles is determined that describes the human motions best. For humanoid robots like the iCub these principles are used to compute reaching motion trajectories which are similar to human behavior and respect the individual requirements of the robotic hardware. © 2011 IEEE.

关键词： Anthropomorphic robots

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