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ON THE DETECTION OF UNKNOWN INPUT IN POSITIONAL control PROBLEMS WITH NOISY MEASUREMENTS

IFAC Proceedings Volumes 2005年第1期38卷 802-807页

作者： Josef SHINAR József BOKOR Balázs KULCSÁR Technion Israel Institute of Technology Haifa 3200 Israel Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O.Box 63

The paper examines the conditions for isolating the unknown input detection from the effects of the measurements noise in the important family of positional control problems. The study is motivated by the need of improving the homing performance of interceptor missiles against randomly maneuvering targets. The required isolation is possible if, in addition to noisy relative position measurements, noise-free measurement of the line of slight rate or the relative lateral velocity is available. Although with noisy measurement of line of slight rate the isolation of the input is not possible, the detection filter designed for the noise-free case succeeds to provide a satisfactory estimate of target acceleration, which is needed for an improved homing performance.

关键词： positional control detection filter invariant subspaces

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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IDENTIFICATION OF AN LPV VEHICLE MODEL BASED ON EXPERIMENTAL DATA FOR BRAKE-STEERING control

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IFAC Proceedings Volumes 2005年第1期38卷 380-385页

作者： G. Rödönyi J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O. Box 63 Hungary fax : + 361 4-66 7503

A physically parameterized continuous-time velocity-scheduled LPV state-space model of a heavy-truck is identified from measurement data. The aim is to develop a model for controller which steers the vehicle by braking either the one or the other front wheel. It can be applied in many vehicles, where the sole possibility to automate the steering in emergency situations, like e.g. unintended lane departure, is the application of the electronic brake system. Such steering controllers usually require the prediction of the yaw rate and the steering angle on every possible velocity. This problem defines the requirements for the model. Four different order model structures are derived from a certain physical description. Assuming state and output noise, all of them are identified in parameter-varying observer form using prediction error method. The quadratic criterion function is composed from measurement data of several different experiments. Each experiments are carried out on constant velocities but the cost is constituted from different velocity experiments. That structure is selected for controller design which has the best cost on test data out of those the poles of which are in the control bandwidth. The poles are defined on constant velocity. The resulted nominal model consists of the feedback connection of the yaw dynamics with one state-variable and the steering system dynamics with two states and of a first order actuator dynamics with time-delay The predicted outputs show a good fit to the measurements.

关键词： LPV identification steering dynamics differential braking unintended lane departure

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Real-time 3D graphics systems: From simulators to virtual studios

Real-time 3D graphics systems: From simulators to virtual st...

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15th International Conference on computer Graphics and Vision, GraphiCon 2005

作者： Dolgovesov, Boris S. Mazurok, Boris S. Shevtsov, Maxim U. V.rukhlinskiy, Alexey Morozov, Boris B. Fomichev, Vladimir M. V.pekarskiy, Alexandr Naumov, B.A. Laboratory of Synthesizing Visualization Systems Institute of Automation and Electrometry Russia Novosibirsk State University Russia Institute of Automation and Electrometry Russia Computer Graphics Laboratory Department of IAE Russia Institute of Microprocessor Computer Systems RAS Nakhimovsky prospect 36/1 Moscow GSP-7 117997 Russia Cosmonaut Training Yu. A. Gagarin Russian State Scientific-Research and Test Centre of Russia Administrative Department Cosmonaut Training Yu. A. Gagarin Russian State Scientific-Research and Test Centre Russia

The paper deal with 3D graphics simulators history. Several generation of space simulators that were used in training centers including Yu. A. Gagarin Russian State Scientific-research and Test Centre of Cosmonaut Training (Moscow, Russia) are discussed. Number of US-Russia international space station programs use these cosmonaut training system in order to increase the efficiency of crews' space activities, and to ensure safe manned flights. Today we introduce powerful PC-based solution for Virtual Studio. Formal requirements for such a system are declared and its distributed architecture implementation is briefly outlined.

关键词： Simulators

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Adaptive nonlinear auto-associative modeling through manifold learning

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9th Pacific-Asia Conference on Advances in Knowledge Discovery and Data Mining, PAKDD 2005

作者： Zhang, Junping Li, Stan Z. Intelligent Information Processing Laboratory Department of Computer Science and Engineering Fudan University Shanghai 200433 China Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China National Laboratory of Pattern Recognition Center for Biometrics and Security Research Institute of Automation Beijing 100080 China

ISBN: (纸本)3540260765

We propose adaptive nonlinear auto-associative modeling (ANAM) based on Locally Linear Embedding algorithm (LLE) for learning intrinsic principal features of each concept separately and recognition thereby. Unlike traditional supervised manifold learning algorithm, the proposed ANAM algorithm has several advantages: 1) it implicitly embodies discriminant information because the suboptimal parameters of ANAM are determined based on error rate of the validation set. 2) it avoids the curse of dimensionality without loss accuracy because recognition is completed in the original space. Experiments on character and digit databases show that the advantages of the proposed ANAM algorithm. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Learning systems

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Constrained control of a low power industrial gas turbine based on input-output linearization

Constrained control of a low power industrial gas turbine ba...

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International Conference on control and automation (ICCA)

作者： P. Ailer B. Pongracz G. Szederkenyi Knorr-Bremse Brake Systems Limited Budapest Hungary Process Control Research Group Computer and Automation Research Institute Budapest Hungary

A constrained linear optimal control for a low-power industrial gas turbine based on input-output linearization is proposed in this paper. It uses a nonlinear state space model of the gas turbine in input-affine form based on first engineering principles. According to the control aims the nonlinear model is input-output linearized and an LQ servo controller is developed for the linearized model. We have some additional constraints on the state and input variables of the closed-loop plant fed back by the LQ servo controller. These constraints can be kept in a simple way designing an MPT-controller. The complete control structure is investigated by simulation studies.

关键词： Gas industry Industrial control Turbines Power system modeling Engines State-space methods Servomechanisms Ducts Combustion Optimal control

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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American control Conference (ACC)

作者： B. Vanek T. Peni J. Bokor G. Balas Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a model predictive control (MPC) outer loop controller specifies the command signals for the 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

关键词： Trajectory Unmanned aerial vehicles Communication system control Aerodynamics Aircraft Vehicle dynamics Predictive models Predictive control Aerospace control Polynomials

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SURFACE DESCRIPTION FOR CORNEA TOPOGRAPHY USING MODIFIED CHEBYSHEV-POLYNOMIALS

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IFAC Proceedings Volumes 2005年第1期38卷 325-330页

作者： Alexandros Soumelidis Zoltán Fazekas Ferenc Schipp János Németh Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary 1st Department of Ophthalmology Semmelweis University Budapest Hungary

The optical behaviour of the (human) cornea is often characterized with the Zernike-coefficients derived via the Zernike-transform of its optical power map. In this paper, a radial transform based on the Chebyshev-polynomials of the second kind is suggested for a surface-based, rather than an optical power map based representation of the cornea. This transform is well-suited for providing compact representations for quasi-hemispherical surfaces, and after appropriate argument-transform applied to these polynomials also for spherical-calotte-like surfaces. Examples illustrating the effect of the argument-transformation are also included in the paper.

关键词： Biomedical systems function approximation radial base function shape description medical applications

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Geometrical description of quasi-hemispherical and calotte-like surfaces using discretised argument-transformed Chebyshev-polynomials

Geometrical description of quasi-hemispherical and calotte-l...

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IEEE Conference on Decision and control

作者： A. Soumelidis Z. Fazekas F. Schipp Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Numerical Analysis Eötvös Lonránd University Budapest Hungary

The even Chebyshev-polynomials of the second kind - modified with appropriate argument-transforms - were used to describe quasi-hemispherical and calotte-like natural surfaces over a set of discrete points - and via interpolation - between these points. The point-set used was selected in a manner that promotes the proper approximation of such surfaces and the numerical implementation of the surface representation algorithm. The representations of such optical surfaces (e.g., the outer surface of the human cornea) in the basis formed by these Chebyshev-polynomials - and by their transformed versions - provide computational alternatives to the Zernike-based description of the optical aberrations caused by such surfaces.

关键词： Chebyshev approximation Optical refraction Cornea Geometrical optics Humans Approximation algorithms Interpolation Optical computing Geography Adaptive optics

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Unknown Input Detection Using Receding Horizon Approach

Unknown Input Detection Using Receding Horizon Approach

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IEEE International Symposium on Intelligent control (ISIC)

作者： B. Kulcsar J. Bokor Department of Transport Automation Faculty of Transportation Engineering Budapest University슠of슠Technology슠and슠Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on the one hand the Kalman filtering and on the other hand the moving horizon estimation (MHE) when stochastic noise on the input and on the output, with additive failure directions, are presents. The paper combines the optimal Kalman and MHE method with geometric based unknown input observer strategy. The MHE solution makes to treat constraints during the estimation process possible. A numerical example supports the necessity of constrained unknown input estimation

关键词： Fault detection State estimation control systems Kalman filters Space technology Additive noise automation Stability Predictive models Predictive control

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