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6th IFAC Symposium on Nonlinear control systems, NOLCOS 2004

作者： Péni, T. Szederkényi, G. Bokor, J. Hangos, K.M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 Budapest11-1518 Hungary

The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LPV) single-track model is constructed, and the global asymptotic stability of the zero dynamics is proved. Using the obtained stable inverse two controllers are designed depending on whether the yaw rate is measurable on not. In both cases the quadratic stability of the resulted closed-loop control structure is checked and proved. The dynamic properties of the pruposed controllers are illustrated on simulation examples. Copyright © 2004 IFAC.

关键词： controllers

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Quadratic stability of process systems in generalized Lotka-Volterra form 6

Quadratic stability of process systems in generalized Lotka-...

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6th IFAC Symposium on Nonlinear control systems, NOLCOS 2004

作者： Magyar, A. Szederkényi, G. Hangos, K.M. Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute HAS P.O. Box 63 BudapestH-1518 Hungary Department of Computer Science University of Veszprém Egyetem u. 10 VeszpremH-8200 Hungary

The global and local stability of process systems in generalized Lotka-Volterra form is studied in this paper using entropy-like and quadratic Lyapunov function candidates. The global stability check for LV models is performed by solving an LMI for a diagonal positive semi-definite matrix using singular perturbation technique. It is shown that a quadratic Lyapunov function can also be determined by solving linear matrix inequalities (LMIs). In addition, the quadratic stability neighborhood is convex in the space of the quasi-monomials and can be estimated by computing its comer points using LMIs. Furthermore, it is proved that quadratic stability with a diagonal weighting matrix enables to construct adissipative-Hamiltonian description of the system. The developed methods are illustrated on the model of a continuously stirred tank reactor with a nonlinear reaction system. Copyright © 2004 IFAC.

关键词： Linear matrix inequalities

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Identification of LPV vehicle models for steering control involving asymmetric front wheel braking

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IFAC Proceedings Volumes 2004年第13期37卷 519-524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

Velocity-scheduled LPV steering models for road-vehicles are presented and a method is given for identifying them. The aim is to build models for steering controllers that navigate the vehicle either directly by the steering system or by asymmetric braking of the front wheels. These models are useful e.g. for autonomous vehicles and for safety control in steer-by-wire systems. A continuous-time physical model is developed in state-space, then various complexity LPV models are derived and identified based on in-situ measurements of a truck.

关键词： LPV identification steering dynamics differential braking yaw rate control

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Robust fault detection filter design method for LPV systems

Robust fault detection filter design method for LPV systems

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9th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2004

作者： Kulcsár, Balázs Bokor, József Budapest University of Technology and Economics Department of Transport Automation Bertalan L. u. 2. Z.5 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9634208754

The paper deals with the LPV systems in respect to fault detection and isolation. The FPRG method is extended to use with affine LPV system where one could guarantee the disturbance attenuation. The paper presents a method for the robust detection filter design based on geometric approach for Linear Parameter Varying systems. The filter is using the general Fundamental Problem in Residual Generation method in presence of external noise, while disturbance decoupling from failure signitures in LPV system is not possible. The disturbance attenuation is achieved with induced L2 norm minimization concepts for LPV model class. A numerical example is solved to demonstrate the effectiveness of robust LPV fault detection filter.

关键词： Fault detection

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Dynamic inversion based velocity tracking control of road vehicles

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IFAC Proceedings Volumes 2004年第13期37卷 919-924页

作者： T. Péni G. Szederkényi J. Bokor K.M. Hangos Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.D. Box 63 Hungary fax: + 361 466 7503

The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LPV) single-track model is constructed, and the global asymptotic stability of the zero dynamics is proved. Using the obtained stable inverse two controllers are designed depending on whether the yaw rate is measurable on not. In both cases the quadratic stability of the resulted closed-loop control structure is checked and proved. The dynamic properties of the proposed controllers are illustrated on simulation examples.

关键词： dynamic inversion LPV system single-track vehicle model velocity tracking

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Traffic light control using moving horizon estimation

Traffic light control using moving horizon estimation

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9th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2004

作者： Kulcsár, Balázs Varga, István Bokor, József Department of Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2 H-1111 Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9634208754

The paper proposes the estimation of unmeasured variables of traffic systems for traffic control purposes. The presented method proposes constrained state estimation of unmeasured traffic variable such as turning rates. The weighted constrained state approach uses moving horizon along the state trajectory, which permits to handle equality and inequality constraints belonging to nature of the traffic model. A numerical example illustrates the importance of constrained estimation and shows a possible switch control system between two control light stages.

关键词： State estimation

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Interaction balance method for large-scale industrial processes with fuzzy constraints 10

Interaction balance method for large-scale industrial proces...

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10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale systems: Theory and Applications, LSS 2004

作者： Gu, Jia-Chen Wan, Bai-Wu Ruan, Xiao-E Automation Research and Design Institute of Metallurgical Industry Beijing China Systems Engineering Institute State Key Laboratory for Manufacturing Systems Engineering Xi 'an Jiaotong University Xi 'an China Dept.of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Faculty of Science Xi'an Jiaotong University Xi'an China

The interaction balance method (IBM) with fuzzy constraints is proposed for large-scale industrial processes under hierarchical steady-state optimization with the consideration of the model-reality difference and the constraints of subprocesses being flexible. In this approach, the models that are treated as equality constraints and the inequality constraints of the subprocesses are all fuzzified. Two cases of interaction balance method are studied: the open-loop IBM and the IBM with global feedback. Simulation results show that the solutions of the proposed method with global feedback are very close to the optimal solutions of the real process. © 2004 IFAC.

关键词： Large scale systems

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Efficient off-line feature selection strategies for on-line classifier systems

Efficient off-line feature selection strategies for on-line ...

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International Joint Conference on Neural Networks (IJCNN)

作者： D. Balya G. Timar I. Szatmari Cs. Rekeczky AnaLogic and Neural Computing Systems Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

In this work we discuss feature/signature selection strategies for on-line classifier systems, implemented on a common stand-alone HW/SW vision system. In the chosen computational environment topographic and non-topographic computing can be combined for the targeted task of terrain feature analysis. The topographic front-end of the system is capable of deriving more than thousand different visual signatures per second from a few dozen visual feature channels. These signatures are statistically correlated and might also be computationally inter-dependent. To develop an efficient real-time classification algorithm the dimensionality of the extracted features has to be significantly reduced, i.e. only a few signatures can be selected. In this paper we analyze different signature selection strategies for various classifiers with given performance criteria and system-level time performance constraints. Two blind signature selection techniques are described: variance maximization and a factor-based analysis. We also discuss supervised selection mechanisms: class-based statistical and decision-tree-based approaches.

关键词： Feature extraction computer vision Classification algorithms Performance analysis Hardware Microprocessors Laboratories automation Machine vision Time factors

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Topographic and non-topographic neural network based computational platform for UAV applications

Topographic and non-topographic neural network based computa...

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International Joint Conference on Neural Networks (IJCNN)

作者： Cs. Rekeczky G. Timar D. Balya I. Szatmari A. Zarandy AnaLogic and Neural Computing Systems Laboratory Computer Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

In this work, we present an architecture and algorithmic framework where topographic and non-topographic computation is combined on the basis of several artificial neural network models. The algorithm cores utilize an analogic (analog and logical) architecture consisting of a high resolution optical sensor, a low resolution cellular sensor-processor (cellular nonlinear network-CNN-based chip) and a digital signal processor. The proposed framework makes the acquisition of a spatially and temporally consistent image flow possible even in case of extreme variations in the environment. It ideally supports the handling of difficult problems on a moving platform such as terrain identification, navigation parameter estimation and multi-target tracking. The proposed spatio-temporal adaptation relies on a feature based optical flow estimation that can be efficiently calculated on available CNN chips. The paper illustrate how multi-channel visual flow analysis and classifier (ART, KN) driven visual attention-selection mechanisms can be efficiently supported by an analogic architecture. The experiments performed on an analogic CNN hardware prototype highlights some of the application potentials for unmanned air vehicle (UAV) applications.

关键词： Neural networks computer networks Unmanned aerial vehicles Artificial neural networks computer architecture Signal processing algorithms Spatial resolution Signal resolution Optical sensors Cellular networks

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Global asymptotic stabilization of the aeroelastic wing section: a TP model transformation based approach

Global asymptotic stabilization of the aeroelastic wing sect...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： P. Baranyi P. Michelberger Integrated Intelligent Systems Japanese-Hungarian Laboratory Computer and Automation Research Institute Budapest University of Technology and Economics Budapest Hungary

A comprehensive analysis of aeroelastic systems has shown that these systems exhibit a broad class of pathological response regimes when certain types of non-linearities are included. We propose a design method of a state-dependent non-linear controller for aeroelastic systems that includes polynomial structural non-linearities. The method is based on recent numerical methods such as tensor product model transformation and parallel distributed compensation. As an example, a controller is derived that ensures the global asymptotic stability of a prototypical aeroelastic wing section via one control surface. Alternative solution with one control surface and global asymptotic stability does not exist so far. Numerical simulations are used to provide empirical validation of the control results. The effectiveness of the controller design is compared with former approaches.

关键词： control systems Tensile stress Linear feedback control systems Nonlinear control systems Asymptotic stability Limit-cycles Prototypes Linearization techniques Intelligent systems Laboratories

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