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Design of vehicle cruise control using road inclinations

International Journal of Vehicle Autonomous systems 2013年第4期11卷 313-333页

作者： Németh, Balázs Gáspár, Péter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

The paper proposes the design of velocity based on road inclinations, speed limits, a preceding vehicle on the lane and traveling time. A new control method in which the longitudinal control incorporates the brake and traction forces is also proposed to achieve the required velocity. By choosing the velocity which is appropriate according to the road and traffic information, the number of unnecessary accelerations and brakings and their durations can be significantly reduced. In the design method the modelling and robust control of the Linear Parameter Varying (LPV) theory are exploited. The operation of the longitudinal controlled system and the influences of different designed parameters are analysed through vehicle simulations. Finally, the efficiency of the controlled system is demonstrated on a real transportation route. Copyright © 2013 Inderscience Enterprises Ltd.

关键词： Robust control

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Smart mini actuators for safety critical unmanned aerial vehicles

Smart mini actuators for safety critical unmanned aerial veh...

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2nd International Conference on control and Fault-Tolerant systems, SysTol 2013

作者： Réti, István Lukátsi, Márk Vanek, Bálint Gőzse, István Bakos, Ádám Bokor, József Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

ISBN: (纸本)9781479928552

The present article details the development steps and experimental results obtained during the development of smart actuators used for mini Unmanned Aerial Vehicles. Unlike the commercial off-the-shelf hobby components, these units are able to measure position, angular rate and current, furthermore with their controlling microprocessors they are capable of establishing two way communication via CAN and FlexRay protocol. They are suitable for safety critical applications, and self diagnostics features are also hosted onboard the actuators to be part of a redundant, distributed control network. The development challenges and experimental results in an example hardware-in-the-loop simulator of an Unmanned Aerial System are discussed in the paper. © 2013 IEEE.

关键词： Actuators

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Design of integrated control for road vehicles

Design of integrated control for road vehicles

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32nd International Summer School in Automatic

作者： Gáspár, Péter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

ISBN: (纸本)9783642361098

This chapter presents a model-based control design for an integrated vehicle system in which several active components are operated simultaneously. In control-oriented modeling vehicle dynamics is augmented with the performance specifications. The performance specifications must be formulated in such a way that the performance demands are guaranteed, conflicts between performances are achieved and a priority between different actuators is created and various fault information is taken into consideration. A supervisory decentralized control structure is also proposed. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Monitoring components provide the supervisor with information needed to make decisions about the necessary interventions into the vehicle motion and guarantee the robust operation of the vehicle. The operation of the integrated system is illustrated through simulation examples. © 2013 Springer-Verlag.

关键词： Robust control

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Index Modulated OFDM with Interleaved Grouping for V2X Communications

Index Modulated OFDM with Interleaved Grouping for V2X Commu...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Xiang Cheng Miaowen Wen Liuqing Yang Yuke Li School of Electronics Engineering and Computer Science Peking University National Mobile Communications Research Laboratory Southeast University School of Electronic and Information Engineering South China University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

The rapid penetration of intelligent transportation systems（ITS） into the conventional transportation infrastructure urgently calls for high spectral efficiency high reliability communication technology for vehicle-to-vehicle and vehicle-to-infrastructure（V2X） *** orthogonal frequency division multiplexing（OFDM） is widely considered as a promising candidate for such applications,in this paper we propose a novel variation of OFDM for improved spectral efficiency as well as enhanced reliability in V2 X channels with correlated frequency-selective fading and inevitable Doppler *** proposed scheme is built upon a recently emerging technique termed as index modulated（IM-）***,different from the existing localized subcarrier grouping,we propose interleaved subcarrier *** then carry out analytical and simulated comparisons to demonstrate the merits of this new scheme in terms of both the bit error rate（BER）performance and the maximum achievable rate（MAR） of the overall system,in V2 X channels.

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control Lyapunov function based feedback design for quasi-polynomial systems

Control Lyapunov function based feedback design for quasi-po...

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9th IFAC Symposium on Nonlinear control systems, NOLCOS 2013

作者： Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9783902823472

The aim of this work is to present an entropy-like Lyapunov function based dynamic feedback design technique for quasi-polynomial and Lotka-Volterra systems. It is shown, that the dynamic feedback design problem is equivalent to the feasibility of a bilinear matrix inequality. The problem is also formulated as a control Lyapunov function based feedback design when the Lyapunov function parameters are given, the solution of this problem can be obtained by solving a linear matrix inequality. The developed method is illustrated on a simple numerical example. © IFAC.

关键词： Design

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Look-ahead cruise control considering road geometry and traffc flow

Look-ahead cruise control considering road geometry and traf...

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14th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2013

作者： Mihaly, Andras Gaspar, Peter Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

ISBN: (纸本)9781479901975

The paper deals with the design of an adaptive cruise control system considering the optimal energy and fuel consumption of the vehicle as well as safety aspects of cornering maneuvers. In the velocity design the look-ahead system considers several information of the road sections ahead of the vehicle. By incorporating road information about the geometrical characteristics and traffic of the oncoming road sections, e.g. speed limits, road slopes, road curvature and traffic mean speed it is possible to alter the velocity of the vehicle in advance. Such way, the longitudinal energy required by the vehicle motion can be reduced significantly. The main novelty of the paper is the adaptation of forward traffic mean speed and safe cornering velocity in the look-ahead control algorithm. It is demonstrated in real data simulation that with the proposed method significant amount of fuel can be saved and the safety of the vehicle motion can also be enhanced. © 2013 IEEE.

关键词： Roads and streets

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Model invalidation for repeated 1-bounded linear time-varying uncertainty models

Model invalidation for repeated 1-bounded linear time-varyin...

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2013 12th European control Conference, ECC 2013

作者： Rodonyi, Gabor Gaspar, Peter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O. Box 63 Hungary

ISBN: (纸本)9783033039629

Conditions are derived for the existence of a repeated linear time-varying (LTV) 1-bounded perturbation and some ∞- bounded disturbance signals that are able to describe experimental data. The uncertainty structure is motivated by formation control problems where complex dynamic systems with similar dynamics are moving together and safety can be measured in terms of the relative distances. It is shown that by solving linear programming problems a disturbance-perturbation trade-off curve useful for unfalsified robust performance computation can be determined. The invalidation results are demonstrated on the simulation example of a homogeneous vehicle platoon. © 2013 EUCA.

关键词： Linear programming

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Development of a vehicle simulator based on a real car for research and education purposes

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34th FISITA World Automotive Congress

作者： Szalay, Zsolt Gáspár, Péter Kánya, Zoltán Nagy, Dávid Department of Automobiles Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Inventure Automotive Electronics RandD Budapest Hungary

ISBN: (纸本)9783642337376

The chapter presents a hardware-in-the-loop simulation environment, which is built in such a way that the simulator tends to the real vehicle functions as much as possible. The simulation system contains several components such as an Human Machine Interface (HMI), a high-accuracy validated simulation software operated on a PC and a visual systemwith real-time graphics. The simulator is equally suitable for educational and research purposes. All the vehicle engineer students use the simulator system during their curriculum, enabling the thorough understanding of modern vehicle functions, thus improving the competence of future generations of engineers. Moreover, the simulator system projects ahead the opportunity of new vehicle research that induces considerable additional scientific results. © Springer-Verlag 2013.

关键词： Automobile drivers

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Model recovery anti-windup compensator design for magnitude and rate saturated LPV systems

Model recovery anti-windup compensator design for magnitude ...

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IEEE Annual Conference on Decision and control

作者： T. Péni Z. Szabó B. Vanek J. Bokor Systems and Control Laboratory of Computer and Automation Research Institute of HAS Budapest 1518 P.O.B. 63. Hungary

ISBN: (纸本)9781467357159;9781467357159

This paper extends the LTI anti-windup compensator scheme proposed in [6] to linear parameter-varying (LPV) systems. Following the MRAW concept, the dynamical part of the compensator is formed by the exact copy of the plant. The design procedure is thus simplified to the construction of a parameter-dependent state feedback, which stabilizes the plant's copy and determines the performance and the domain of applicability of the compensator. To decrease the conservatism, the presented method applies parameter-dependent Lyapunov function and embeds the saturation (dead-zone) in a parameter-dependent sector. The design is formulated as an LMI-based convex optimization problem. The paper also investigates the possibility of eliminating certain free variables in order to reduce the complexity of the synthesis procedure. It is shown that an elimination procedure similar to that in [6] can be carried out, but with LPV systems the reconstruction of the compensator gain is not so straightforward. To overcome the difficulty a novel method is proposed, which is based on a closed formula parameterizing all solutions of the synthesis LMIs. Both of the fully parameterized and the reduced complexity syntheses are presented and their properties are analyzed. The applicability of the methods is demonstrated on a simple LPV plant.

关键词： design process synthesis State feedback Liapunov function Saturated Dead band

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control Lyapunov function based feedback design for quasi-polynomial systems

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IFAC Proceedings Volumes 2013年第23期46卷 128-133页

作者： Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

关键词： Lyapunov stability nonlinear systems stabilizing feedback dynamic feedback optimization problems

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