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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Németh, Balázs Gáspár, Péter Szabó, Zoltán Bokor, József Sename, Olivier Dugard, Luc Computer and Automation Research Institute Systems and Control Laboratory Kende U. 13-17 Budapest Hungary Control Systems Department GIPSA-lab 11 Rue des Mathématiques ENSE3 BP 46 St martin d'Hrescedex GrenobleF-38402 France

ISBN: (纸本)9789633131022

The paper proposes a fault-Tolerant integrated control system with the brake and the steering for developing a driver assistance system. The purpose is to design a fault-Tolerant control which is able to guarantee the trajectory tracking and lateral stability of the vehicle against actuator fault *** both actuators affect the lateral dynamics of the vehicle, in the control design a balance and priority between them must be achieved. The method is extended with a fault-Tolerant feature based on a robust LPV method, into which the detected fault information are incorporated. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.

关键词： Robust control

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Fault tolerant adaptive estimation of nonlinear processes using redundant measurements

Fault tolerant adaptive estimation of nonlinear processes us...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Miranda, M. Edelmayer, A. Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes 5101 Mérida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781467325318

This paper presents a dual layer approach for robust fault tolerant estimation of nonlinear processes using a combined adaptive extended Kalman filter and fault detection and filter reconfiguration. From the one hand, the filter is made robust in face of environment uncertainty using adaptive filtering. To this end, the filter identifies the measurement covariance by means of recursive estimation, upon which the adaptation relies, to suppress the effect of sporadic variations in the quality of measurements as well as compensates for incipient sensor faults. From the other hand, fault monitoring is continuously applied to the filter's innovation in an attempt to initiate filter reconfiguration when the adaptation mechanism alone is not able to overcome the failure situation. The discussion of the results is embedded in the application framework of state estimation of a batch distillation process. © 2012 IEEE.

关键词： Fault detection

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Multicriteria ramp metering control considering environmental and traffic aspects

Multicriteria ramp metering control considering environmenta...

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15th IFAC Workshop on control Applications of Optimization, CAO 2012

作者： Csikós, Alfréd Varga, István Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 2. 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)9783902823144

In this paper a multicriteria ramp metering control is designed considering three criteria: traffic performance and the local- and global effects of traffic emission. For realtime emission modeling a macroscopic modeling framework is proposed using an average-speed emission model. Based on the proposed model function cost functions regarding the global and local effects of traffic emission are stated. Traffic control is realized via ramp metering and the control input is optimized by using the NMPC technique. The closed-loop simulation of the designed control is carried out in VISSIM microscopic simulator. © 2012 IFAC.

关键词： Cost functions

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Robust suspension fault detection 13

Robust suspension fault detection

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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Varrier, Sébastien Nemeth, Balázs Koenig, Damien Martinez, John J. Gáspár, Péter Gipsa-Lab Saint Martin d' Hères Cedex38402 France Computer and Automation Research Institute Hungarian Academy of Sciences Systems and Control Laboratory Kende U. 13-17 BudapestH-1111 Hungary

ISBN: (纸本)9789633131022

The work presented in this paper focuses on robust fault detection for suspension system. Most of suspension system - classical, active or semi active ones - contains non linear parameters within their reference model such as dampers or springs. The approach taken relies in developing fault indicator for such system. The non-linear model is rewritten as an LPV one, where the scheduling parameters are linked with the non-linear parameters. Then fault indicators are synthesized for the discrete-Time LPV model based on the extended parity-space approach. Validation of the approach is performed with CarSim.

关键词： Fault detection

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Identifying poles from time-domain data using discrete Laguerre system

Identifying poles from time-domain data using discrete Lague...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Soumelidis, Alexandros Bokor, Jozsef Schipp, Ferenc Systems and Control Laboratory Computer and Automation Research Institute of the Hungarian Academy of Sciences Kende str. 13-17 Budapest H-1111 Hungary Department of Numerical Analysis Faculty of Informatics Eotvos Lorand University Budapest Hungary

ISBN: (纸本)9781467325318

In a recent paper the authors proposed a new frequency-domain approach to identify poles in discrete-time linear systems. The discrete rational transfer function is represented in a rational Laguerre-basis, where the basis elements are expressed by powers of the Blaschke-function. This function can be interpreted as a congruence transform on the Poincaré unit disc model of the hyperbolic geometry. The identification of a pole is given as a hyperbolic transform of the limit of a quotient-sequence formed from the Laguerre-Fourier coefficients. This paper extends this approach for using discrete time-domain data directly. © 2012 IEEE.

关键词： Poles

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3D position and attitude estimation using novel marker detection method

3D position and attitude estimation using novel marker detec...

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Mediterranean Conference on control and automation (MED)

作者： Gergely Regula István Gőzse Alexandros Soumelidis Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The aim of this paper is to present a novel indoor positioning system which is based on an image display method. The basic idea of the indoor positioning method is presented. The optical sensing is a combination of specific analogue preprocessing and digital signal processing techniques that are capable of measuring and recognising markers that are mounted on the agent to be tracked. The paper mainly focuses on the three-dimensional position and attitude reconstruction methods for multiple makers in known configuration. The estimation of a single marker's position is typically based on more than two sensors' measurements. Therefore, it is different from the classical epipolar geometry based methods. Information about the configuration of multiple markers is included in the reconstruction method as constraints.

关键词： Sensors Estimation Vehicles Reconstruction algorithms Vectors Cost function Image sensors

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Model Structure Validation of Cell Signaling Pathways Using Colored Petri nets *

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IFAC Proceedings Volumes 2012年第15期45卷 463-468页

作者： Dvid Csercsik Katalin M. Hangos Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

In this paper we propose a novel colored timed Petri net modelling approach for model structure validation of cell signaling pathways. The aim is to distinguish between models of different structures based on typically qualitative, roughly detailed measurement data. In this approach, tokens are present all the time at all of the places, and their color corresponds to the actual quantized activation state of the signaling component. The activation states are updated according to the progression of the signal through the signaling network. We demonstrate the results on a signaling network, which describes the interaction of fast (G protein coupled) and slow ( β -arrestin coupled) transmission.

关键词： Modeling and Identification control Applications in Biological Processes

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control design based on the integration of steering and suspension systems

Control design based on the integration of steering and susp...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Balázs Németh Péter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

The paper proposes an integration of the steering system and a variable-geometry suspension system as part of a driver assistance system. The predefined trajectory required by the driver is followed with a steering command. During maneuvers the control system generates an auxiliary front steering angle and the camber angle of the front wheels according to driver demands in order to improve road stability. Simultaneously, the variable-geometry suspension system is able to modify the camber angle of the wheels in order to improve the half-track change. The design of an integrated control system is based on the robust H ∞ method, which meets the performance specifications and guarantees robustness against model uncertainties. The efficiency of the actuator integration is guaranteed by a reachable set. The operation of the control system is illustrated through a simulation example.

关键词： Vehicles Suspensions Wheels Actuators Vehicle dynamics Approximation methods

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Principles of the active collision mitigation system for vehicles involved in light impact 13

Principles of the active collision mitigation system for veh...

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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Mihály, András Gáspár, Péter Szabó, Zoltán Sename, Oliver Dugard, Luc Department of Control and Transport Automation Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Bertalan L. U. 2. Budapest Hungary Computer and Automation Research Institute Systems and Control Laboratory Kende U. 13-17 Budapest Hungary Control Systems Department GIPSA-Lab 11 Rue des Mathématiques ENSE3 BP 46 St martin d'Hrescedex GrenobleF-38402 France

ISBN: (纸本)9789633131022

The paper presents a collision mitigation method in which the aim is to stabilize the motion of the vehicle after a light impact has occurred. A yaw rate servo control based on the bicycle model is applied for control purposes. The collision is assumed to have been detected by a passive safety system, e.g., airbag sensors. The control system is activated by the monitoring signal. After the collision has occurred the motion of the vehicle and the operation of the control system are illustrated through CarSim simulation examples. Two control solutions are analyzed: in the first case active steering is used while in the second case steering is combined with differential braking. With the knowledge of certain vehicle parameters and the impact force and direction, post impact vehicle states (yaw rate, velocities, roll rate) can be analyzed. A sensitivity analysis is carried out to determine the validity range of the vehicle model in the presence of uncertainties and different kinds of impact forces. Several software packages are used for the design and analysis of the controlled system. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.

关键词： Automobile steering equipment

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An entropy approach to filtering for networked control systems

An entropy approach to filtering for networked control syste...

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作者： Zhang, Jianhua Du, Lilong Wang, Aiping Wang, Hong School of Control and Computer Engineering North China Electric Power University Beijing 102206 China Institute of Computing Sciences Anhui University Hefei China Control Systems Centre University of Manchester Manchester M601QD United Kingdom Key Laboratory of Integrated Automation of Process Industry Ministry of Education and Research Center of Automation Northeastern University Shenyang China

This paper is concerned with minimum error entropy filter design for non-linear Networked control systems (NCSs) with multiple-packet transmission mechanism. Since the error of the filter in NCSs is generally non-Gaussian, the filter is designed under the information theoretic learning frame. The convergent condition of the proposed filter is established. A simulation example shows that the proposed approach is feasible and effective. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： Entropy

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