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Model-based ℋ2/ℋ∞ control design of integrated vehicle tracking systems

Periodica Polytechnica Transportation Engineering 2012年第2期40卷 87-94页

作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation BME Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17. H-1111 Budapest Hungary

The paper presents the design of an integrated heavy vehicle system which consistsof the driveline, the brake, the suspension and the steering components. The purpose ofthe integration is to create an adaptive cruise control which is able to keep the distance from the preceding vehicle and track the path on roads. The vehicle model consists of the dynamics of the sprung mass and the unsprung masses and handles the effects of road and wind disturbances. The design of the adaptive cruise-control system is based ontheℋ2/ ℋ∞ control method. The operation of the controlled system is illustrated through simulation examples. © Periodica Polytechnica 2012.

关键词： Magnetic levitation vehicles

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control of platoons containing diverse vehicles with the consideration of delays and disturbances

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Periodica Polytechnica Transportation Engineering 2012年第1期40卷 21-26页

作者： Mihály, András Gáspár, Péter Department of Control for Transportation and Vehicle Systems BME H-1111 Budapest Stoczek Hungary Péter Gáspár Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17 H-1111 Budapest Hungary

The paper focuses on the design of a platoon control system with diverse vehicle formation. After a brief summary of the vehicle model and the control criteria, the paper demonstrates methods for eliminating the longitudinal oscillations caused by the communication and actuator delays and environmental disturbances. The realization and evaluation is done with diverse control strategies. These control methods are demonstrated in a vehicle simulation environment. © Periodica Polytechnica 2012.

关键词： Vehicles

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Design of platoon velocity based on multi-criteria optimization

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IFAC Proceedings Volumes 2012年第13期45卷 523-528页

作者： Balázs Németh Alfréd Csikós István Varga Péter Gáspár Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary

The paper focuses on the design of the velocity of a platoon based on fuel consumption, road slopes, emissions and traveling time. Since the performance specifications are in contradiction, the design task leads to a multi-criteria optimization procedure. Moreover, the differences between the dynamics of the vehicles in the platoon should be taken into consideration. The goal of this paper is to develop an optimization method for the velocity of the platoon which creates a balance between the different performance factors. The design of the platoon control is based on the robust ℋ ∞ control theory. The method is illustrated through simulation examples, which show that a balance between energy saving, the minimization of traveling time and emission can be obtained.

关键词： platoon control look-ahead control ℋ ∞ control emission optimization

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Analysis of driver behavior related to look-ahead control *

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IFAC Proceedings Volumes 2012年第24期45卷 268-273页

作者： András Mihály Balázs Németh Péter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 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

The paper focuses on the design of look-ahead control, in which road inclinations, speed limits and traveling time are taken into consideration. In the control system the longitudinal control incorporates the brake and traction forces to achieve the required velocity. The advantage of the method is that during the travel of the vehicle the control calculates the appropriate velocity, with which the number of unnecessary accelerations and brakings and their durations can be significantly reduced. The velocity proposed by the automatic system may interfere with the velocity selected by the driver. In the paper the system based on look-ahead control is compared to a vehicle operated by a driver using a hardware-in-the-loop simulation system.

关键词： look-ahead control driver-in-the-loop robust control optimization

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Velocity selection by a human driver compared to look-ahead control

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Periodica Polytechnica Transportation Engineering 2012年第2期40卷 45-51页

作者： Mihály, András Balázs, Németh Gáspár, Péter Department of Control for Transportation and Vehicle Systems BME Stoczek J.u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17. H-1111 Budapest Hungary

The paper focuses on the design of look-ahead cruise control systems which can adopt the behavior of the driver in the velocity selection process. The automatic system uses information about the oncoming road sections to calculate an economically optimal velocity for the vehicle. This velocity profile may differ greatly from the one selected by a human driver, who only has visual and acoustic information of the oncoming road section. The motivation of the paper is to analyze the behavior of the driver in terms of velocity selection in order to set up a longitudinal driver model. By adopting the driver model in the automatic system's velocity selection process, the motion of the vehicle can be more comfortable for the driver and the passengers of the vehicle, and the traveling time may be closer to that of the human driver. © Periodica Polytechnica 2012.

关键词： Velocity

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Real-time Modeling and control Objective Analysis of Motorway Emissions

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Procedia - Social and Behavioral Sciences 2012年 54卷 1027-1036页

作者： Alfréd Csikós István Varga Department of Control and Transport Automation Budapest University of Technology and Economics. 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

In this paper a real-time macroscopic modeling framework of road traffic emissions is suggested based on an average-speed emission model. A model function is created to describe the spatiotemporal distribution of motorway traffic emissions using loop detector data only which is suitable for emission dispersion and immission modeling. The proposed model is built using macroscopic traffic variables, and derivation is shown both on microscopic and macroscopic levels, in the latter case showing relationship with traffic performance functions as well. The suggested model function is validated in a VISSIM/MatLab simulation environment, applying COPERT IV average speed model in the proposed framework, compared to a microscopic emission model (Versit+ Micro is used via the VISSIM add-on called EnViVer). Based on the suggested model, control objectives are stated for a multi-criteria model-based control. During the cost function analysis, pollutants are distinguished in terms of the areal extension of their effects and a diverse modeling approach is carried out for pollutants causing global and local effects. The cost function is analyzed for steady-state flow conditions.

关键词： Traffic emission Macroscopic emission modeling Freeway traffic control objective function Model validation

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Reinforcement Learning control Based on Multi-Goal Representation Using Hierarchical Heuristic Dynamic Programming

Reinforcement Learning Control Based on Multi-Goal Represent...

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International Joint Conference on Neural Networks

作者： Zhen Ni Haibo He Dongbin Zhao Danil V. Prokhorov Department of Electrical Computer and Biomedical Engineering University of Rhode Island State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Toyota Research Institute NA TTC

ISBN: (纸本)9781467314886

We are interested in developing a multi-goal generator to provide detailed goal representations that help to improve the performance of the adaptive critic design (ACD). In this paper we propose a hierarchical structure of goal generator networks to cascade external reinforcement into more informative internal goal representations in the ACD. This is in contrast with previous designs in which the external reward signal is assigned to the critic network directly. The ACD control system performance is evaluated on the ball-and-beam balancing benchmark under noise-free and various noisy conditions. Simulation results in the form of a comparative study demonstrate effectiveness of our approach.

关键词： ACD gene Automatic Shutoff Devices noise-free critic hierarchical structure Noise learning (artificial intelligence) dynamic programming Generator dynamos Heuristics

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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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Mediterranean Conference on control and automation (MED)

作者： Alexandros Soumelidis József Bokor Ferenc Schipp Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Numerical Analysis Faculty of Informatics Eotvos Lorand University Budapest Hungary

ISBN: (纸本)9781467325301

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.

关键词： Transforms Estimation Hafnium Jacobian matrices Polynomials Transfer functions Measurement

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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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Mediterranean Conference on control and automation (MED)

作者： M. Miranda A. Edelmayer Laboratory of Unit Operations Department of Chemical Engineering Faculty of Engineering University of Los Andes Merida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

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.

关键词： Temperature measurement Mathematical model Estimation Technological innovation Noise Fault tolerance Fault tolerant systems

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Mechanical analysis and control design of a variable-geometry McPherson suspension

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International Journal of Vehicle systems Modelling and Testing 2012年第2期7卷 173-193页

作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics 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

This paper proposes the analysis and synthesis of the robust control of a variable-geometry suspension system which is able to enhance the stability of the vehicle. The aim of the system is to assist the driver in performing various manoeuvres by influencing the camber angles of the rear wheels. First, the dynamical force that influences the wheel camber angle and the mechanism of McPherson suspension system are analysed, then a control-oriented model of the tyre and the suspension system is formalised. The control design is based on the robust mixed H∞ / μ method, which meets the performance specifications and guarantees robustness against model uncertainties. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： Robust control

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