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

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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Analysis and experimental verification of faulty network modes in an autonomous vehicle string

Analysis and experimental verification of faulty network mod...

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Mediterranean Conference on control and automation (MED)

作者： G. Rödönyi P. Gáspár J. Bokor Sz. Aradi Z. Hankovszki R. Kovács L. Palkovics Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Budapest University슠of슠Technology슠and슠Economics Hungary Knorr-Bremse Brake-systems Gmbh Germany

Advanced autonomous vehicle strings rely on inter-vehicle communication in order to decrease the necessary safety gap so that fuel consumption can be decreased and road capacity can be increased. In case of failures of some communication channels, the corresponding back-up control strategy must be switched on. Maximal spacing errors of such back-up modes are analyzed and compared. Robustness to platoon heterogeneity and communication delays are considered. The main conclusion we can draw is that, in the full communication mode, satisfactory spacing performance can be achieved by using simple output-feedback controllers designed without detailed knowledge on engine/brake characteristics, only utilizing the existing services available today in every commercial heavy trucks with automatic gearbox. Experimental verification of the designed controllers are presented.

关键词： Vehicles Acceleration Delay Engines Safety Indexes Gears

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Dynamical equivalence and linear conjugacy of biochemical reaction network models

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IFAC Proceedings Volumes 2012年第18期45卷 125-130页

作者： G. Szederkényi Z.A. Tuza K.M. Hangos Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute (MTA SZTAKI) Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary Faculty of Information Technology Péter Pázmány Catholic University H-1083 Budapest Práter u. 50/a

The distinguishability and identifiability of biological network models are key properties influencing the reliability of structural and parametric identification of such models. Recently, several new results have been published about dynamically equivalent and linearly conjugate reaction networks. In this paper, the notion and importance of dynamical equivalence and linear conjugacy of biochemical network models obeying the mass action law is shown. For this, new concepts in the form of core complexes and core reactions for linearly conjugate networks are introduced. Two examples illustrate the developed computation methods.

关键词： biological systems chemical reaction networks optimization

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Editorial-neural networks and learning systems come together

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IEEE Transactions on Neural Networks and Learning systems 2012年第1期23卷 1-6页

作者： Baesens, Bart Bouboulis, Pantelis Cruces, Sergio Domeniconi, Carlotta Ikeda, Shiro Li, Xuelong Melin, Patricia Rao, V. Sree Hari Schuller, Björn W. Shen, Yi Tang, Huajin Wang, Cong Yang, Jian Zhao, Dongbin Liu, Derong Catholic University of Leuven Belgium University of Athens Greece University of Seville Spain George Mason University United States Institute of Statistical Mathematics Japan University of London United Kingdom Tijuana Institute of Technology Mexico Jawaharlal Nehru Technological University India Technische Universität München Germany Huazhong University of Science and Technology China Institute for Infocomm Research Singapore Singapore South China University of Technology China Nanjing University of Science and Technology China Chinese Academy of Sciences China State Key Laboratory of Management Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Electrical Computer Engineering University of Illinois Chicago IL 60607 United States

This issue marks the beginning of the IEEE Transactions on Neural Networks and Learning systems (TNNLS). By adding «Learning systems» to the title, we now state explicitly the scope of the TRANSACTIONS to include neural networks as well as related learning systems. This issue marks a new era in the history of our TRANSACTIONS. The TRANSACTIONS is now ready to face the challenges of the next 10-20 years. With the evolution of the fields of neural networks in particular and computational intelligence in general, the IEEE Transactions on Neural Networks and Learning systems will continue to grow and to succeed in this ever-changing world. Also included are a few comments about the review process of TNN manuscripts and the introduction of 14 new TNNLS Associate Editors. © 2012 IEEE.

关键词： Learning systems

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Design of an integrated control for driver assistance systems based on LPV methods

Design of an integrated control for driver assistance system...

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American control Conference (ACC)

作者： Péter Cáspár Balázs Németh József Bokor Magyar Tudomanyos Akademia Szamitastechnikai es Automatizalasi Kutatointezet Budapest Budapest HU Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Hungarian Academy of Sciences Budapest University of Technology and Economics

The paper proposes the control design of a driver assistance system which integrates the brake, the steering, and a variable-geometry suspension system. In the control scheme a predefined road trajectory required by the driver with a steering command is followed to carry out various maneuvers. During maneuvers the control system generates the brake moments, modifies the front steering angle and changes the camber angles of the rear wheels. The control system must guarantee various crucial vehicle performances such as trajectory tracking and road stability. An actuator selection method in the control design is developed. A cruise control system based on robust LPV (Linear Parameter Varying) methods is designed with the emphasis on predefined velocity and path considerations.

关键词： Vehicles Wheels Suspensions Actuators Tires Trajectory

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Uncertainty modeling and control design of variable-geometry suspension

Uncertainty modeling and control design of variable-geometry...

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12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011

作者： Németh, Balázs Gáspár, Péter Systems and Control Laboratory Computer and Automation Research Institute Hungary

ISBN: (纸本)9781457700453

The paper proposes the modeling and control design of a variable-geometry suspension system. The goal of the modification of wheel camber is to track road trajectory and enhance the lateral stability of the vehicle. The purpose of the system is to assist the driver to perform various maneuvers by influencing the camber angles of the rear wheels. First a tyre model and a dynamical model of the suspension are described. Second, the uncertainties of the system, which are considered at the control design of a variable-geometry suspension are formalized. The control design is based on the robust H∞/μ method, which meets the performance specifications and guarantees robustness against model uncertainties. © 2011 IEEE.

关键词： Uncertainty analysis

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Multi-mode Extended Kalman Filter for aircraft attitude estimation

Multi-mode Extended Kalman Filter for aircraft attitude esti...

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作者： Bauer, P. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

ISBN: (纸本)9783902661937

This paper introduces a new multi-mode Extended Kalman Filter (EKF) algorithm for attitude estimation of small UAVs during the whole flight (from take off to landing). At first, it examines the available INS/GPS measurements from the point of view of applicability in the estimator on ground and in air. From this, a multi-mode EKF is developed which switches between measurements to use them optimally. The quaternion representation of rotation was used to avoid singularity and derive a closed form solution of the Heun scheme in the discretization of system dynamics. Filter initialization and observability issues are also covered. After presenting the computational steps of the EKF the hybrid automata representation is described. This includes the description of estimator modes, automata states and input events. Finally, the graph of the automata representation is published. The paper ends with the description of tuning process and presentation of off-line test results on real noisy data. The new EKF performed well during all the tests including flights with stabilization controllers based on the estimated Euler angles. © 2011 IFAC.

关键词： Hybrid systems

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Design of Variable-Geometry Suspension for Driver Assistance systems

Design of Variable-Geometry Suspension for Driver Assistance...

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Mediterranean Conference on control & automation

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

ISBN: (纸本)9781467325301

The paper proposes a control design method based on a variable-geometry suspension system applied in a driver assistance system. During maneuvers an autonomous control system modifies the camber angle of the front wheels by using the variable-geometry system in order to improve road stability. The control system guarantees various crucial performances which are related to the chassis roll angle and half-track change. Moreover, by changing the camber angle of the front wheels the yaw rate of the vehicle is modified, which can be used to reduce the tracking error from the reference yaw rate. Thus, with the reconfiguration of the camber angle, the variablegeometry system can also be used as a driver assistance system. The design of a reconfigurable suspension system is based on robust LPV methods, which meet the performance specifications and guarantee robustness against model uncertainties. The operation of the control system is illustrated through different vehicle maneuvers.

关键词： Design Variable-Geometry Suspension Driver Assistance systems

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Tuning and testing of a minimax tracking controller for aircraft dynamics

Tuning and testing of a minimax tracking controller for airc...

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Mediterranean Conference on control and automation

作者： Bauer, P. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest H-1111 Hungary

ISBN: (纸本)9781457701252

The paper presents the tuning and testing of an LQ optimal minimax tracking controller which is capable of attenuating low frequency deterministic, and all frequency stochastic disturbances. The controller - based on a multiple step solution - is developed for discrete time, LTI systems affected by the above mentioned disturbances. Its capabilities are demonstrated in an unmanned aircraft application example. The tracking and disturbance rejection properties are compared with a previous baseline control solution in simulations with linear and nonlinear aircraft models. The advantages of the proposed scheme are highlighted against the baseline design. © 2011 IEEE.

关键词： controllers

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Discrete event model structure identification using process mining

Discrete event model structure identification using process ...

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31st IASTED International Conference on Modelling, Identification, and control, MIC 2011

作者： Werner-Stark, Agnes Gerzson, Miklós Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Egyetemstr. 10 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9780889868632

A novel structure identification procedure for discrete event systems described by Petri nets are proposed in this paper for model-based diagnostic purposes that utilize the notions and tools of process mining. The identification of the structurally different discrete event system models describing a system in its normal and/or faulty modes was used for model-based isolation of the considered faulty modes. From the available process mining techniques that allow for the automatic construction of process models in Petri net form based on event logs, the genetic algorithm-based structure identification procedure has been found to be most capable of identifying the characteristic structural elements of the faulty models. The proposed procedures are illustrated on a simple example of an operated parking gate automaton with two faulty modes.

关键词： Discrete event simulation

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