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Considering predicted road conditions in platoon control design

Periodica Polytechnica Transportation Engineering 2011年第2期39卷 69-75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 Kende u. 13-17 H-1111 Budapest Hungary

The paper focuses on the design of a platoon control system which takes into consideration the safe travel by using the string stability theorem and the knowledge of the inclinations of the road along the route of the platoon. The controlled system incorporates the brake and the traction forces. By choosing the velocity of the platoon fitting in which the inclinations of the road the number of unnecessary accelerations and brakes can be reduced, thus so can the operations of the actuators of the vehicles, i.e. The powertrain and the brake system. The longitudinal dynamics of the vehicles is formulated in a linear controloriented model. In the model the non-linear performance of the predicted road inclinations is considered together with the safety requirements based on the string stability. The control system is designed by using LPV/H ∞ control theory. © Periodica Polytechnica 2011.

关键词： Roads and streets

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Design of actuator interventions in the trajectory tracking for road vehicles

Design of actuator interventions in the trajectory tracking ...

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IEEE Conference on Decision and control

作者： Balazs Nemeth Peter Gaspar Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781612848006

The paper proposes a control design of vehicle systems including several vehicle components such as the brake, steering and driveline. The purpose is to design a cruise control system to track the predefined velocity and the road geometry. The effects of the actuators are analyzed and an actuator selection method in the control design is developed. The 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： design control road vehicles trajectory tracking actuators Vehicle components Land transportation Road Geometry control systems

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Robust H_(infinity) Filter Design Using Frequency Gridding

Robust H_(infinity) Filter Design Using Frequency Gridding

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2011 American control Conference (ACC)

作者： Peter Seiler Balint Vanek Jozsef Bokor Gary J. Balas AeroSpace and Engineering Mechanics Department University of Minnesota USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary

This paper considers the design of robust H_(infinity) filters for continuous-time linear systems with uncertainties described by integral quadratic constraints (IQCs). The synthesis problem can be converted into an infinite-dimensional optimization with frequency dependent linear matrix inequality constraints on the filter and IQC multipliers. This optimization is approximated by a finite dimensional semidefinite program by restricting the filter to be a linear combination of basis functions and enforcing the constraints on a finite, but dense, grid of frequencies. A heuristic algorithm is described to quickly solve the resulting finite dimensional optimization. A small example is provided to demonstrate the proposed algorithm.

关键词： Uncertainty Robustness Optimization Equations Upper bound Algorithm design and analysis Approximation methods

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Integration of control Design and Variable Geometry Suspension Construction for Vehicle Stability Enhancement

Integration of Control Design and Variable Geometry Suspensi...

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IEEE Conference on Decision and control

作者： Balazs Nemeth Peter Gaspar Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781612848006

The paper proposes a method in which the construction of the variable geometry suspension system and the design of robust suspension control are performed simultaneusly in order to enhance vehicle stability. In the control scheme a predefined road trajectory required by the driver with a steering command is followed to carry out various maneuvers. The variable geometry suspension system provides the modification of the mechanical geometry efficiently. During maneuvers an autonomous control system influences the camber angles of the rear wheels by using a variable geometry suspension system. The control system must guarantee various crucial vehicle performances such as trajectory tracking, roll stability and geometry limits. Since there is an interaction between the construction design and the control design a balance must be achieved between them.

关键词： design control Vehicle stability construction design Vehicle performance geometry Suspension System control systems camber rear wheel Suspended load

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LPV design of reconfigurable and integrated control for road vehicles

LPV design of reconfigurable and integrated control for road...

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IEEE Conference on Decision and control

作者： Peter Gaspar Zoltan Szabo Jozsef Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781612848006

The aim of the paper is to present a distributed supervisory architecture for the design and development of reconfigurable and integrated control systems in road vehicles. 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. In the proposed architecture the supervisor and the components communicate through a well-defined interface. This interface uses the monitoring signals as additional scheduling variables of the individual LPV (Linear Parameter Varying) controllers introduced to distinguish the performances that correspond to different operational modes. The advantage of this architecture is that local LPV controllers are designed independently provided that the monitoring signals are taken into consideration in the formalization of their performance specifications.

关键词： road vehicles INTEGRATED SHIP control configurability performance specifications Supervisors Land transportation local controller ARCHITECTURE Building construction operation vehicle vehicle

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Experiment design for Pauli channel estimation

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IFAC Proceedings Volumes 2011年第1期44卷 4344-4349页

作者： Gábor Balló Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 H-8200 Veszprém Hungary 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

Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed.

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Modeling and optimal control of travel times and traffic emission on freeways

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IFAC Proceedings Volumes 2011年第1期44卷 13058-13063页

作者： Alfréd Csikós Tamás Luspay István Varga Budapest University of Technology and Economics Department of Control and Transport Automation. H-1111. Budapest Bertalan Lajos u. 2 Hungary Systems and Control Laboratory Computer and Automation Research Institute. H-1111. Budapest Kende u. 13-17 Hungary

Abstract In this paper a modeling method and a control approach is proposed for minimising both travel times and traffic emission on freeways. A simulation-based investigation among emission models is performed to determine the model to be engaged for a model-based control. The chosen model is imposed on a second-order macroscopic traffic model. A constrained LQ control is proposed for optimization. An emission-optimal control and a multicriteria (travel time and emission) optimization are compared to conventional, solely travel-time optimal control. Simulations prove that ramp metering can be used to reduce both emission and travel times on motorways.

关键词： traffic control traffic/emission modeling constrained control

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Case study of unscented state estimation for batch distillation processes

Case study of unscented state estimation for batch distillat...

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9th IEEE International Conference on control and automation, ICCA 2011

作者： Miranda, Moira Edelmayer, András Encinoza, Adriana Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary School of Postgraduate Studies Sźechenyi University Egyetem t´er 1 H-9026 Gyor Hungary Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes &#7742erida Venezuela

ISBN: (纸本)9781457714757

In this paper a comparative study on the use of extended and unscented Kalman filters for state estimation in nonlinear systems is presented. This is done to reveal the differences, and congruencies, in filters' synthesis in view of real plant implementation on embedded platforms. One of the objectives is to validate the usual performance measures of the filters, meant by state estimation, experimentally. Design features, such as the complexity of implementation and the sensitivity of the state initialization process on uncertain covariance information at regular filters startup are evaluated in a variety of real plant scenarios. A pilot plant of batch distillation process has been used for experimentation. © 2011 IEEE.

关键词： State estimation

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LPV design of adaptive integrated control for road vehicles

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IFAC Proceedings Volumes 2011年第1期44卷 662-667页

作者： Peter Gáspár Zoltán Szabó József Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary Fax: +36-1-4667503 Phone: +36-1-2796171

Abstract The paper presents a multi-layer supervisory architecture for the design of adaptive integrated control systems in road vehicles. The performance specifications are guaranteed by the local LPV (Linear Parameter Varying) 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. In the proposed architecture the supervisor and the components communicate through a well-defined interface. This interface uses the monitoring signals as additional scheduling variables of the individual LPV controllers introduced to distinguish the performances that correspond to different operational modes. The advantage of this architecture is that local LPV controllers are designed independently provided that the monitoring signals are taken into consideration in the formalization of their performance specifications.

关键词： vehicle control integrated control LPV control robust stability and performance

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Road inclinations in the design of LPV-based adaptive cruise control ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 2202-2207页

作者： Balázs Németh Péter Gáspár Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary Fax: +36-1-4667503 Phone: +36-1-2796171

Abstract The paper presents the design of a new adaptive cruise control method which takes into consideration the knowledge of the inclinations of the road and the velocity regulations along the route of the vehicle. By choosing the velocities of the vehicle that are the most suitable for the given road conditions, the number of unnecessary accelerations and brakings and their durations can be reduced. First a control-oriented model which contains the longitudinal control forces and disturbances is formalized. In the model the predicted road inclinations and velocity regulations are considered together with the safety requirements. Then the control system is designed by using the Linear Parameter Varying (LPV) control theory. The operation of the longitudinal controlled system and the influence of different designed parameters are also analyzed.

关键词： vehicle control adaptive cruise control look-ahead control LPV control robust stability and performance optimization

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