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LPV-based control design of vehicle platoon considering road inclinations ⋆

IFAC Proceedings Volumes 2011年第1期44卷 3837-3842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 focuses on the design of a platoon control system which takes into consideration safe travel by using the string stability theorem and the knowledge of the inclinations of the road along the route of the platoon. By choosing the velocity of the platoon fitting in with the inclinations of the road the number of unnecessary accelerations and brakings can be reduced, thus so can the operations of the actuators of the vehicles, i.e. the driveline and the brake system. Although the longitudinal dynamics of the vehicles is formulated in a linear control-oriented model, the non-linear performance of the predicted road inclinations and safety requirements based on the string stability are taken into consideration. The design of the platoon control is based on the Linear Parameter Varying (LPV) control theory.

关键词： cruise control platoon control LPV control robust stability and performance optimization vehicle control

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Performance evaluation of GNSS aided predictive multihomed NEMO configurations

Performance evaluation of GNSS aided predictive multihomed N...

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International Conference on ITS Telecommunications (ITST)

作者： József Kovács László Bokor Gábor Jeney PEN3C: Research Group of Pervasive Networks Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of Telecommunications Budapest University of Technology & Economics Budapest Hungary

In this document we show the evaluation of an already introduced handover management solution which can be used to provide ubiquitous connections and seamless Internet access. The new solution makes use of GNSS location information and previous records of network parameters. The method exploits the benefits of multihomed mobility configurations. Based on actual GNSS coordinates and previously recorded data, the system is able to predict handovers and to prepare itself for the appearance of networks. By implementing the proposed solution in a real-life multihomed test environment, handover latency is almost totally eliminated.

关键词： Wireless LAN Mobile computing Global Navigation Satellite systems Databases 3G mobile communication Throughput

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Pole structure estimation from laguerre representations using hyperbolic metrics on the unit disc

Pole structure estimation from laguerre representations usin...

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IEEE Conference on Decision and control

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

ISBN: (纸本)9781612848006

This paper proposes a new approach to identification of the poles in a linear system from frequency domain data. The discrete rational transfer function is represented in a rational Laguerre-basis, where the basis elements can be 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, leading to a nice geometric interpretation of the identification algorithm. Convergence results in hyperbolic metrics will be given. The full procedure is illustrated by simulation examples.

关键词： Hafnium Estimation Frequency measurement Geometry Transforms Convergence

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Freeway ramp metering: an LPV set theoretical analysis

Freeway ramp metering: an LPV set theoretical analysis

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American control Conference

作者： Tamas Luspay Balazs Kulcsar Tamas Peni Istvan Varga Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1111 Kende u. 14-17. Budapest Hungary Department of Signals and Systems Chalmers University of Technology SE-412 96 Gothenburg Sweden

ISBN: (纸本)9781457700811

The paper contributes to the analysis of freeway traffic flow dynamics by set theoretic methods. First, the macroscopic, non-linear and second-order model of freeway traffic flow dynamics is transformed to an equivalent and quasi Linear Parameter Varying (LPV) representation by steady-state centering and state variable factorization. Second, a polytopic LPV model form is obtained from the quasi model reformulation. The latter polytopic LPV form is then used as a basis for the computation and analysis of disturbance invariant sets. This framework is able to characterize constrained sets of states which can be reached by pure ramp metering control input signals. Furthermore, these sets become invariant to other measured and unmeasured disturbance inputs. The application of disturbance invariant set theory provides an analytical tool for constrained freeway ramp metering describing the set of states being invariant under the system dynamics, measured disturbance and other physical constraints regardless to the value unmeasured disturbance signal. The proposed idea is fully based on the analysis of the (transformed) non-linear macroscopic system and aims at filling the gap between the traffic modeling and quantitative freeway ramp metering.

关键词： Set theory ramp metering polytopic systems linear parameter varying representations

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Design of vehicle platoon control based on predicted road inclinations

Design of vehicle platoon control based on predicted road in...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Balazs Nemeth Peter Gaspar 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)9781457708381

The paper focuses on the design of a platoon control system which takes into consideration the knowledge of the inclinations of the road and the speed limits along the route of the platoon. By choosing the velocity of the platoon fitting in with the inclinations of the road the number of unnecessary accelerations and brakings can be reduced. In the control design of the platoon system a balance between energy reduction and travelling time must be achieved. The control design is based on a parameter-dependent LPV method, which guarantees both disturbance attenuation and robustness against uncertainties.

关键词： design control Road Energy conservation angle in inclination vehicle Speed limit Travel time

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Enhancement of Vehicle Stability Based on Variable Geometry Suspension and Robust LPV control

Enhancement of Vehicle Stability Based on Variable Geometry ...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Balazs Nemeth Peter Gaspar 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)9781457708381

The paper focuses on the enhancement of vehicle stability using a variable geometry suspension system. The purpose is to follow a predefined trajectory on the road required by the driver. The designed driver assistance system supports the driver in performing the various vehicle maneuvers, such as cornering and overtaking. While the driver performs a maneuver by using the steering wheel, an autonomous control system influences the camber angles of the rear wheels by using a variable geometry suspension system. The control design 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： Vehicle stability control systems Drivers performance specifications Refractive surgery enhancement Driver Assistance systems corners Overtaking camber Suspension System STEERING WHEEL geometry model uncertainty design control

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Dynamic modeling and model analysis of a large industrial synchronous generator

Dynamic modeling and model analysis of a large industrial sy...

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作者： Fodor, Attila Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia 8200 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9788070438657

A simple dynamic model of an industrial size synchronous generator operating in a nuclear power plant is developed in this paper based on first engineering principles. The constructed state-space model consists of a nonlinear state equation and a bi-linear output equation. It has been shown that the model is locally asymptotically stable with parameters obtained from the literature for a similar generator. The effect of load disturbances on the partially controlled generator has been analyzed by simulation using a traditional PI controller. It has been found that the controlled system is stable and can follow the set-point changes in the effective power well. The disturbance rejection of the controller is also satisfactory.

关键词： Disturbance rejection

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Identifiability of a Hodgkin-Huxley type ion channel under voltage step measurement conditions

Identifiability of a Hodgkin-Huxley type ion channel under v...

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9th International Symposium on Dynamics and control of Process systems, DYCOPS 2010

作者： Csercsik, D. Szederkényi, Gábor Hangos, Katalin M. 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

ISBN: (纸本)9783902661692

In this paper, we analyze the identifiability properties of a Hodgkin-Huxley (HH) type voltage dependent ion channel model under voltage clamp circumstances. The elimination of the differential variables is performed, and the identifiability of various parameters is analyzed using the differential algebra approach and the algorithm based on the Taylor series expansion of the output. It is shown that the model is structurally non-identifiable using certain commonly applied parametrizations, and hidden dependences between physical parameters are unravelled. Using the results of the identifiability analysis, physically meaningful examples are shown when the model parameters are different but the system outputs are identical. © 2009 IFAC.

关键词： control applications in biological processes Modeling and identification

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LPV/H∞ controller for vehicle handling & stability enhancement 12

LPV/H∞ controller for vehicle handling & stability enhancem...

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12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010

作者： Doumiati, M. Sename, O. Martinez, J. Dugard, L. Gaspar, P. Szabo, Z. Bokor, J. Gipsa-Lab UMR CNRS 5216 Control Systems Departement Grenoble Institue of Technology Saint Martin d'Hères France Computer and Automation Research Institute Systems and Control Laboratory Budapest Hungary

ISBN: (纸本)9789633130582

The intent of this article is to present a methodology that deals with steering/braking coordination task, for automotive vehicle yaw control scheme. Because of the tire nonlinearity that is mainly due to the saturation of cornering forces, vehicle handling performance is improved but limited to a certain extent only by steering control. Direct yaw moment control using braking forces is effective not only in the linear region but also in the nonlinear ranges of the tire friction circle. However, braking effect is not desirable in normal driving situations. Consequently, the maximum benefit is gained through the coordinated and combined use of both steering and braking control methods. In this study, the coordination task is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller, where braking control is activated only when the vehicle reaches the handling limits. The controller is synthetized within the LMI framework, while ensuring linear optimal H∞ performances. computer simulations, carried out on a complex full vehicle model subject to critical driving situations, show that the vehicle handling is much improved by the integrated control system compared against an uncontrolled vehicle.

关键词： Braking

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Model-based robust control design of integrated trajectory tracking system 12

Model-based robust control design of integrated trajectory t...

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12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010

作者： Németh, Balázs Gáspár, Péter Szabó, Zoltán Bokor, József Band, Olivier Sename Dugard, Luc Systems and Control Laboratory Computer and Automation Research Institute BudapestH-1111 Hungary Laboratoire D'Automatique de Grenoble CNRS-INPG GrenobleF-38402 France

ISBN: (纸本)9789633130582

The paper presents the design of an integrated vehicle tracking system which includes power-Train, active suspension, brake and steering components. The purpose of the research is to design an integrated vehicle control system with the aim of keeping the distance from a leader vehicle and tracking the yaw motion. First, a model of a vehicle which handles the effects of road irregularities and aerodynamic forces is formalized. Then an integrated vehicle tracking system based on a robust control method is designed. Since in the controller several actuators work in cooperation, a balance must be achieved between them. The operation of the controlled system is illustrated through simulation examples.

关键词： Robust control

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