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Mediterranean Conference on control and automation (MED)

作者： G. Rodonyi P. Gaspar Z. Szabo J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary

The paper proposes a measure of robust performance based on frequency domain experimental data that allows non-conservative modeling of uncertainty. Given the nominal model of the plant and closed-loop performance specifications the iterative control design and remodeling of model uncertainty based on that measure leads to a controller with improved robust performance. The structured dynamic uncertainty is allowed to act on the nominal model in a linear fractional transformation (LFT) form. The proposed method is a modification of the structured singular value with implicit constraints on model consistency. The usefulness of the method is demonstrated on a simulation example.

关键词： automation Conferences

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The design of a reconfigurable suspension control system based on an FDI filter

The design of a reconfigurable suspension control system bas...

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Mediterranean Conference on control and automation (MED)

作者： Peter Gaspar Zoltan Szabo Jozsef Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary

To improve the performance properties of heavy vehicles, i.e. to reduce the risk of emergencies, improve passenger comfort and road holding, a reconfigurable fault-tolerant control design of the active suspension is performed. When a fault (loss in effectiveness) occurs at one of the suspension actuators a reconfiguration is needed in order to maintain the same performance level. The proposed reconfiguration scheme is based on an H infin linear parameter varying (LPV) method that uses the fault information as one of the scheduling variables.

关键词： automation Conferences

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Analysis of the networked implementation of the primary circuit pressurizer controller at a nuclear power plant

Analysis of the networked implementation of the primary circ...

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Mediterranean Conference on control and automation (MED)

作者： G. Szederkenyi Z. Szabo J. Bokor K.M. Hangos Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

This paper presents the L 2 stability analysis of a networked pressure control system implemented in a nuclear power plant. The theoretical background for the applied modelling, identification, controller design tools and for the implementation process is also briefly discussed. To ensure the nominal stability properties of the designed controller in the networked environment the maximum allowable transmit interval (MATI) is computed based on the derived system model and the dynamic inversion based controller equations. This turns out to be sufficiently larger than the actual sampling interval. Simulations show good agreement with the theoretical computation results.

关键词： automation Conferences

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Identification of the primary circuit dynamics in a pressurized water nuclear power plant

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IFAC Proceedings Volumes 2008年第2期41卷 10640-10645页

作者： Csaba Fazekas Gábor Szederkényi 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

This paper presents the results of the parameter estimation procedure for the primary circuit dynamics of a VVER-type nuclear power plant. The model structure is a low dimensional lumped nonlinear model published previously in Fazekas et al. [2007a]. The parameter estimation method uses the modular decomposition of the system model for obtaining physically meaningful initial parameter estimates. The final parameter estimates are computed using the integrated model.

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Constrained H∞ control for discrete-time LPV systems using interpolation

Constrained H∞ control for discrete-time LPV systems using ...

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IEEE Conference on Decision and control

作者： Tamas Peni Balazs Kulcsar Jozsef Bokor Michel Verhaegen Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty of Mech Maritime and Materials Eng Technical University Delft Delft Netherlands

The paper proposes an interpolation based control method as a possible solution to the constrained H ∞ control of discrete-time, linear parameter varying (LPV) systems. The control policy is constructed by interpolating among a priori designed, unconstrained state feedback controllers. The predefined H ∞ performance level remains guaranteed under hard state and input constrains. By applying invariant set theory it is also shown that the domain of applicability of the proposed control method is significantly larger than that can be achieved by any, single state feedback.

关键词： control systems Interpolation State feedback Automatic control Nonlinear systems Nonlinear control systems Linear matrix inequalities Optimal control Set theory Robust control

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Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization

Trajectory tracking control of a 6-degree-of-freedom robot a...

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International Workshop on Advanced Motion control (AMC)

作者： Ferenc Lombai Gabor Szederkenyi Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The trajectory tracking control of a 6-degree-of- freedom (DOF) rigid robot arm is described in this paper. The trajectories for the joint variables are generated in third-order spline form using general constrained nonlinear optimization, taking into consideration the joint position, velocity, acceleration, jerk and overall current consumption constraints during the movement. The trajectory tracking of the individual joints is solved using a discrete-time linear controller design. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The complete inverse kinematics of the arm is symbolically calculated in the Mathematica computing environment and implemented in C++. Simulations and measurements show the applicability of the proposed method.

关键词： Trajectory Robots Object oriented modeling Robotics and automation Kinematics Mathematical model Constraint optimization Automatic control Topology Orbital robotics

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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A new approach in urban traffic control systems

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Periodica Polytechnica Transportation Engineering 2007年第1-2期35卷 3-13页

作者： Varga, István Bokor, József 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 Bertalan L. u. 2 H-1111 Budapest Hungary

The paper proposes some new methods for traffic control systems design. The goal was to find solutions that make possible to give constraints in course of the estimation process of the road traffic parameters and the traffic controller system design. The proposed solutions are built on the constrained Moving Horizon Estimation and the Fault Detection Filter technique.

关键词： Traffic control

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Robust model predictive control for a class of linear parameter varying systems 9

Robust model predictive control for a class of linear parame...

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2007 9th European control Conference, ECC 2007

作者： Peni, Tamas Bokor, Jozsef Systems and Control Laboratory of the Computer Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 BudapestH-1518 Hungary

This paper proposes a simple robust model predictive algorithm for discrete time linear parameter varying uncertain systems, which depend nonlinearly on their parameters. The method was derived from the robust MPC alg... 详细信息

ISBN: (纸本)9783952417386

关键词： Linear systems

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Model predictive control of the hybrid primary circuit dynamics in a pressurized water nuclear power plant 9

Model predictive control of the hybrid primary circuit dynam...

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2007 9th European control Conference, ECC 2007

作者： Peni, Tamas Szederkenyi, Gabor Bokor, Jozsef Systems and Control Laboratory of the Computer Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 BudapestH-1518 Hungary

ISBN: (纸本)9783952417386

In this paper, a model predictive controller is developed for controlling the main primary circuit dynamics of pressurized water nuclear power plants during load-change transients. The hybrid model of the plant is successfully embedded into a non-hybrid discrete time LPV form. The designed controller is able to handle the hard constraints for the state and input variables while keeping the plant stable and producing satisfactory time-domain behavior. © 2007 EUCA.

关键词： Nuclear power plants

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