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2007 9th European control Conference, ECC 2007

作者： Rodonyi, Gabor Gaspar, Peter Bokor, Jozsef Systems and Control Laboratory Computer and Automation Research Institute of Hungarian Academy of Sciences P.O. Box 63 BudapestH-1518 Hungary

ISBN: (纸本)9783952417386

In the paper the road holding of a heavy vehicle is improved by using unilateral braking. The goal of the control design is to reduce the effect of the lateral acceleration of the vehicle, when it exceeds a predefined critical limit. The safety critical requirements motivate the application of robust control theory. The design problem is solved by a three-level cascade control with H∞ controllers on each level. The actuator dynamics of the brake system, the wheel dynamics and the nonlinear tire adhesion characteristics are taken into consideration. The effectiveness of the method is demonstrated through an overtaking maneuver. © 2007 EUCA.

关键词： Robust control

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Exact fault and disturbance decoupling by means of direct input reconstruction and estimation of the inverse dynamics

Exact fault and disturbance decoupling by means of direct in...

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2007 Mediterranean Conference on control and automation, MED

作者： Edelmayer, A. Bokor, J. Szabó, Z. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary

ISBN: (纸本)142441282X

The idea of inversion-based direct input reconstruction for robust detection and separation of multiple, possibly simultaneous faults in the presence of external, non-mutually separable disturbances for linear dynamical systems was presented in [1]. In this short paper this concept is pursued further: it is shown how in a specific filtering structure, relying on the inverse representation of the system, a Luenberger state observer can be designed providing estimation of the states of the inverse-based residual generator reverting to disturbance decoupled detection residuals with exact fault separation. This result can be considered as a corollary of the approximate disturbance attenuating solution presented in [1]. ©2007 IEEE.

关键词： Linear control systems

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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2007 Mediterranean Conference on control and automation, MED

作者： Edelmayer, A. Miranda, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary Faculty of Engineering Department of Chemical Engineering Mérida Venezuela

ISBN: (纸本)142441282X

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter. ©2007 IEEE.

关键词： Fault tolerance

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Vehicle stability enhancement by a robust cascade control of the brake system

Vehicle stability enhancement by a robust cascade control of...

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European control Conference (ECC)

作者： Gábor Rödönyi Péter Gáspár József Bokor Systems and Control Laboratory Computer and Automation Research Institute of Hungarian Academy of Sciences Budapest Hungary

In the paper the road holding of a heavy vehicle is improved by using unilateral braking. The goal of the control design is to reduce the effect of the lateral acceleration of the vehicle, when it exceeds a predefined critical limit. The safety critical requirements motivate the application of robust control theory. The design problem is solved by a three-level cascade control with H ∞ controllers on each level. The actuator dynamics of the brake system, the wheel dynamics and the nonlinear tire adhesion characteristics are taken into consideration. The effectiveness of the method is demonstrated through an overtaking maneuver.

关键词： Wheels Vehicles Mathematical model Acceleration Vehicle dynamics Actuators Dynamics

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

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

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European control Conference (ECC)

作者： Tamás Péni Gábor Szederkényi József Bokor Systems and Control Laboratory of the Computer and Automation Research Institute of the Hungarian Academy of Sciences Budapest Hungary

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.

关键词： Integrated circuit modeling Water heating Heat transfer Inductors Mathematical model Predictive control

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Exact fault and disturbance decoupling by means of direct input reconstruction and estimation of the inverse dynamics

Exact fault and disturbance decoupling by means of direct in...

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Mediterranean Conference on control and automation (MED)

作者： A. Edelmayer J. Bokor Z. Szabo Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

关键词： Fault detection Robustness Filtering Filters control systems Design methodology Nonlinear dynamical systems Automatic control Laboratories automation

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Inversion-based Approaches to Robust Fault Detection and Isolation with Applications in Linear systems

Inversion-based Approaches to Robust Fault Detection and Iso...

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International Conference on Computational Cybernetics (ICCC)

作者： A. Edelmayer J. Bokor Z. Szabo Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

In this paper the idea of inversion-based direct input reconstruction for robust detection, separation and estimation of multiple simultaneous faults in the presence of persistent disturbances in linear dynamical systems is presented. In particular, it is shown how in a specific filtering structure a residual generator, relying on the inverse representation of the system, by means of estimation of the inverse dynamics can be designed providing robust fault decoupling. The development of the method and its applicability to earlier not solvable problems is demonstrated based on an aircraft monitoring application example.

关键词： Robustness Fault detection Linear systems Filtering State-space methods Design methodology control systems Nonlinear filters State estimation Nonlinear dynamical systems

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A far-range off-line camera calibration method for stereo lane detection systems

A far-range off-line camera calibration method for stereo la...

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2007 IEEE Instrumentation and Measurement Technology, IMTC 2007 - Synergy of Science and Technology in Instrumentation and Measurement

作者： Bódis-Szomorú, András Dabóczi, Tamás Fazekas, Zoltán Budapest University of Technology and Economics Dept. of Measurement and Information Systems Magyar tudósok krt. 2 H-1117 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)1424410800

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods. © 2007 IEEE.

关键词： Stereo vision

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A Far-Range Off-line Camera Calibration Method for Stereo Lane Detection systems

A Far-Range Off-line Camera Calibration Method for Stereo La...

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IEEE Instrumentation and Measurement Technology Conference

作者： Andras Bodis-Szomoru Tamas Daboczi Zoltan Fazekas Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated. Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision. Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods.

关键词： Cameras Calibration Remotely operated vehicles Sensor systems Mobile robots Navigation Lenses Vehicle detection Parameter estimation Position measurement

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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