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IEEE International Symposium on Intelligent control (ISIC)

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

This paper investigates the problem of reference tracking for systems defined by a Wiener model. The proposed method does not suppose that the full state vector is measured and it is based on a dynamic inversion approach with error feedback. It is assumed however, that the inverse of the nonlinear part can be constructed. As an example a tracking control of a pressurizer is also provided

关键词： Pressure control Nonlinear control systems computer errors Nonlinear dynamical systems Vehicle dynamics State feedback Fading Time invariant systems Nonlinear systems Electrical equipment industry

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Uncertainty Identification for a Nominal LPV Vehicle Model Based on Experimental Data

Uncertainty Identification for a Nominal LPV Vehicle Model B...

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IEEE Conference on Decision and control

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

In this paper a practical method is presented for modelling uncertainty of a nominal linear parameter-varying (LPV) vehicle model. The aim with the uncertainty model is to bound the nominal model-error and satisfy robust stability and performance objectives during robust control design. Existing frequency-domain model-validation methods are applied to perform the first aim. The linear fractional uncertainty structure and the distribution of nominal model-error among the uncertainty blocks and disturbances are chosen to perform the second aim. The paper is motivated by the problem of steering a vehicle by alternately braking the front wheels in emergency situations. The identification is performed on real experiment data. The method and the results are demonstrated on a yaw-rate tracking problem and μ-controller design on constant scheduling variable of the LPV model. Using the proposed algorithm, on the supposition that nominal model error remains below the bound estimated from the validation data set, an unfalsified model is constructed for robust control guaranteeing robust performance against worstcase uncertainty and disturbance.

关键词： Uncertainty Robust control Adaptive control Frequency Intelligent vehicles Working environment noise Robust stability Wheels Error correction Centralized control

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The Design of an Integrated control System in Heavy Vehicles Based on an LPV Method

The Design of an Integrated Control System in Heavy Vehicles...

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IEEE Conference on Decision and control

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

In this paper an integrated control structure with individual active control mechanisms, i.e. active anti-roll bars, active suspensions, and an active brake mechanism, is proposed. Its purpose is to improve rollover prevention, passenger comfort, road holding and guarantee the suspension working space. In the control design the performance specifications both for rollover and suspension problems, and the model uncertainties are taken into consideration. In the weighting strategy of control design fault information is also taken into consideration. The design of the control system is based on an H ∞ Linear Parameter Varying (LPV) method. To enhance the performance of the controlled system, the control mechanism is extended with a prediction procedure, in which an observer-based prediction algorithm is proposed.

关键词： Centralized control Suspensions Bars control systems Fault detection Roads control design Filters Vehicle dynamics Uncertainty

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CONSTRAINED SPLIT RATE ESTIMATION BY MOVING HORIZON

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IFAC Proceedings Volumes 2005年第1期38卷 78-83页

作者： Balázs KULCSÁR István VARGA József BOKOR Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O. Box 63

The paper presents a method for the constrained Moving Horizon Estimation of origin-destination (OD) matrices for traffic networks. In traffic systems split ratios are important parameters for OD estimation and for control problems as well. The paper treats the general constrained Moving Horizon Estimation problem for traffic systems modelled in terms of linear time varying system and solves the split rate estimation process. The estimation is subjected to equality and inequality constraints. A numerical example is solved to demonstrate the Moving Horizon Estimation of split variables.

关键词： state estimation moving horizon constrained traffic

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Surface description for cornea topography using modified chebyshev-polynomials

Surface description for cornea topography using modified che...

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作者： Soumelidis, Alexandros Fazekás, Zolán Schipp, Ferenc Németh, János Computer and Automation Research Institute Systems and Control Laboratory Budapest Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary 1st Department of Ophthalmology Semmelweis University Budapest Hungary

ISBN: (纸本)008045108X

The optical behaviour of the (human) cornea is often characterized with the Zernike-coefficients derived via the Zernike-transform of its optical power map. in this paper, a radial transform based on the Chebyshev-polynomials of the second kind is suggested for a surface-based, rather than an optical power map based representation of the cornea. This transform is well-suited for providing compact representations for quasi-hemispherical surfaces, and after appropriate argument-transform applied to these polynomials also for spherical-calotte-like surfaces. Examples illustrating the effect of the argument-transformation are also included in the paper. Copyright © 2005 IFAC.

关键词： Medical applications

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HIERARCHICAL MODELLING IN BIOLOGY: SYSTEMATIC BUILDING OF LIMB MODELS

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IFAC Proceedings Volumes 2005年第1期38卷 49-54页

作者： Cs. Fazekas Gy. Kozmann K.M. Hangos Department of Information Systems University of Veszprém Veszprém Hungary Department of Biomedical Engineering Research Institute for Technical Physics and Materials Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed.

关键词： Biomedical system model hierarchical system muscle tendon aponeurosis pennation sarcomere

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FORMATION STABILIZATION OF NONLINEAR VEHICLES BASED ON DYNAMIC INVERSION AND PASSIVITY

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IFAC Proceedings Volumes 2005年第1期38卷 79-84页

作者： T. Péni J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O. Box 63 Hungary fax : + 361 466 7503

This paper proposes a hierarchical formation stabilization method for vehicles having nonlinear dynamics. Supposing that the formation control problem is already solved for the case of linear vehicle dynamics, the method proposes a dynamic inversion based low-level control, which linearizes, at least approximately, the original vehicle dynamics so that the formation control can be applied. In this way a hierarchical control system is obtained, which is then completed with a passivity based stabilization procedure for the stability of the entire system can be guaranteed.

关键词： formation control dynamic inversion passivity

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ON THE DETECTION OF UNKNOWN INPUT IN POSITIONAL control PROBLEMS WITH NOISY MEASUREMENTS

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IFAC Proceedings Volumes 2005年第1期38卷 802-807页

作者： Josef SHINAR József BOKOR Balázs KULCSÁR Technion Israel Institute of Technology Haifa 3200 Israel Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O.Box 63

The paper examines the conditions for isolating the unknown input detection from the effects of the measurements noise in the important family of positional control problems. The study is motivated by the need of improving the homing performance of interceptor missiles against randomly maneuvering targets. The required isolation is possible if, in addition to noisy relative position measurements, noise-free measurement of the line of slight rate or the relative lateral velocity is available. Although with noisy measurement of line of slight rate the isolation of the input is not possible, the detection filter designed for the noise-free case succeeds to provide a satisfactory estimate of target acceleration, which is needed for an improved homing performance.

关键词： positional control detection filter invariant subspaces

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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IDENTIFICATION OF AN LPV VEHICLE MODEL BASED ON EXPERIMENTAL DATA FOR BRAKE-STEERING control

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IFAC Proceedings Volumes 2005年第1期38卷 380-385页

作者： G. Rödönyi J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1518 Budapest P.O. Box 63 Hungary fax : + 361 4-66 7503

A physically parameterized continuous-time velocity-scheduled LPV state-space model of a heavy-truck is identified from measurement data. The aim is to develop a model for controller which steers the vehicle by braking either the one or the other front wheel. It can be applied in many vehicles, where the sole possibility to automate the steering in emergency situations, like e.g. unintended lane departure, is the application of the electronic brake system. Such steering controllers usually require the prediction of the yaw rate and the steering angle on every possible velocity. This problem defines the requirements for the model. Four different order model structures are derived from a certain physical description. Assuming state and output noise, all of them are identified in parameter-varying observer form using prediction error method. The quadratic criterion function is composed from measurement data of several different experiments. Each experiments are carried out on constant velocities but the cost is constituted from different velocity experiments. That structure is selected for controller design which has the best cost on test data out of those the poles of which are in the control bandwidth. The poles are defined on constant velocity. The resulted nominal model consists of the feedback connection of the yaw dynamics with one state-variable and the steering system dynamics with two states and of a first order actuator dynamics with time-delay The predicted outputs show a good fit to the measurements.

关键词： LPV identification steering dynamics differential braking unintended lane departure

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