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American control Conference (ACC)

作者： B. Vanek T. Peni J. Bokor G. Balas Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

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 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

关键词： Trajectory Unmanned aerial vehicles Communication system control Aerodynamics Aircraft Vehicle dynamics Predictive models Predictive control Aerospace control Polynomials

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SURFACE DESCRIPTION FOR CORNEA TOPOGRAPHY USING MODIFIED CHEBYSHEV-POLYNOMIALS

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IFAC Proceedings Volumes 2005年第1期38卷 325-330页

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

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.

关键词： Biomedical systems function approximation radial base function shape description medical applications

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Geometrical description of quasi-hemispherical and calotte-like surfaces using discretised argument-transformed Chebyshev-polynomials

Geometrical description of quasi-hemispherical and calotte-l...

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IEEE Conference on Decision and control

作者： A. Soumelidis Z. Fazekas F. Schipp Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Numerical Analysis Eötvös Lonránd University Budapest Hungary

The even Chebyshev-polynomials of the second kind - modified with appropriate argument-transforms - were used to describe quasi-hemispherical and calotte-like natural surfaces over a set of discrete points - and via interpolation - between these points. The point-set used was selected in a manner that promotes the proper approximation of such surfaces and the numerical implementation of the surface representation algorithm. The representations of such optical surfaces (e.g., the outer surface of the human cornea) in the basis formed by these Chebyshev-polynomials - and by their transformed versions - provide computational alternatives to the Zernike-based description of the optical aberrations caused by such surfaces.

关键词： Chebyshev approximation Optical refraction Cornea Geometrical optics Humans Approximation algorithms Interpolation Optical computing Geography Adaptive optics

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Quadratic stability of process systems in generalized Lotka-Volterra form 6

Quadratic stability of process systems in generalized Lotka-...

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6th IFAC Symposium on Nonlinear control systems, NOLCOS 2004

作者： Magyar, A. Szederkényi, G. Hangos, K.M. Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute HAS P.O. Box 63 BudapestH-1518 Hungary Department of Computer Science University of Veszprém Egyetem u. 10 VeszpremH-8200 Hungary

The global and local stability of process systems in generalized Lotka-Volterra form is studied in this paper using entropy-like and quadratic Lyapunov function candidates. The global stability check for LV models is performed by solving an LMI for a diagonal positive semi-definite matrix using singular perturbation technique. It is shown that a quadratic Lyapunov function can also be determined by solving linear matrix inequalities (LMIs). In addition, the quadratic stability neighborhood is convex in the space of the quasi-monomials and can be estimated by computing its comer points using LMIs. Furthermore, it is proved that quadratic stability with a diagonal weighting matrix enables to construct adissipative-Hamiltonian description of the system. The developed methods are illustrated on the model of a continuously stirred tank reactor with a nonlinear reaction system. Copyright © 2004 IFAC.

关键词： Linear matrix inequalities

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Identification of LPV vehicle models for steering control involving asymmetric front wheel braking 6

Identification of LPV vehicle models for steering control in...

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6th IFAC Symposium on Nonlinear control systems, NOLCOS 2004

作者： Rödönyi, G. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 BudapestH-1518 Hungary

Velocity-scheduled LPV steering models for road-vehicles are presented and a method is given for identifying them. The aim is to build models for steering controllers that navigate the vehicle either directly by the steering system or by asymmetric braking of the front wheels. These models are useful e.g. for autonomous vehicles and for safety control in steer-by-wire systems. A continuoustime physical model is developed in stale-space, then various complexity LPV models are derived and identified based on in-situ measurements of a truck. Copyright © 2004 IFAC.

关键词： Braking

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Dynamic inversion based velocity tracking control of road vehicles 6

Dynamic inversion based velocity tracking control of road ve...

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6th IFAC Symposium on Nonlinear control systems, NOLCOS 2004

作者： Péni, T. Szederkényi, G. Bokor, J. Hangos, K.M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 Budapest11-1518 Hungary

The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LPV) single-track model is constructed, and the global asymptotic stability of the zero dynamics is proved. Using the obtained stable inverse two controllers are designed depending on whether the yaw rate is measurable on not. In both cases the quadratic stability of the resulted closed-loop control structure is checked and proved. The dynamic properties of the pruposed controllers are illustrated on simulation examples. Copyright © 2004 IFAC.

关键词： controllers

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Identification of LPV vehicle models for steering control involving asymmetric front wheel braking

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IFAC Proceedings Volumes 2004年第13期37卷 519-524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

Velocity-scheduled LPV steering models for road-vehicles are presented and a method is given for identifying them. The aim is to build models for steering controllers that navigate the vehicle either directly by the steering system or by asymmetric braking of the front wheels. These models are useful e.g. for autonomous vehicles and for safety control in steer-by-wire systems. A continuous-time physical model is developed in state-space, then various complexity LPV models are derived and identified based on in-situ measurements of a truck.

关键词： LPV identification steering dynamics differential braking yaw rate control

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Robust fault detection filter design method for LPV systems

Robust fault detection filter design method for LPV systems

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9th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2004

作者： Kulcsár, Balázs Bokor, József Budapest University of Technology and Economics Department of Transport Automation Bertalan L. u. 2. Z.5 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9634208754

The paper deals with the LPV systems in respect to fault detection and isolation. The FPRG method is extended to use with affine LPV system where one could guarantee the disturbance attenuation. The paper presents a method for the robust detection filter design based on geometric approach for Linear Parameter Varying systems. The filter is using the general Fundamental Problem in Residual Generation method in presence of external noise, while disturbance decoupling from failure signitures in LPV system is not possible. The disturbance attenuation is achieved with induced L2 norm minimization concepts for LPV model class. A numerical example is solved to demonstrate the effectiveness of robust LPV fault detection filter.

关键词： Fault detection

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Dynamic inversion based velocity tracking control of road vehicles

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IFAC Proceedings Volumes 2004年第13期37卷 919-924页

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

The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LPV) single-track model is constructed, and the global asymptotic stability of the zero dynamics is proved. Using the obtained stable inverse two controllers are designed depending on whether the yaw rate is measurable on not. In both cases the quadratic stability of the resulted closed-loop control structure is checked and proved. The dynamic properties of the proposed controllers are illustrated on simulation examples.

关键词： dynamic inversion LPV system single-track vehicle model velocity tracking

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Quadratic stability of process systems in generalized lotka-volterra form

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IFAC Proceedings Volumes 2004年第13期37卷 1217-1222页

作者： A. Magyar G. Szederkényi K.M. Hangos Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute HAS H-1518 P.O. Box 63 Budapest Hungary Tel.: +361 2796000； fax: +361 466 7503 Department of Computer Science University of Veszprém H-8200 Egyetem u. 10 Veszprém Hungary Tel.: +***； fax: +***

The global and local stability of process systems in generalized Lotka-Volterra form is studied in this paper using entropy-like and quadratic Lyapunov function candidates. The global stability check for LV models is performed by solving an LMI for a diagonal positive semi-definite matrix using singular perturbation technique. It is shown that a quadratic Lyapunov function can also be determined by solving linear matrix inequalities (LMIs). In addition, the quadratic stability neighborhood is convex in the space of the quasi-monomials and can be estimated by computing its corner points using LMIs. Furthermore, it is proved that quadratic stability with a diagonal weighting matrix enables to construct a dissipative-Hamiltonian description of the system. The developed methods are illustrated on the model of a continuously stirred tank reactor with a nonlinear reaction system.

关键词： quasi-polynomial systems Lotka-Volterra systems stability analysis linear matrix inequalities Hamiltonian systems

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