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2010 IEEE International Conference on Control Applications最新文献

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Model predictive assisting control of vehicle following task based on driver model 基于驾驶员模型的车辆跟随任务模型预测辅助控制
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611209
Koji Mikami, H. Okuda, S. Taguchi, Y. Tazaki, Tatsuya Suzuki
{"title":"Model predictive assisting control of vehicle following task based on driver model","authors":"Koji Mikami, H. Okuda, S. Taguchi, Y. Tazaki, Tatsuya Suzuki","doi":"10.1109/CCA.2010.5611209","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611209","url":null,"abstract":"A personalized driver assisting system that makes use of the driver's behavior model is developed. As a model of driving behavior, the Probability-weighted ARX (PrARX) model, a type of hybrid dynamical system models, is introduced. A PrARX model that describes the driver's vehicle-following skill on expressways is identified using a simple gradient descent algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Finally, the optimization of the braking assist is formulated as a mixed-integer linear programming (MILP) problem using the identified driver model, and computed online in the model predictive control framework.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115119508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
On board eco-driving system for varying road-traffic environments using model predictive control 基于模型预测控制的不同道路交通环境的车载生态驾驶系统
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611196
Md Abdus Samad Kamal, M. Mukai, J. Murata, T. Kawabe
{"title":"On board eco-driving system for varying road-traffic environments using model predictive control","authors":"Md Abdus Samad Kamal, M. Mukai, J. Murata, T. Kawabe","doi":"10.1109/CCA.2010.5611196","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611196","url":null,"abstract":"This paper presents model predictive control of a vehicle in a varying road-traffic environment for ecological (eco) driving. The vehicle control input is derived by rigorous reasoning approach of model based anticipation of road, traffic and fuel consumption in a crowded road network regulated by traffic signals. Model predictive control with Continuation and generalized minimum residual method for optimization is used to calculate the sequence of control inputs aiming at long run fuel economy maintaining a safe driving. Performance of the proposed eco-driving system is evaluated through simulations in AIMSUN microscopic transport simulator. In spite of nonlinearity and discontinuous movement of other traffic and signals, the proposed system is robust enough to control the vehicle safely. The driving behavior with fuel saving aspects is graphically illustrated, compared and analyzed to signify the prospect of the proposed eco-driving of a vehicle.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116669933","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 87
Embedded control design of a mobile robot system: Results on a robust localization module 移动机器人系统的嵌入式控制设计:一个鲁棒定位模块的结果
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611221
Fabian Müller, A. Wenzel, Achim Gehr, C. Ament
{"title":"Embedded control design of a mobile robot system: Results on a robust localization module","authors":"Fabian Müller, A. Wenzel, Achim Gehr, C. Ament","doi":"10.1109/CCA.2010.5611221","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611221","url":null,"abstract":"This paper presents the embedded control design of the mobile robot system “Quanjo TDS”. Its control architecture combines software control aspects as well as an appropriate hardware layout in an overall concept. Related to this the results of an embedded, adaptive localization module incorporating a slip-free speed sensor are presented, which is an essential part of the modularized control concept.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116993960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and implementation of DSP and FPGA-based robust visual servoing control of an inverted pendulum 基于DSP和fpga的倒立摆鲁棒视觉伺服控制的设计与实现
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611335
Y. Tu, Ming-Tzu Ho
{"title":"Design and implementation of DSP and FPGA-based robust visual servoing control of an inverted pendulum","authors":"Y. Tu, Ming-Tzu Ho","doi":"10.1109/CCA.2010.5611335","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611335","url":null,"abstract":"This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness to model uncertainty, and to attenuate disturbance and sensor noise, the design of the stabilizing controller is formulated as a problem of the mixed H2/H∞ control, which is then solved using the linear matrix inequality (LMI) approach. The designed control law is implemented on a digital signal processor (DSP). The effectiveness of the controller and the FPGA-based image co-processor is verified through experimental studies. The experimental results show that the designed system is able to robustly control an inverted pendulum in real-time.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125021184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Experiments of real-time numerical sliding mode control for vehicles 车辆实时数值滑模控制实验
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611156
Yusuke Kurishima, K. Nonaka
{"title":"Experiments of real-time numerical sliding mode control for vehicles","authors":"Yusuke Kurishima, K. Nonaka","doi":"10.1109/CCA.2010.5611156","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611156","url":null,"abstract":"Since the longitudinal, lateral, and yaw dynamics of front steering vehicles are represented by nonlinear coupled equations, it is not easy to derive the explicit nonlinear controller of both steering angle and driving force for the perfect path-following control. In this paper, a novel and robust sliding mode controller for vehicles with coupled full dynamic model is presented. Comparing with the conventional vehicle controllers, this controller deals with coupled longitudinal, lateral, and yaw dynamics simultaneously, while ensuring stability and robustness for the uncertainty and external disturbances. Since these coupled dynamics are nonlinear and difficult to solve analytically, we use numerical solution which is feasible at real-time computation. In addition, to achieve robustness, this controller includes the sliding mode control to deal with uncertainty of road surface. The advantage of this controller is verified through experiments.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125524888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Automobile on-demand gear-shift control including driver characteristics 汽车按需换挡控制，包括驾驶员特性
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611128
Masayuki Okamoto, Shigeru Morimoto, Masataka Ohashi, K. Uchida
{"title":"Automobile on-demand gear-shift control including driver characteristics","authors":"Masayuki Okamoto, Shigeru Morimoto, Masataka Ohashi, K. Uchida","doi":"10.1109/CCA.2010.5611128","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611128","url":null,"abstract":"In this paper, a new automobile gear-shift control for Continuously Variable Transmissions (CVTs) is presented. Conventional gear-shift control is based on so-called maps. Its setting is generally conservative and drivers can change shift maps themselves by operating switches such as a gear-shift or tip switches. However, it is troublesome for the drivers who are not positive for driving to operate them. To overcome this problem, we design a new gear-shift control for CVTs considering the driver characteristics of gear-shift operation based on a Just-In-Time(JIT) modeling. In addition, we reduce the number of input variables of the JIT model by linear regression in view of the limits on memory capacity and computational load for on-line calculation. Furthermore, the output of JIT model is smoothed with the least squares B-spline interpolation. Our experiments show that it has downshifted automatically on demand without driver's gear-shift operation when approaching curves.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116424404","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Reconstitution of power transformer's residual flux with CVT's measurement during its de-energization 利用无级变速器对电力变压器残磁通的测量重构
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611131
Tian Liu, H. Siguerdidjane, M. Petit, Thierry Jung, J. Dupraz
{"title":"Reconstitution of power transformer's residual flux with CVT's measurement during its de-energization","authors":"Tian Liu, H. Siguerdidjane, M. Petit, Thierry Jung, J. Dupraz","doi":"10.1109/CCA.2010.5611131","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611131","url":null,"abstract":"Power transformer's de-energization leaves the transformer core in a state of magnetization, called residual flux. The presence of this residual flux may induce inrush current which can cause damages on the equipments and system disturbances. In recent years, studies on power transformer's controlled switching have been carried out to reduce this effect. The purpose of this paper is to emphasize the calculation of residual flux with CVT (Capacitive Voltage Transformer) measurement, using EMTP, during the de-energization of no loaded power transformer. Measuring and integrating directly the CVT's voltage output may provide a false flux value.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"293 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114496688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Actuator placement for minimum force modal control of continuous faceplate deformable mirrors 连续面板变形镜最小力模态控制的致动器布置
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611311
T. Ruppel, O. Sawodny, W. Osten
{"title":"Actuator placement for minimum force modal control of continuous faceplate deformable mirrors","authors":"T. Ruppel, O. Sawodny, W. Osten","doi":"10.1109/CCA.2010.5611311","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611311","url":null,"abstract":"A mechanically motivated strategy for determining actuator locations for minimum force modal control of continuous faceplate deformable mirrors in adaptive optics systems is proposed. It is shown that numerically or analytically derived eigenmodes of deformable mirrors can be used to determine optimal positions for a limited number of actuators. The actuators considered in this framework may either be of displacement type or of force type. Moreover, the presented methodology can be adapted to momentum actuators.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114551048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
A model-based torque estimation for combusion engines and experimental verification 基于模型的内燃机转矩估计及实验验证
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611141
Y. Itoh, M. Iwase, T. Sadahiro, S. Hatakeyama
{"title":"A model-based torque estimation for combusion engines and experimental verification","authors":"Y. Itoh, M. Iwase, T. Sadahiro, S. Hatakeyama","doi":"10.1109/CCA.2010.5611141","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611141","url":null,"abstract":"The torque estimation of combustion engines is important for detection of abnormal combustion and misfiring in cylinders. If pressure sensors were available for pressure measurement at each cylinder, the torque estimation would be easier, but those sensors, however, cannot be used generally from cost and spacial viewpoints. Hence this paper considers a torque estimation method using the crank-shaft angle information, which can be used even for commercial cars, instead of pressure sensors. A problem caused by the crankshaft angle is that unexpected vibrations contaminating the angle information, whose frequencies are relatively close to the combustion period, deteriorate the torque-estimation accuracy especially in high engine speed case. This paper focuses on improvement of the estimation accuracy by paying attention to differentiation of the angle with such vibration.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122178986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Flatness-based feedforward control of a two-stage turbocharged diesel air system with EGR 带EGR的两级涡轮增压柴油机空气系统的平面前馈控制
2010 IEEE International Conference on Control Applications Pub Date : 2010-10-28 DOI: 10.1109/CCA.2010.5611065
P. Kotman, M. Bitzer, A. Kugi
{"title":"Flatness-based feedforward control of a two-stage turbocharged diesel air system with EGR","authors":"P. Kotman, M. Bitzer, A. Kugi","doi":"10.1109/CCA.2010.5611065","DOIUrl":"https://doi.org/10.1109/CCA.2010.5611065","url":null,"abstract":"In this work, a nonlinear inversion-based feed-forward controller for a two-stage turbocharged diesel air system with exhaust-gas recirculation is developed. A nonlinear mathematical model is derived for the controller design on the basis of a high-order reference model by applying the singular perturbation theory. In this context, simplified models of different air system components are formulated in such a way that the resulting reduced-order model is differentially flat. Thereafter, the differential flatness property of the design model is exploited to derive the feedforward controller. The approximation performance of the reduced-order model as well as the suitability of the developed feedforward control scheme are finally evaluated by means of simulation studies.","PeriodicalId":284271,"journal":{"name":"2010 IEEE International Conference on Control Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129554239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
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