Modeling and reconfigurable control of LPV systems  Page description

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Details of project

  
Identifier
43111
Type K
Principal investigator Bokor, József
Title in Hungarian Lineáris paraméter változós rendszerek modellezése és átkonfigurálható irányítása
Title in English Modeling and reconfigurable control of LPV systems
Panel Informatics and Electrical Engineering
Department or equivalent HUN-REN Institute for Computer Science and Control
Participants Gáspár, Péter
Kulcsár, Balázs
Kulcsár, Balázs
Kurutz, Károly
Péni, Tamás
Péter, Tamás
Rödönyi, Gábor
Soumelidis, Alexandros
Stikkel, Gábor
Szabó, Zoltán
Szászi, István
Starting date 2003-01-01
Closing date 2005-12-31
Funding (in million HUF) 13.248
FTE (full time equivalent) 0.00
state closed project





 

Final report

  
Results in Hungarian
A Lineráris ParaméterVáltozós (LPV) rendszerek alkalmazása különösen légi és földi járművek modellezési és irányítási feladatainak megoldásában vált nagy jelentőségüvé. Ezek a rendszerek nemlineáris, időfüggő dinamikájúak és az LPV modellezési paradigma lehetőséget ad a geometriai rendszerelmélet, valamint a robusztus irányítások lineáris és affin nemlináris módszertanának alkalmazására. A kutatási program során sikerült megalapozni az LPV rendszerek geometriai elméletét és több olyan algoritmust dolgoztunk ki amellyel rendszer analízis, hibadetektálás irányítás és átkonfigurálás megoldható. Az eredmények összefoglalását a 16th IFAC Wordcongress (2005) szemiplenáris előadása keretében számoltunk be, az eredményeket mind földi, mint repülőgép irányítási rendszerek tervezénél bemutattuk. Ez utóbbira a University of Minnesota Aerospace and Mechanics tanszékével közös kutatás keretén belül került sor, az eredményeket folyóiratokban és konferencia kiadványokban publikáltuk.
Results in English
Linear Parameter Varying (LPV) systems gained an increasing importance in the area of road and aerial vehicle modelling and control system design. These systems can be described by complex nonlinear and time-varying dynamics and the use of LPV modeling paradighms allows the designer to use results from geometric theory and robust control methods elaborated for linear certain nonlinear afine control systems. This research program resulted in the elaboration of the foundations of a geometric system theory for LPV systems and this lead to the implementation of new algorithms to solve analysis and design problems associated to fault detection, controller design and control system reconfiguration for certain class of time varying and nonlinear systems. A summary of the research results was made public in the form of a semiüplenary lecture at the 16th IFAC Word Congress (2005) and the results were also veryfied in the desig of control systems for road and aerial vehicles. The research associated to the aerial vehicles was performed togethet with researchers on the Department of Aerospace and Mechanics, University of Minnesota, Minneapolis.
Full text http://real.mtak.hu/931/
Decision
Yes





 

List of publications

  
Gaspar P; Szaszi I; Bokor J: The Design of a Combined Control Structure to Prevent the Rollover of Heavy Vehicles, Eur J of Ctr 10 : 148-162, 2004
Gaspar P; Szaszi I; Bokor J: Fault-Tolerant Control Structure to Prevent the Rollover of Heavy Vehicles, In: Safeprocess-2003, Washington: 2003. pp. 465-470, 2003
Balas GJ; Bokor J; Szabó Z: Invariant Subspaces for LPV Systems and their Application, IEEE Trans on Aut Ctr 48 (11) : 2065-2069, 2003
Gaspar P; Szaszi I; Bokor J: Active Suspension Design Using Linear Parameter Varying Control, Int J of Veh Aut Sys 1 (2): 206-221, 2003
Gaspar P; Szaszi I; Bokor J: Design of Robust Controllers for Active Vehicle Suspension using the Mixed mu Synthesis, Veh Sys Dyn 40 (4) : 193-228, 2003
Schipp F; Bokor, J: Rational Bases Generated by Blaschke Product Systems, In: 13th IFAC Symposium on System Identification, Rotterdam: 2003. pp. 1351-1356, 2003
Gaspar P; Szaszi I; Bokor J: The Design of the FDI Filter for the Yaw-Roll Control of Heavy Vehicles, In: Safeprocess-2003, Washington: 2003. pp. 459-464, 2003
Kulcsar B; Szaszi I; Bokor J: H-Infinity Disturbance Rejection on Residual Output, In: Safeprocess-2003, Washington: 2003. pp. 519-524, 2003
Szabo Z; Bokor J; Balas G J: Inversion of LPV Systems and its Application to Fault Detection, In: Safeprocess-2003, Washington: 2003. pp. 235-240, 2003
Hangos KM; Bokor J; Szederkenyi G: Analysis and Control of Nonlinear Process Systems, Springer-Verlag, London, 308 P, 2004
Stikkel G; Bokor J; Szabó Z: Disturbance Decoupling Problem with Stability for LPV Systems, In: European Control Conference, Cambridge: 2003. (CD), 2003
Gaspar P; Szaszi I; Bokor J: Robust Servo Control Design for Mechanical Systems using Mixed Uncertainty Modelling, In: European Control Conference, Cambridge: 2003. (CD), 2003
Gaspar P; Szaszi I; Bokor J: Active Suspension Design using Linear Parameter Varying Control, In: IFAC Symposium on Advances in Automotive Control, Salerno: 2004 (CD), 2004
Gaspar P; Szaszi I; Bokor J: Braking Control to Prevent the Rollover of Heavy Vehicles Based on a Linear Parameter Varying Model, In: European Control Conference, Cambridge: 2003. (CD), 2003
Gaspar P; Szaszi I; Bokor J: Rollover Avoidance for Steer-By-WireVehicles by using Linear Parameter Varying Methods, In: Mediterranean Conference on Control and Automation, Rhodes: 2003. (CD), 2003
Szabo Z; Bokor J; Balas G: Inversion of LPV Sytems, In: Mediterranean Conference on Control and Automation, Rhodes: 2003. (CD), 2003
Gaspar P; Szaszi I; Bokor J: The Application of Linear Parameter Varying Control to Active Suspension Design, In: IFAC Symposium Robust Control Design, Milan: 2003. (CD), 2003
Gaspar P; Szabo Z; Bokor J: Estimating Road Roughness by using a Linear Parameter Varying Model, In: IFAC Symposium Robust Control Design, Milan: 2003. (CD), 2003
Bokor J; Balas G J: Detection Filter Design for LPV Systems - A Geometric Approach, Automatica 40 : 511-518, 2004
Balas GJ; Bokor J; Szabo Z: Tracking of Continuous LPV Systems using Dynamic Inversion, In: 43rd IEEE Conference on Decision and Control, Bahamas: 2004 (CD), 2004
Gaspar P; Szabo Z; Bokor J: Identification of Vehicle Models and Road Roughness Estimation, In: 5th IFAC/EURON Symposium on Intelligent Autonomous Systems, Lisboa: 2004 (CD), 2004
Gaspar P; Szaszi I; Bokor J: Improving Rollover Stability with Active Suspensions by using an LPV Method, In: Symposium on Intelligent Autonomous Vehicles, Lisboa: 2004 (CD, 2004
Kulcsar B; Bokor J: Robust LPV Detection Filter Design using Geometric Approach, In: 12th Mediterranean Conference on Control and Automation, Kusadasi: 2004 (CD), 2004
Peni T; Bokor J: Trajectory Tracking Control for a Class of LPV Systems Based on Dynamic Inversion and Passivity, In: WSEAS/IASME International Conferences, Corfu: 2004 (CD), 2004
Peni T; Szederkenyi G; Bokor J; Hangos K.M: Dynamic Inversion Based Velocity Tracking Control of Road Vehicles, In: 6th IFAC Symposium on Nonlinear Control Systems, Stuttgart: 2004 (CD), 2004
Rödönyi G; Bokor J: Identification of LPV Vehicle Models for Steering Control Involving Asymmetric Front Wheel Braking, In: 6th IFAC Symposium on Nonlinear Control Systems, Stuttgart: 2004 (CD), 2004
Gaspar P; Szaszi I; Bokor J: Reconfigurable Control Structure to Prevent the Rollover of Heavy Vehicles, Ctr Engg Pract 13 : 699-711, 2005
Gaspar P; Bokor J: Improving Handling of Vehicle with Active Suspensions, Int. J. Vehicle Autonomous Systems. 3 : (2/3/4) 134-151, 2005
Gaspar P; Szaszi I; Bokor J: Rollover Stability Control for Heavy Vehicles by using Linear Parameter Varying Model, In: IFAC Symposium on Advances in Automotive Control, Salerno: 2004 (CD), 2004
Rödönyi G; Bokor J: Uncertainty Identification for a Nominal LPV Vehicle Model Based on Experimental Data, In: 44th IEEE Conference on Decision and Control and the European Control Conference, Seville:2005, (CD), 2005
Szabó Z; Gáspár P; Bokor J: Reference Tracking for Wiener Systems Using Dynamic Inversion, In: 13th Mediterranean Conference on Control and Automation, Limassol: 2005 (CD), 2005
Gaspar P; Szaszi I; Bokor J: Two Strategies for Reducing the Rollover Risk of Heavy Vehicles, Periodica Politechnica Ser Transp. Eng. 33 : (1-2) 139-147, 2005
Péni T; Bokor J: Formation Stabilization of Nonlinear Vehicles Based on Dynamic Inversion and Passivity, In: 16th IFAC World Congress, Seville: 2005 (CD), 2005
Szászi I; Marcos A; Balas GJ; Bokor J: Linear parameter-varying detection filter design for a Boeing 747-100/200 aircraft, Journal of Guidance, Control-, and Dynamics. 28 (3), 2005
Kulcsár B; Bokor J: Unkonwn Input Detection Using Receding Horizon Approach, 13 th Mediterranean Conf onf Control and Automation, Limassol: 2005 (CD), 2005



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