| 1. |
- Bengtsson, Johan, et al.
(författare)
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Modeling of Driver's Longitudinal Behavior
- 2003
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Ingår i: Nonlinear and Hybrid Systems in Automotive Control. - 076801137X ; , s. 41-58
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In the last years, many vehicle manufacturers have introduced advancedriver support in some of their automobiles. One of those new featuresis Adaptive Cruise Control (ACC), which extends the conventionalcruise control system to control of relative speed and distance toother vehicles. In order to design an ACC controller it is suitable tohave a model on drivers' behavior. Our approach to find dynamicalmodels of the drivers' behavior was to use system identification.Basic data analysis was made by means of system identificationmethodology, and several models of drivers' longitudinal behavior areproposed, including both linear regression models and subspace basedmodels. Detection when a driver is changing his behavior in varioussituations to a deviant behavior is useful. To that purpose a GARCHmodel was used to model the driver in arousal situations, where thedriver changes behavior, is proposed.
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| 2. |
- Sobral, L., et al.
(författare)
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Ultrasonic Detection in Robotic Environments
- 1996
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Ingår i: Proceedings., 1996 IEEE International Conference on Robotics and Automation. - 0780329880 ; 1, s. 347-352
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Konferensbidrag (refereegranskat)abstract
- Based on information produced by a 200 kHz ultrasonic echo device developed for robotics and other industrial purposes, a method for object identification was developed and is presented in this paper. Interpretation of the echos from the reflecting objects, complexity analysis and information extraction were made by system identification methods such as impulse response analysis and state-space realization. A clustering-type discrimination of different objects based on the echo identification result was made in a subsequent step using the least-squares method. Experimental evaluation showed that the method is effective for object recognition
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| 3. |
- Li, Yuling, et al.
(författare)
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Bilateral Teleoperation of Multiple Robots under Scheduling Communication
- 2020
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Ingår i: IEEE Transactions on Control Systems Technology. - 1063-6536. ; 28:5, s. 1770-1784
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the master-slave synchronization, round-robin (RR) scheduling protocol and try-once-discard (TOD) scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under the RR and TOD scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results.
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| 4. |
- Cescon, Marzia, et al.
(författare)
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Personalized Short-Term Blood Glucose Prediction in T1DM
- 2012
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Konferensbidrag (refereegranskat)abstract
- Insulin therapy for tight glycemia regulation in T1DM strongly depends on patients ́ daily decisions about insulin delivery adaptations in relation to: health status, current BG, target BG, insulin sensitivity, diet and foreseen activities. A personalized predictor providing near future BG predictions would support the users in the decision-making tasks while letting them maintaining control over their own treatments management.
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| 5. |
- Freidovich, Leonid B., 1973-, et al.
(författare)
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Shaping stable periodic motions of inertia wheel pendulum : theory and experiment
- 2009
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Ingår i: Asian Journal of Control. - : Wiley. - 1561-8625 .- 1934-6093. ; 11:5, s. 549-556
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Tidskriftsartikel (refereegranskat)abstract
- We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback-control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.
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| 6. |
- Freidovich, Leonid, et al.
(författare)
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LuGre-Model-Based Friction Compensation
- 2010
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Ingår i: IEEE Transactions on Control Systems Technology. - 1558-0865 .- 1063-6536. ; 18:1, s. 194-200
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Tidskriftsartikel (refereegranskat)abstract
- A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach for observer design for LuGre-friction-model-based compensation. In order to apply this technique, it is necessary to know the Lyapunov function for the unperturbed system, as well as the parameters of the dynamic friction model, and to verify that a certain structural property satisfied. The case when the system is passive with respect to the matching disturbance related to the given Lyapunov function is illustrated in this brief with a DC-motor example. The main contribution is some new insights into the numerical real-time implementation of a compensator for disturbances describable by one of various LuGre-type models. The other contribution, which is built upon the main one, is experimental verification of the suggested model-based observer design procedure.
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| 7. |
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| 8. |
- Johansson, Rolf, et al.
(författare)
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Observer-based strictly positive real (SPR) variable structure output feedback control
- 2016
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Ingår i: Journal of the Franklin Institute. - : Elsevier. - 0016-0032 .- 1879-2693. ; 353:16, s. 4213-4232
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Tidskriftsartikel (refereegranskat)abstract
- This paper considers switching output feedback control of linear systems and variable-structure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. A circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is relevant for variable structure system design with preservation of stability when switching feedback control or sliding mode control is introduced in the feedback loop. It is shown that there exists a Lyapunov function valid over the total operating range and this Lyapunov function has also interpretation as a storage function of passivity-based control. The Lyapunov function can be found by solving a Lyapunov equation, which also generates variable structure switching surfaces. Important applications are to be found in variable structure systems with high robustness requirements.
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| 9. |
- Berntsson, Lars-Olof, et al.
(författare)
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EAST-ADL 2.0 Specification
- 2008
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Rapport (refereegranskat)abstract
- This specification of the EAST ADL 2.0 is based on the EAST-ADL developed in the EAST EEA projectand has been further refined and harmonized with on-going modelling appraches in the automotiveindustry. It presents the modeling infrastructure, i.e. how the modeling elements should be represented inthe language and the UML representation. For each package a usage example is provided.The EAST-ADL 2.0 is harmonized with AUTOSAR.The metamodel and UML profile of EAST ADL 2.0 is defined in two steps: A domain (automotive)metamodel is defined, capturing only the domain specific needs of the language, without adding the UML2details. The basic concepts of UML are used for this purpose, such as classes, compositions andassociations. Based on the domain metamodel, a UML2 profile for the domain metamodel is defined,specifying stereotypes with properties and constraints.Comments on the content of this document are welcomed, and should be directed to .Please download the latest available specification and the XMI file ready for use in UML2 tools from the website.
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| 10. |
- Chen, DeJiu, et al.
(författare)
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Integrated safety and architecture modeling for automotive embedded systems
- 2011
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Ingår i: Elektrotechnik und Informationstechnik. - : Springer. - 0932-383X .- 1613-7620. ; 128:6, s. 196-202
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Tidskriftsartikel (refereegranskat)abstract
- EAST-ADL is an architecture description language (ADL) for model-based development of automotive embedded systems.The formalization of domain-specific engineering information and methodology brings a potential for a wide range of benefitsfor information management, system design and integration, tool interaction, documentation and communication. This paper describesthe EAST-ADL language support for safety requirements, faults/failures, hazards and safety constraints in the context of ISO/DIS 26262reference safety lifecycle. Based on the language support, the safety related information can be derived and managed seamlessly alongwith its target nominal system architecture model with multiple abstraction levels and view extensions. Through model transformationand tool integration, automated safety analysis is allowed.
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