This paper presents a closed-loop identification method based on the construction of generalized orthonormal basis functions (GOBF). It modifies the two-stage method, which applies the finite impulse ...response (FIR) model structure to one that uses GOBF functions. Identification of a FIR model has some important advantages, however it fails to be successful when the number of coefficients to be estimated becomes large. With appropriately chosen basis functions where the basis is generated by all-pass functions having poles close to the poles of the system, the convergence rate of the series expansion can be extremely fast. The paper gives the algorithm of the closed-loop identification, and it demonstrates the method in a numerical example.
A least squares identification method is studied that estimates a finite number of expansion coefficients in the series expansion of a transfer function, where the expansion is in terms of ...generalized basis functions. The basis functions are orthogonal in H/sub 2/ and generalize the pulse, Laguerre and Kautz (1954) bases. The construction of the basis is considered and bias and variance expressions of the identification algorithm are discussed. The basis induces a new transformation (Hambo transform) of signals and systems, for which state space expressions are derived.< >
The purpose of the paper is to study the design of the active wheel suspension system. The goal of the control design is the disturbance attenuation with respect to the road disturbances when some of ...the physical parameters of the system are uncertain. On the basis of a linear quarter-car model the tire stiffness and suspension stiffness are assummed to be uncertain. In this paper the authors deal with some new robust design methods. They examine the applicability of H ∞ control in case of the active suspension system using a quarter-car model. The problem is solved as a direct state-feedback H ∞ control problem and in case of structured uncertainties as an RLQR (Robust LQR) design task. On the basis of combination of these two methods new procedure is proposed.
This paper proposes a closed-loop identification method based on the construction of generalized orthonormal basis functions (GOBF). It modifies the two-stage and projection methods, which apply a ...finite impulse (FIR) model structure to the estimation of the closed-loop sensitivity model in the input reconstruction step. In our approach the GOBF construction is applied instead of the FIR model in order to give better approximation of the sensitivity model. With appropriately selected basis functions in which the basis is generated by all-pass functions having poles close to the poles of the system the model structure is in a much more concise representation and the convergence rate can be faster. The paper gives the algorithm of the closed-loop identification method, and it demonstrates the method in a numerical example for an inverted pendulum device.
The use of the inverted pendulum experiment in teaching control theory and practice is now widely expected in the domain of higher technical education. In this paper an environment built upon an ...operating inverted pendulum is described which is suitable to design and test several linear controllers by using the well known MATLAB® environment and its toolboxes, as well as contains tools for supporting system identification and model based control. The environment has been designed to maximally fit to MATLAB® procedures and interfaces. Some didactic examples -mainly from the field of model based control -are given.
The paper presents an experimental system for detection and prevention of the unintended lane-departure of road vehicles. The system is realised by a co-operation of a drive stability system and a ...computer vision system. The detection algorithm does not depend on the type of the lane-boundaries (lane-marks, paved lane-boundary, transition from asphalt to grass) and filters out information marks which do not signalise laneboundaries. If lane-departure is predicted, then intervention to the vehicle's motion is applied by unilateral braking. A control algorithm is presented which calculates the necessary torque to bring the vehicle back to the lane.
Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying ...system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable.
A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.
Tartalom ◊ Bevezetés ◊ I. A versenyképesség definiálása és a versenyképességi koncepció módszertana ◊ I.1. A versenyképesség definiálása ◊ I.2. A versenyképességi koncepció módszertana ◊ II. A ...versenyképességi tényezők és feltételek a főbb nemzetközi jelentések alapján ◊ II.1. A tartós növekedési tényezők érvényesülésének alapfeltételei ◊ II.2. A tartós növekedés tényezői ◊ III. A növekedés és versenyképesség empirikus tapasztalatai ◊ III.1. Felzárkózási tapasztalatok ◊ III.2. A meghatározó európai gazdasági modellek ◊ III.3. A versenyképességet meghatározó globális tendenciák ◊ IV. Magyarország induló helyzete a versenyképességi alapfeltételekben és tényezőkben ◊ IV.1. A versenyképességi alapfeltételek Magyarországon ◊ IV.2. A tartós növekedés tényezőinek kiinduló állapota Magyarországon ◊ V. A versenyképességi koncepció főbb elemei ◊ V.1. A versenyképességi koncepció alapfeltételei ◊ V.2. A tartós növekedés tényezői, ezek összetevői és a hozzájuk tartozó fejlesztési fókuszok ◊ Fontosabb források
Tartalom ◊ Bevezetés ◊ I. A versenyképesség definiálása és a versenyképességi koncepció módszertana ◊ I.1. A versenyképesség definiálása ◊ I.2. A versenyképességi koncepció módszertana ◊ II. A versenyképességi tényezők és feltételek a főbb nemzetközi jelentések alapján ◊ II.1. A tartós növekedési tényezők érvényesülésének alapfeltételei ◊ II.2. A tartós növekedés tényezői ◊ III. A növekedés és versenyképesség empirikus tapasztalatai ◊ III.1. Felzárkózási tapasztalatok ◊ III.2. A meghatározó európai gazdasági modellek ◊ III.3. A versenyképességet meghatározó globális tendenciák ◊ IV. Magyarország induló helyzete a versenyképességi alapfeltételekben és tényezőkben ◊ IV.1. A versenyképességi alapfeltételek Magyarországon ◊ IV.2. A tartós növekedés tényezőinek kiinduló állapota Magyarországon ◊ V. A versenyképességi koncepció főbb elemei ◊ V.1. A versenyképességi koncepció alapfeltételei ◊ V.2. A tartós növekedés tényezői, ezek összetevői és a hozzájuk tartozó fejlesztési fókuszok ◊ Fontosabb források
This paper summarizes some of the joint research efforts of University of Minnesota, University of Sannio, Computer and Automation Research Institute (SZTAKI) and Budapest University of Technology ...and Economics (BME) to develop an Unmanned Aerial System. The future aim of the research collaboration is to develop and test advanced navigation, control and fault detection algorithms running over an easily accessible, customizable platform in real flights. This collaboration resulted in a flight research platform which can be easily configured with different guidance, navigation and control algorithms including an easy way of code development and testing. The paper focuses on the fine-tuning of the system components implemented by SZTAKI and BME. The related work includes sensor calibration, modification of autopilot code and testing of simple PID control algorithms. The latest flight test results are included in the paper.
PDF
