Publikationen

Performance Oriented Fault Tolerant Attitude Control of a Hexacopter using LPV-Control with Partly-Measurable Parameters

Felix Goßmann, Venkata S. Akkinapalli, Guillermo P. Falconí, Ferdinand Svaricek, IEEE Conference on Control Technology and Applications (CCTA) 2018 Link

Abstract:

In this paper the design of a passive fault tolerant controller for a hexacopter is adressed, which is able to cope with actuator degradation. The design is achieved with the linear parameter-varying (LPV) system framework. Based on a nonlinear model a quasi-LPV model is generated through function substitution. This model is extended with a degradation modeling by including additional LPV parameters to describe the actuator degradation. Since the shown approach is passive, these additional parameters are not measurable and therefore, a controller design with a partly measurable parameter vector is accomplished. The obtained controller is evaluated and its performance and capabilities against actuator degradation in comparison to a conventional LPV control design are presented based on simulations with a high-fidelity nonlinear model.

Reference:

• Goßmann, F., Akkinapalli, V. S., Falconí, G. P., Svaricek, F.: Performance Oriented Fault Tolerant Attitude Control of a Hexacopter using LPV-Control with Partly-Measurable Parameters, IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, August 21-24, 2018

Design and Experimental Assessment of an Active Fault-Tolerant LPV Vertical Dynamics Controller

Michael Fleps-Dezasse, Ferdinand Svaricek, Jonathan Brembeck IEEE Transactions on Control Systems Technology Link

Abstract:

This article addresses the design of an active fault-tolerant full-vehicle semi-active suspension controller by linear parameter-varying (LPV) control methods. The restrictive force constraints of the semi-active damper are modeled by saturation indicator parameters and treated as scheduling parameters in the LPV design. The synthesized LPV controller is subsequently augmented by a damper force reconfiguration exploring the weak input redundancy provided by four dampers in a full-vehicle application. In this way, the controller compensates for damper forces lost in the case of saturation or failure by the remaining dampers. The performance of the proposed LPV controller is validated by experiments on a four-post test-rig. The results show the improved tradeoff between ride comfort and road-holding of the full-vehicle LPV controller compared with a quarter-vehicle LPV controller and a Skyhook-Groundhook controller.

Reference:

• Fleps-Dezasse, M., Svaricek, F., Brembeck, J.: Design and Experimental Assessment of an Active Fault-Tolerant LPV Vertical Dynamics Controller, IEEE Transactions on Control Systems Technology, Vol. PP, no. 99, pp. xxxx, 2018

Control of Longitudinal Aircraft Motion with Loadcase Robustness using LPV-Control with Partly-Measurable Parameters

Felix Goßmann, Agnes Gabrys, Ferdinand Svaricek, AIAA Guidance, Navigation and Control Conference (SciTech) 2018 Link

Abstract:

This paper addresses the design of a longitudinal baseline controller of an aircraft. Flight dynamics are usually described through linearized models of the nonlinear rigid body equations, which are only valid in the area of a trimpoint. Hence the dynamics are dependent on parameters such as altitude, airspeed or loadcase, which describes a certain combination of mass, center of gravity and inertia tensor. The current loadcase is often not available during operation. However the flight control system has to fullfill specifications for all possible loadcases. Therefore the loadcase is introduced as an additional parametric dependency besides static and dynamic pressure, which represent current altitude and airspeed. An linear parameter-variant (LPV) controller is designed which depends on static and dynamic pressure only. The design is realized with the use of an LPV technique with partly-measurable parameters. A showcase design for a small regional aircraft is accomplished to present the synthesis and show its capabilities for flight control problems.

Reference:

• Goßmann, F., Gabrys, A., Svaricek, F.: Control of Longitudinal Aircraft Motion with Loadcase Robustness using LPV-Control with Partly-Measurable Parameters, 2018 AIAA Guidance, Navigation and Control Conference (SciTech), Kissimmee, Florida (USA), 8.-12 Januar 2018

Arbitrarily precise abstractions for optimal controller synthesis

Matthias Rungger, Gunther Reißig, 56th Annual Conference on Decision and Control (CDC) Link

Abstract:

We study a class of leavable, undiscounted, minimax optimal control problems for perturbed, continuous-valued, nonlinear control systems. Leaving or “stopping” is mandatory and the costs are assumed to be non-negative, extended real-valued functions. In a previous contribution, we have shown that this class of optimal control problems is amenable to the solution based on symbolic models of the plant in the sense that an arbitrarily precise upper bound on the value function (measured in terms of its hypograph) can be computed from a given abstraction with prescribed precision on every compact subset of state space. In this work, we propose an algorithm to compute arbitrarily precise abstractions of discrete-time plants that represent the sampled behavior of continuous-time, perturbed, nonlinear control systems and establish the convergence rate of the precision in dependence of the discretization parameters of the algorithm. We illustrate the algorithm by approximately solving an optimal control problem involving a two dimensional version of the cart-pole swing-up problem.

Reference:

• Rungger, M., Reißig, G.: Arbitrarily precise abstractions for optimal controller synthesis, 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, Australia, 12.-15 Dezember 2017

Optimized State Space Grids for Abstractions

Alexander Weber, Matthias Rungger, Gunther Reißig IEEE Transactions on Automatic Control, 2017 Link

Abstract:

The practical impact of abstraction-based controller synthesis methods is currently limited by the immense computational effort for obtaining abstractions. In this note we focus on a recently proposed method to compute abstractions whose state space is a cover of the state space of the plant by congruent hyper-intervals. The problem of how to choose the size of the hyper-intervals so as to obtain computable and useful abstractions is unsolved. This note provides a twofold contribution towards a solution. Firstly, we present a functional to predict the computational effort for the abstraction to be computed. Secondly, we propose a method for choosing the aspect ratio of the hyper-intervals when their volume is fixed. More precisely, we propose to choose the aspect ratio so as to minimize a predicted number of transitions of the abstraction to be computed, in order to reduce the computational effort. To this end, we derive a functional to predict the number of transitions in dependence of the aspect ratio. The functional is to be minimized subject to suitable constraints. We characterize the unique solvability of the respective optimization problem and prove that it transforms, under appropriate assumptions, into an equivalent convex problem with strictly convex objective. The latter problem can then be globally solved using standard numerical methods. We demonstrate our approach on an example.

Reference:

• Weber, A., Rungger, M., Reißig, G.: Optimized State Space Grids for Abstractions, IEEE Transactions on Automatic Control, Vol. 62, no. , pp. 5816 - 5821, 2017

Promotionen (Erstgutachter Prof. Ferdinand Svaricek)

Promotionen (Erstgutachter Prof. Gunther Reißig)

Publikationen 2020

Publikationen 2018

Publikationen 2016

Publikationen 2014

G. Reißig and  M. Rungger: Feedback Refinement Relations for Symbolic Controller Synthesis. Proc. of the 53rd IEEE Conference on Decision and Control, 88-94, Los Angeles,  USA, December 15-17, 2014.

A. Weber, G. Reißig and  F. Svaricek: A linear time algorithm to verify strong structural controllability. Proc. of the 53rd IEEE Conference on Decision and Control, 5574-5580, Los Angeles,  USA, December 15-17, 2014.

M. Ahmed and  F. Svaricek: Adaptive anti-windup approach for vehicle semi-active suspension. Proc. of the 6th International Conference on Modelling, Identification & Control (ICMIC), 265-270,  Melbourne, Australia, December 3-5, 2014.

G. Reißig, C. Hartung and F. Svaricek: Strong Structural Controllability and Observability of Linear Time-Varying Systems. IEEE Transactions on Automatic Control, Vol. 59, No. 11, 3087-3092,  2014.

A. Weber and G. Reißig: Classical and strong convexity of sublevel sets and application to attainable sets of nonlinear systems. SIAM J. Control Optim., Vol. 52, 2857-2867, 2014

M. Ahmed and  F. Svaricek: Preview optimal control of vehicle semi-active suspension based on partitioning of chassis acceleration and tire load spectra. Proc. of the 2014 European Control Conference (ECC), 1669-1674,  Strasbourg, France,  June 24-27, 2014.

C. Hartung and F. Svaricek: Sign Stabilizability. Proc. of the 22nd Mediterranean Conference on Control and Automation (MED), 145-150, Palermo, Italy, June 16-19, 2014.

Publikationen 2012

C. Hartung, G. Reißig and F. Svaricek: Characterization of Strong Structural Controllability of Uncertain Linear Time-Varying Discrete-Time Systems. Proc. of the 51st IEEE Conference on Decision and Control, 2189-2194, December 10-13,  Maui, Hawaii, USA, 2012.

H. Ding, K. Wijaya, G. Reißig und O. Stursberg:  Online Computation of Safety-Relevant Regions for Human Robot Interaction. Proc. 43rd Intl. Symp. Robotics (ISR), Taipei, Taiwan,  29-31, 2012.

F. Svaricek:  Zur numerischen Berechnung der Nullstellen von Zustandsraummodellen mit Matlab. VDI/GMA FA 1.40 Theoretische Verfahren der Regelungstechnik, Salzburg, 18. September 2012.

T. Füger, N. Lachhab und F. Svaricek:  Parameterreduktion zur Störunterdrückung mit einem diskreten LPV-Regler.  VDI/GMA FA 1.40 Theoretische Verfahren der Regelungstechnik, Salzburg, 18. September 2012.

B. Alt, F. Antritter and F. Svaricek: Flatness based Control for Electric and Hybrid Electric Vehicle Drivetrains. Proc. of the 20th Mediterranean Conference on Control & Automation (MED), 915-920, Barcelona, Spain, July 3-6, 2012.

M. Ahmed, N. Lachhab and F. Svaricek: Non-Model Based Adaptive Control of Electro-Hydraulic Servo Systems Using Prefilter Inversion. Proc. of the 9th International Multi-Conference on Systems, Signals and Devices (SSD), Chemnitz, Germany, March 20-23, 2012.

C. Hartung und F. Svaricek: Zur generischen Beobachtbarkeit linearer und nichtlinearer Systeme. 46. Regelungstechnisches Kolloquium  in Boppard, Februar 2012.

Publikationen 2010 - 2001

Publikationen 2019

Publikationen 2017

Publikationen 2015

Publikationen 2013

G. Reißig and M. Rungger: Abstraction-based solution of optimal stopping problems under uncertainty. Proc. of the 52nd IEEE Conf. on Decision and Control (CDC), 3190-3196, Florence, Italy, December 10-13, 2013.

A. Weber and G. Reißig: Strongly convex attainable sets and low complexity finite-state controllers. Proc. of the 2013 Australian Control Conference, 61-66, Perth, Australia, November 4-5, 2013.

C. Hartung, G. Reißig and F. Svaricek: Characterization of Sign Controllability for Linear Systems with Real Eigenvalues. Proc. of the 2013 Australian Control Conference, 450-455, Perth, Australia, November 4-5, 2013.

N. Lachhab, F. Svaricek, F. Wobbe and H. Rabba:  Fractional Order PID Controller (FOPID)-Toolbox.  Proc. of the 2013 European Control Conference (ECC), 3694-3699,  Zurich, Switzerland, July 17-19, 2013.

C. Hartung, G. Reißig and F. Svaricek: Necessary Conditions for Structural and Strong Structural Controllability of Linear Time-Varying Systems. Proc. of the 2013 European Control Conference (ECC),  1335-1340, Zurich, Switzerland, July 17-19, 2013.

C. Hartung, G. Reißig and F. Svaricek: Sufficient Conditions for Strong Structural Controllability of Uncertain Linear Time-Varying Systems. Proc. of the 2013 American Control Conference (ACC), 5875-5880, Washington, DC, USA, June 17-19, 2013.

M. Ahmed and  F. Svaricek: Preview Control of Vehicle Semi-active Suspension Using Model Predictive Control Based on Fast Fourier Trasnform. 6. Fachtagung  "Steuerung und Regelung von Fahrzeugen und Motoren - AUTOREG 2013", Baden-Baden, Juni 2013, (VDI-Berichte 2196, 35-50).

A. Weber and G. Reißig: Local Characterization of Strongly Convex Sets. J. Math. Anal. Appl., vol. 400, no. 2, 743-750, April 2013.

B. Alt, F. Antritter, F. Svaricek and M. Schultalbers: Multivariable speed synchronisation for a parallel hybrid electric vehicle drivetrain. Vehicle System Dynamics. International Journal of Vehicle Mechanics and Mobility, vol. 51, no. 3, pp. 321-337, March 2013.

M. Ahmed and F. Svaricek: Preview Control of Semi-active Suspension Based on a Half-car Model Using Fast Fourier Transform. Proceedings of the 10th International Multi-Conference on Systems, Signals & Devices (SSD), Hammamet, Tunisia, March 18-21, 2013.

M. Ahmed and F. Svaricek: Adaptive Robust Gain Scheduled Control of Vehicle Semi-active Suspension for Improved Ride Comfort and Road Handling. Proceedings of the 2013 IEEE International Conference on Mechatronics, Vicenza, Italy, February 27 - March 1, 376-381, 2013.

F. Svaricek:  Zur numerischen Berechnung der Nullstellen von Zustandsraummodellen mit Matlab.  47. Regelungstechnisches Kolloquium  in Boppard, Februar 2013.

T. Füger, N. Lachhab and F. Svaricek:  Parameter Reduction for Disturbance Attenuation with a Discrete-Time LPV Controller.  Proceedings of the 5th IFAC Symposium on System Structure and Control, Part of 2013 IFAC Joint Conference SSSC, FDA, TDS, Grenoble, France, February 4-6, 786-791, 2013.

Publikationen 2011

H. Ding, G. Reißig und O. Stursberg:  Increasing Efficiency of Optimization-Based Path Planning for Robotic Manipulators. Proc. of the 50th IEEE Conference on Decision and Control and European Control Conference, 1399-1404, Orlandao, Florida, December 2011.

J.C. Jarczyk, F. Svaricek and B. Alt:  Strong Structural Controllability of Linear Systems Revisited. Proc. of the 50th IEEE Conference on Decision and Control and European Control Conference, 1213-1218, Orlandao, Florida, December 2011.

G. Reißig:  Computing Abstractions of Nonlinear Systems. IEEE Trans. on Automatic Control, Vol. 56, No.11, 2583-2598, 2011.

B. Alt , F. Antritter,  F. Svaricek, F. Wobbe, T. Böhme und M. Schultalbers:  Zwei-Freiheitsgrad Struktur zur Dämpfung von Ruckelschwingungen im Antriebsstrang eines Kraftfahrzeugs. 5. Fachtagung "Steuerung und Regelung von Fahrzeugen und Motoren - AUTOREG 2011", Baden-Baden, November 2011, .

B. Alt und  F. Svaricek:  Robust Control Design for Automotive Applications: A Variable Structure Control Approach. In: Challenges and Paradigms in Applied Robust Control, ed. by A. Bartoszewicz, InTech, 73-92, November 2011.

V. Härtel, F. Svaricek, J. Gogolin und H. Degenbeck:  Schneller Vulkanisieren durch ACC. Gummi, Fasern, Kunststoffe, 64(5), 272-275 und Österreichische Kunststoff Zeitschrift, 42(1/2), 28-31, 2011.

C. Hartung und F. Svaricek:  Zur Diskussion der Beobachtbarkeit nichtlinearer Systeme am Beispiel des Zwei- bzw. Drei-Tank-Systems.  VDI/GMA FA 1.40 Theoretische Verfahren der Regelungstechnik, Salzburg, 19. September 2011.

B. Alt, C. Hartung und F. Svaricek: Robust Fuzzy Cascade Control Revised: Application to the Rotary Inverted Pendulum. Proc. of the 19th Mediterranean Conference on Control and Automation, 1472-1477, Corfu, Greece, June 20-23, 2011.

F. Svaricek, J. Jarczyk und B Alt: Strukturelle und streng strukturelle Steuerbarkeit: Übersicht und neue Ergebnisse. Automatisierungstechnik (www.at-automatisierungtechnik.de), at 59, 329-339, 2011.

B. Alt, F. Antritter, F. Svaricek und M. Schultalbers: Feedforward based anti jerk control for driveline oscillations of passenger vehicles. 8. Symposium Steuerungssysteme für den Antriebsstrang von Kraftfahrtzeugen, Berlin 27. Mai 2011.

C. Hartung, M. Siegert und F. Svaricek: Schätzung der Masse eines Kraftfahrzeugs während des Ausrollens. 5. ASIM Workshop Wismar - Modellierung, Regelung und Simulation in Automotive und Prozessautomation, Wismar, Mai 2011.

Veröffentlichungen des ehemaligen Instituts für Flugmechanik und Systemdynamik

Eine Liste der Veröffentlichungen des Instituts für Systemdynamik und Flugmechanik bis zum Jahr 2001 finden sie hier.

Forschungsberichte 2013 - 2017