References of "Voos, Holger 50003283"
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See detailAdaptive Control of Aerial Manipulation Vehicle
Kannan, Somasundar UL; Alma, Marouane; Olivares Mendez, Miguel Angel UL et al

in Porceedings of the 4th IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (2014, November)

Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling ... [more ▼]

Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor is considered. The robotic arm is controlled by a PID approach with acceleration feedback, and the quadrotor is controlled by PD method in the inner loop and adaptive position control in the outer loop. The proposed method successfully handles the problem of hover stabilization and trajectory tracking. [less ▲]

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See detailH∞ decentralized dynamic-observer-based control for large-scale uncertain nonlinear systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in IEEE Int. Conf. on Control, Decision and Information Technologies (CoDIT), Metz, France, 3-5 Nov. 2014 (2014, November)

In this paper an H∞ decentralized observer-based control is proposed for large-scale uncertain nonlinear systems. These systems are coupled by N interconnected subsystems where the interconnections ... [more ▼]

In this paper an H∞ decentralized observer-based control is proposed for large-scale uncertain nonlinear systems. These systems are coupled by N interconnected subsystems where the interconnections satisfy the quadratic constraints. The proposed control is based on a new form of dynamic observer (DO) which generalizes the existing results on the proportional observer (PO) and the proportional integral observer (PIO). The design approach is derived from the solution of matrix inequality and based on the algebraic constraints obtained from the analysis of the estimation error. A numerical example is provided to show the effectiveness of the proposed control. [less ▲]

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See detailPosition Identification in Force-Guided Robotic Peg-in-Hole Assembly Tasks
Jasim, Ibrahim UL; Plapper, Peter UL; Voos, Holger UL

in Procedia CIRP (2014), 22

Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated ... [more ▼]

Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated parts or the robot itself. This article suggests a strategy for identifying the accurate hole position in force-guided robotic peg-in-hole assembly tasks through employing only the captured wrench (the Cartesian forces and torques) signals of the manipulated. In the framework of using the Contact-State (CS) modeling for such robotic tasks, the identification of the hole position is realized through detecting the CS that corresponds for the phase of the peg-on-hole, that is the phase in which the peg is located precisely on the hole. Expectation Maximization-based Gaussian Mixtures Model (EM-GMM) CS modeling scheme is employed in detecting the CS corresponding for the peg-on-hole phase. Only the wrench signals are used in modeling and detecting the phases of the assembly process. The considered peg-in-hole assembly process starts from free space and as soon as the peg touches the environment with missing the hole, a spiral search path is followed that would survey the whole environment surface. When the CS of the peg-on-hole is detected, the hole position is identified. Experiments are conducted on a KUKA Lightweight Robot (LWR) doing typical peg-in-hole assembly tasks. Multiple hole positions are considered and excellent performance of the proposed identification strategy is shown. [less ▲]

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See detailA Stochastic Cyber-Attack Detection Scheme for Stochastic Control Systems Based on Frequency-Domain Transformation Technique
Li, Yumei UL; Voos, Holger UL; Darouach, Mohamed

in Au, Man ho (Ed.) International Conference on Network and System Security, NSS 2014, Xi'An, China, 15-17 October 2014 (2014, October 15)

Based on frequency-domain transformation technique, this paper proposes an attack detection scheme for stochastic control systems under stochastic cyber-attacks and disturbances. The focus is on designing ... [more ▼]

Based on frequency-domain transformation technique, this paper proposes an attack detection scheme for stochastic control systems under stochastic cyber-attacks and disturbances. The focus is on designing an anomaly detector for the stochastic control systems. First, we construct a model of stochastic control system with stochastic cyber-attacks which satisfy the Markovian stochastic process. And we also introduced the stochastic attack models that a control system is possibly exposed to. Next, based on the frequency-domain transformation technique and linear algebra theory, we propose an algebraic detection scheme for a possible stochastic cyber-attack. We transform the detector error dynamic equation into an algebraic equation. By analyzing the rank of the stochastic matrix E(Q (z0)) in the algebraic equation, residual information is obtained and anomalies in the stochastic system are detected. In addition, sufficient and necessary conditions guaranteeing the detectability of the stochastic cyber-attacks are obtained. The presented detection approach in this paper is simple, straightforward and more ease to implement. Finally, the results are applied to some physical systems that are respectively subject to a stochastic data denial-of-service (DoS) attack and a stochastic data deception attack on the actuator. The simulation results underline that the detection approach is efficient and feasible in practical application. [less ▲]

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See detailFahrerassistenzsystem zur vorausschauenden energieeffizienten Geschwindigkeitsregelung speziell für Elektrofahrzeuge
Schwickart, Tim Klemens UL; Voos, Holger UL

in Tagungsband VDI Tagung Fahrerassistenzsysteme (2014, October 14)

Eines der größten Probleme heutiger Elektrofahrzeuge ist nach wie vor die limitierte Reichweite, die fast ausschließlich auf die technisch begrenzte Akkukapazität zurückgeführt werden kann. Baldige ... [more ▼]

Eines der größten Probleme heutiger Elektrofahrzeuge ist nach wie vor die limitierte Reichweite, die fast ausschließlich auf die technisch begrenzte Akkukapazität zurückgeführt werden kann. Baldige substanzielle Fortschritte im Bereich der Akku-Technologie sind fragwürdig und eine Effizienzsteigerung des Fahrzeuges selbst ist durch bereits jetzt sehr hohe Wirkungsgrade (ca. 85 %) kaum mehr möglich. Ein lohnendes Feld zur Reichweitenverlängerung ist jedoch der Fahrstil selbst - hier verschwenden ungeübte oder unbewusste Fahrer einen großen Teil an Energie durch eine nicht vorausschauende Fahrweise, die beispielsweise zu vermeidbaren Bremsmanövern führt. In neuesten Elektrofahrzeugen wie dem e-Golf wurde dies bereits in ers-ten Ansätzen berücksichtigt. So kann der Fahrer dort zwischen verschiedenen Modi auswählen (z.B. Eco-Modus, Eco-Plus-Modus), hierbei wird jedoch lediglich die Fahrleistung an sich ge-drosselt und damit ein geringerer Energieverbrauch erreicht. In diesem Beitrag wird ein speziell auf Elektrofahrzeuge zugeschnittenes Fahrerassistenzsystem zur optimierungsbasierten vorausschauenden und energieeffizienten Geschwindigkeitsregelung vorgestellt. Basierend auf einem dynamischen Modell des Energieverbrauchs des Fahrzeugs, Informationen zur zukünftigen Fahrstrecke aus Karten (elektronischer Horizont) und In-formationen zu anderen Verkehrsteilnehmern (etwa durch Radar-Abstandsmessung zum vo-rausfahrenden Fahrzeug) kann das Fahrzeugverhalten durch Lösung eines Optimalsteuerungs-problems so geplant werden, dass sich für einen geeignet gewählten Prädiktionshorizont der beste Kompromiss aus Energieverbrauch und Fahrgeschwindigkeit ergibt. Nach dem Prinzip der Modellprädiktiven Regelung wird dieses Optimalsteuerungsproblem in jedem Zeitschritt ak-tualisiert und erneut gelöst. Die Besonderheit des vorgestellten Systems ist hierbei die spezielle Formulierung des Optimal-steuerungsproblems. Durch eine Koordinatentransformation wird die Fahrzeugbewegung mittels der kinetischen Energie des Fahrzeugs anstelle der Geschwindigkeit beschrieben. Weiterhin wird durch eine konvexe stückweise lineare Approximation des Verbrauchskennfelds eine besonders günstige mathematische Problemformulierung in Form eines quadratischen Programms mit linearen Beschränkungen erreicht. Dies ermöglicht im Gegensatz zu den meisten nichtlinearen Optimalsteuerungsansätzen eine Lösung in Echtzeit und mit garantierter Konvergenz. Zur experimentellen Validierung wird dieses Fahrerassistenzsystem aktuell für einen Smart Electric Drive realisiert. Dazu wurde das dynamische Energieverbrauchsmodell des Smart-ED in umfangreichen Prüfstandversuchen identifiziert und das Fahrzeug zur Realisierung der Assistenzfunktion technisch umgerüstet. [less ▲]

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See detailNetwork Design for Distributed Model-Based Fault Detection and Isolation
Rosich, Albert; Voos, Holger UL; Pan, Lin UL

in IEEE Multi-Conference on Systems and Control, MSC 2014 (2014, October 08)

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See detailExponential Synchronization for a New Class of Complex Dynamical Network with PIPC and Hybrid TVD
Pan, Lin UL; Voos, Holger UL; Darouach, Mohamed

in IEEE Multi-Conference on Systems and Control, MSC 2014 (2014, October 08)

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See detailA Real-Time Implementable Model-Predictive Cruise Controller for Electric Vehicles and Energy-Efficient Driving
Schwickart, Tim Klemens UL; Voos, Holger UL; Darouach, Mohamed

in IEEE Multi-Conference on Systems and Control (MSC), Antibes, France, Oct. 2014 (2014, October)

This paper presents a novel energy-efficient model-predictive cruise control formulation for electric vehicles. The controller and the underlying dynamic model are designed to meet the properties of a ... [more ▼]

This paper presents a novel energy-efficient model-predictive cruise control formulation for electric vehicles. The controller and the underlying dynamic model are designed to meet the properties of a series-production electric vehicle whose characteristics are identified by measurements. A predictive eco-cruise controller involves the minimisation of a compromise between terms related to driving speed and energy consumption which are in general both described by nonlinear differential equations. In this work, a coordinate transformation is used which leads to a linear differential motion equation without loss of information. The energy consumption map is approximated by the maximum of a set of linear functions which is implicitly determined in the optimisation problem. The reformulations finally lead to a model-predictive control approach with quadratic cost function, linear prediction model and linear constraints that corresponds to a piecewise linear system behaviour and allows a fast real-time implementation with guaranteed convergence. Simulation results of the MPC controller in closed-loop operation finally show the effectiveness of the approach. [less ▲]

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See detailDeclarative Specification of Robot Perception Architectures
Hochgeschwender, Nico; Schneider, Sven; Voos, Holger UL et al

in Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, Oct. 2014 (2014, October)

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing re ... [more ▼]

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing re- quirements which make the design and implementation of a robot percep- tion architecture a complex and tedious exercise which is prone to error. We suggest to specify the integral parts of robot perception architec- tures using explicit models, which allows to easily configure, modify, and validate them. The paper presents the domain-specific language RPSL, some examples of its application, the current state of implementation and some validation experiments. [less ▲]

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See detailA Multilayer Software Architecture for Safe Autonomous Robots
Gribov, Vladislav UL; Voos, Holger UL

in Proceedings of 19th IEEE International Conference on Emerging Technologies and Factory Automation, Barcelona, Spain, 16-19 Sept. 2014 (2014, September)

In this paper a safety-oriented model based software architecture for robotic solutions is proposed. The main focus herein is to consider aspects such as real-time, het- erogeneity, deployment, modeling ... [more ▼]

In this paper a safety-oriented model based software architecture for robotic solutions is proposed. The main focus herein is to consider aspects such as real-time, het- erogeneity, deployment, modeling and analysis of emerging effects as well as functional safety and to combine all aspects into an overall development approach. The architecture shall capture the complexity caused by the autonomy and mobility of the robot and support the developer with a suitable chain of evidence especially suited for the safety relevant functions. A use case comprising a lightweight robotic manipulator which will be integrated in a mobile service robot underlines the feasibility of this approach. [less ▲]

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See detailV-REP & ROS Testbed for Design, Test, and Tuning of a Quadrotor Vision Based Fuzzy Control System for Autonomous Landing
Olivares Mendez, Miguel Angel UL; Kannan, Somasundar UL; Voos, Holger UL

in Porceedings of The International Micro Air Vehicle Conference and Competition 2014 (2014, August)

This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control ... [more ▼]

This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control system to command an Unmanned Aerial Vehicle (UAV). Here, is presented how to configure the V-REP, and ROS to work in parallel, and how to use the developed packages in ROS for the pose estimation based on vision and for the design and use of a fuzzy logic control system. It is also shown in this paper a novel vision based fuzzy control approach for the autonomous landing task on a static and on a moving platform. The control system is based on four fuzzy logic controllers (FLC) working in parallel on an external control loop based on the visual information. All the controllers were designed and tuned to command the vertical, longitudinal, lateral, and heading velocities of the UAV. [less ▲]

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See detailUncertainty Quantification of Group Synchronization and Control of a New Class of Adaptive Complex Dynamical Network with Brownian Motion and Time-varying Delay
Pan, Lin UL; Voos, Holger UL; Darouach, Mohamed

in Control Conference (CCC), 2014 33rd Chinese (2014, July 28)

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See detailRobust H ∞ cyber-attacks estimation for control systems
Li, Yumei UL; Voos, Holger UL; Darouach, Mohamed

in Proceedings of the 33rd CCC, Nanjing 28-30 July 2014 (2014, July 28)

This paper deals with the robust H ∞ cyber-attacks estimation problem for control systems under stochastic cyber-attacks and disturbances. The focus is on designing a H ∞ lter which maximize the attack ... [more ▼]

This paper deals with the robust H ∞ cyber-attacks estimation problem for control systems under stochastic cyber-attacks and disturbances. The focus is on designing a H ∞ lter which maximize the attack sensitivity and minimize the effect of disturbances. The design requires not only the disturbance attenuation, but also the residual to remain the attack sensitivity as much as possible while the effect of disturbance is minimized. A stochastic model of control system with stochastic cyber-attacks which satisfy the Markovian stochastic process is constructed. And we also present the stochastic attack models that a control system is possibly exposed to. Furthermore, applying H ∞ ltering technique-based on linear matrix inequalities (LMIs), the paper obtains suf cient conditions that ensure the ltering error dynamic is asymptotically stable and satis es a prescribed ratio between cyber-attack sensitivity and disturbance sensitivity. Finally, the results are applied to the control of a Quadruple-tank process (QTP) under a stochastic cyber-attack and a stochastic disturbance. The simulation results underline that the designed lters is effective and feasible in practical application. [less ▲]

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See detailRobust unified H_infinity dynamic observer design for uncertain systems
Gao, Nan; Darouach, Mohamed; Voos, Holger UL et al

in 33rd Chinese Control Conference (CCC), Nanjing, China, 28-30 July 2014 (2014, July)

In this paper, a new robust unifiedH∞ dynamic observer (UDO) design for systems in the presence of time-varying uncertainty and disturbances is presented. The observer design method is derived from the ... [more ▼]

In this paper, a new robust unifiedH∞ dynamic observer (UDO) design for systems in the presence of time-varying uncertainty and disturbances is presented. The observer design method is derived from the solution of the liner matrix inequality (LMI), based on the solution of the algebraic constraint obtained from the analysis of the estimation error. A numerical example is presented to show the performance of the proposed observer. [less ▲]

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See detailA Novel Model-Predictive Cruise Controller for Electric Vehicles and Energy-Efficient Driving
Schwickart, Tim Klemens UL; Voos, Holger UL; Minaglou, Jean-Régis UL et al

in A Novel Model-Predictive Cruise Controller for Electric Vehicles and Energy-Efficient Driving (2014, July)

This paper presents a novel energy-efficient model-predictive cruise control formulation for electric vehicles. A predictive eco-cruise controller involves the minimisation of a compromise between terms ... [more ▼]

This paper presents a novel energy-efficient model-predictive cruise control formulation for electric vehicles. A predictive eco-cruise controller involves the minimisation of a compromise between terms related to driving speed and energy consumption which are in general both described by nonlinear differential equations. In this work, a coordinate transformation is used which leads to a linear differential motion equation without loss of information. The energy consumption is modeled by the maximum of a set of linear functions which is determined implicitly by the optimisation problem and thus leads to a piecewise linear model. The reformulations finally result in a model-predictive control approach with quadratic cost function, linear prediction model and linear constraints that corresponds to a piecewise linear system behaviour and allows a fast real-time implementation with guaranteed convergence. The controller and the underlying dynamic model are designed to meet the properties of a series-production electric vehicle whose characteristics are identified by measurements. Simulation results of the MPC controller and the simulation model in closed-loop operation finally provide a proof of concept. [less ▲]

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See detailGroup Synchronization and Control of a New Class of Adaptive Complex Network with Brownian Motion and Time-varying Delay
Pan, Lin UL; Voos, Holger UL; Darouach, Mohamed

in Control Conference (ECC), 2014 European (2014, June 24)

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See detailChaos in a Fractional-Order Cancer System
N'Doye, Ibrahima; Voos, Holger UL; Darouach, Mohamed

in European Control Conference (ECC), Strasbourg, France, 24 - 27 June 2014 (2014, June)

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See detailUsing the Cross-Entropy method for control optimization: A case study of see-and-avoid on unmanned aerial vehicles
Olivares Mendez, Miguel Angel UL; Fu, Changhong; Kannan, Somasundar UL et al

in Control and Automation (MED), 2014 22nd Mediterranean Conference of (2014, June)

This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to ... [more ▼]

This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to combinatorial and continuous multi-extremal optimization and importance sampling. This work shows the application of this optimization method to optimize the inputs gains, the location and size of the different membership functions' sets of each variable, as well as the weight of each rule from the rule's base of a fuzzy logic controller (FLC). The control system approach presented in this work was designed to command the orientation of an unmanned aerial vehicle (UAV) to modify its trajectory for avoiding collisions. An onboard looking forward camera was used to sense the environment of the UAV. The information extracted by the image processing algorithm is the only input of the fuzzy control approach to avoid the collision with a predefined object. Real tests with a quadrotor have been done to corroborate the improved behavior of the optimized controllers at different stages of the optimization process. [less ▲]

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See detailCyber-attack detection based on controlled invariant sets
Rosich, Albert; Voos, Holger UL; Darouach, Mohamed

in European Control Conference (ECC), Strasbourg, France, 24-27 June 2014 (2014, June)

This paper explores a new method for detecting cyber-attacks on a controller. Specifically, the proposed detector is based on invariant sets in order to determine whether an attacker has hijacked the ... [more ▼]

This paper explores a new method for detecting cyber-attacks on a controller. Specifically, the proposed detector is based on invariant sets in order to determine whether an attacker has hijacked the controller and perpetrated a cyber-attack. One particularity of this detection method is that few information about the controller is required. Thus, the detector becomes useful for a large range of control laws and its vulnerability can be reduced by limiting its accessibility. Finally, a simple but significant example is presented in order to show the benefits and the flaws of the proposed methodology. [less ▲]

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See detailA Nonlinear Model-Predictive Motion Planning and Control System for Multi-Robots in a Microproduction System with Safety Constraints and a Global Long-Term Solution
Wangmanaopituk, Suparchoek; Voos, Holger UL; Kongprawchnon, Waree

in Kasetsart Journal. Natural Sciences (2014), 48(2), 283-293

The manufacturing of microsystems such as micromotors and micropumps among other examples is a very important emerging market. One big challenge in microproduction is mass customization, that is, the ... [more ▼]

The manufacturing of microsystems such as micromotors and micropumps among other examples is a very important emerging market. One big challenge in microproduction is mass customization, that is, the automated production of a large variety of products that are highly adapted to special customer needs in small batch sizes. These requirements call for a highly flexible manufacturing system. This study focuses on the multi-robot coordination of the resulting flexible microproduction system which is solved here by the application of a multi-agent system. Additionally, all robots additionally applied the proposed nonlinear model predictive control approach on a local real-time level to solve problems associated with path-following and collision avoidance in parallel, while also considering differential constraints on single robots, such as velocity constraints, in this specific application. The global longterm motion planning approach was also considered as an optimization problem. [less ▲]

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