Explanipedia

An overview on geometric approaches for (q)LPV FDI problems Open

Zoltán Szabó, J. Bokor, Péter Gáspár · 2025

Hammerstein Model Identification for Autonomous Vehicle Dynamics by Two-Stage Algorithm Open

György Istenes, Dániel Pup, György Terdik, J. Bokor · 2024

In this paper, the nonlinear identification (ID) of the lateral dynamics of a road vehicle is presented. The mathematical description of lateral dynamics is crucial for developing various self-driving functions. One method of describing dy…

Nonlinear Identification of Lateral Dynamics of an Autonomous Car Vehicle Open

Dániel Pup, György Istenes, Ferenc Szauter, J. Bokor · 2024

In this paper, the nonlinear identification of the lateral dynamics of a road vehicle and the velocity dependence of the dynamics are presented. One of the most useful methods to define the mathematical model is system identification based…

Notes on Input Design: From Multi-Sine Design to Data-Driven Procedures Open

László Gerencsér, György Michaletzky, J. Bokor, Péter Polcz · 2024

Order Selection for Stochastic Bilinear Systems* Open

J. Bokor, György Terdik · 2023

Identification of bilinear systems subject to white inputs is studied. Assuming bilinearity we use the crosscovariances between the output and the higher order Hermite polynomials of the input for estimating the coefficients of the Hermite…

A data based system representation Open

Zoltán Szabó, J. Bokor, Péter Gáspár · 2023

The paper proposes a system representation formed by a minimal collection of sufficiently long restricted trajectories generated by an observable discrete time LTI system. Conditions are given under which such a collection is a system repr…

Table of Contents Open

J. Bokor, Z. Szabó, Damian Kusnik, Bogdan Smołka, Miklós Vincze , et al. · 2022

Identification of the nonlinear steering dynamics of an autonomous vehicle Open

Gábor Rödönyi, Gerben I. Beintema, Roland Tóth, Maarten Schoukens, Dániel Pup , et al. · 2021

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model, man…

Data-driven linear parameter-varying modelling of the steering dynamics of an autonomous car Open

Gábor Rödönyi, Roland Tóth, Dániel Pup, Ádám Kisari, Zs. Vígh , et al. · 2021

Developing automatic driving solutions and driver support systems requires accurate vehicle specific models to describe and predict the associated motion dynamics of the vehicle. Despite of the mature understanding of ideal vehicle dynamic…

Identification of the nonlinear steering dynamics of an autonomous vehicle Open

Gábor Rödönyi, Gerben I. Beintema, Roland Tóth, Maarten Schoukens, Dániel Pup , et al. · 2021

Generalised system level approach Open

Zoltán Szabó, J. Bokor, Péter Gáspár · 2021

Recently, system level approach has been proposed as a novel design tool for large-scale cyber physical systems in the discrete time LTI framework. The main idea of the new paradigm is a shift from constructing and parametrizing the desire…

Feedback stabilization: the algebraic view Open

Zoltán Szabó, J. Bokor · 2020

Based on an abstract algebraic setting we provide an elementary derivation of the Youla-Kucera parametrization of stabilizing controllers and also an alternative, coordinate free, approach of the problem. For this latter case, in contrast …

Experimental Verification of a Control System for Autonomous Navigation Open

Benedek Szͩcs, Ádám Kisari, Péter K̷rös, Dániel Pup, Gábor Rödönyi , et al. · 2020

A flexible architecture is developed with the purpose of supporting education and research on the field of autonomous vehicles. A pure electric vehicle is equipped with on-board computational units, sensors and actuator interfaces. This pa…

The H∞ Control Performance Group Open

J. Bokor, Zoltán Szabó · 2019

Conventional robust control design algorithms generate only one solution that fulfils the suboptimal ℋ ∞ norm criterion and thus, leaves no room for further controller tuning.Often, the designed controller is not suitable, because it is ei…

Research directions of unmanned aerial vehicles Open

J. Bokor, Bálint Vanek · 2018

Annihilator design for linear parameter varying systems Open

Zoltán Szabó, Tamás Péni, J. Bokor · 2018

Computation of the annihilator of a linear parameter-dependent (LPV) dynamical system is an important subtask in several fields of control theory, such as fault detection design or reconfigurable control design. While for LTI systems the p…

Transformations for linear parameter varying systems Open

Zoltán Szabó, J. Bokor · 2018

The LPV modelling paradigm grew up from the desire of having a gain scheduling method with guaranteed stability and performance bound by using as much as possible from the LTI design techniques. In the last decades the framework has proven…

Camera-based In-time Detection of Intruder Aircraft Open

Pavol Bauer, Ákos Zarándy, Antal Hiba, J. Bokor · 2018

Fault Detection and Basic In-Flight Reconfiguration of a Small UAV Equipped with Elevons Open

Pavol Bauer, Raghu Venkataraman, Bálint Vanek, Peter Seiler, J. Bokor · 2018

The paper introduces the in-flight fault detection and basic reconfiguration of a small unmanned aerial vehicle equipped with two elevons and an electric motor. The considered fault scenario is one control surface stuck at a given position…

Detection filter design for homogeneous multi-agent networks Open

Zoltán Szabó, J. Bokor, Shinji Hara · 2018

A class of large-scale systems with decentralized information structures such as multi-agent systems can be represented by a linear system with a generalized frequency variable. In these models agents are modelled through a strictly proper…

Structure Selection and LPV Model Identification of a Car Steering Dynamics Open

Gábor Rödönyi, Péter Kőrös, Dániel Pup, Alexandros Soumelidis, Zoltán Szabó , et al. · 2018

A Linear Parameter-Varying (LPV), discrete-time black box model of an electric power assisted steering system of a passenger car is identified from open-loop step response measurement data. The goal is to provide a nominal model for contro…

Internal stability and loop-transformations: an overview on LFTs, Möbius transforms and chain scattering Open

Z. Szabó, Peter Seiler, J. Bokor · 2017

In robust control problems it is often convenient to consider maps between controller sets that are defined by Möbius transformations. Moreover, these loop-transformations are also intimately related to different factorizations, that simpl…

Feedback stabilization: from geometry to control Open

Z. Szabó, J. Bokor, T. Vámos · 2017

Youla parametrization of stabilizing controllers is a fundamental result of control theory: starting from a special, double coprime, factorization of the plant provides a formula for the stabilizing controllers as a function of the element…

Reconfigurable Control Design of Steering and Torque Vectoring Based on Reachability Set Analysis Open

Balázs Németh, Péter Gáspár, Dániel Fényes, J. Bokor · 2017

4D Trajectory Design for Vision Only Sense and Avoid Flight Test Open

Márk Tamás Melczer, Péter Bauer, J. Bokor · 2017

In order to test an aircraft's Sense & Avoid system featuring vision based detection and avoidance, a test track is needed to be constructed. The easiest way is to design two parallel paths which removes the need for timing. However, inter…

Application of Input and State Multiple Model Adaptive Estimator for Aircraft Airspeed Approximation Open

Pavol Bauer, Tamás Baár, Tamás Péni, Bálint Vanek, J. Bokor · 2016

This paper addresses the problem of state estimation in the presence of unknown inputs if the system is dependent on an uncertain parameter. Multiple Model Adaptive Estimation is applied to state and unknown input observers. The theory is …

The impact of suspension control on the controllability of the lateral vehicle dynamics Open

Péter Gáspár, Balázs Németh, J. Bokor, Olivier Sename, Luc Dugard · 2016

International audience

Analysis of Look-ahead Control on Traffic Flow**The research was supported by the National Research, Development and Innovation Fund through the project "SEPPAC: Safety and Economic Platform for Partially Automated Commercial vehicles" (VKSZ 14-1-2015-0125). This paper was partly supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. Open

Balázs Németh, Péter Gáspár, András Mihály, J. Bokor · 2016

The paper analyzes the relationship between the traffic flow and the look-ahead control. The purpose of the analysis is to map the impact of the unique speed profiles used by the look-ahead controlled vehicles on the traffic flow consistin…

Feedback stabilization: a group theoretic approach Open

J. Bokor, Z. Szabó · 2016

In order to design efficient algorithms that work on the set of controllers that fulfill a given property, e.g., stability, it is important to have an operation that preserves that property i.e., a suitable blending method. In this paper w…

Supervisory Fault Tolerant Control of the GTM UAV Using LPV Methods Open

Tamás Péni, Bálint Vanek, Zoltán Szabó, J. Bokor · 2015

A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is acc…

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