A5088190168- Adaptive Control of Nonlinear Systems
- Advanced Control Systems Optimization
- Iterative Learning Control Systems
- Control and Stability of Dynamical Systems
- Stability and Control of Uncertain Systems
- Control Systems and Identification
- Fault Detection and Control Systems
- Advanced Control Systems Design
- Hydraulic and Pneumatic Systems
- Dynamics and Control of Mechanical Systems
- Extremum Seeking Control Systems
- Formal Methods in Verification
- Piezoelectric Actuators and Control
- Advanced Measurement and Metrology Techniques
- Control and Dynamics of Mobile Robots
- Adaptive optics and wavefront sensing
- Guidance and Control Systems
- Petri Nets in System Modeling
- Advanced Fiber Laser Technologies
- Structural Health Monitoring Techniques
- Vehicle Dynamics and Control Systems
- Inertial Sensor and Navigation
- Stability and Controllability of Differential Equations
- Robotic Mechanisms and Dynamics
- Optical Wireless Communication Technologies
Technische Universität Ilmenau
2016-2025
University of Southern Denmark
2023
Graz University of Technology
2023
Institut für Mikroelektronik- und Mechatronik-Systeme
2021
University of Kassel
2019
University of Duisburg-Essen
2019
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2019
Technical University of Darmstadt
2019
TU Dortmund University
2019
Institute of Automation
2006-2010
An algebraic approach is presented for the fast feed-forward adaptation of angular velocity trajectory tracking task in a Boost-converter driven dc-motor system. For adaptation, load torque perturbations are assumed piecewise constant and are, nonasymptotically, online estimated using available noisy measurements state variables. The controller linear based on exact error dynamics passive output feedback (ETEDPOF) design methodology including suitable adaptive precompensation depending...
Running is an essential mode of human locomotion, during which ballistic aerial phases alternate with when a single foot contacts the ground. The spring-loaded inverted pendulum (SLIP) provides starting point for modelling running, and generates ground reaction forces that resemble those centre mass (CoM) runner. Here, we show while SLIP reproduces within-step kinematics CoM in three dimensions, it fails to reproduce stability predict future motions. We construct control models using...
This paper discusses the use of techniques related to modulating function method for performing joint parameter and state estimation. After a short review other methods functions, we look at observability issues so-called Least-Squares observers extend currently existing results on estimation using functions. An example is given as illustration.
We consider the set-point control problem for nonlinear systems with flat output that are subject to perturbations. The dynamics as well perturbations locally Lipschitz. apply model-following (MFC) approach which consists of a model loop (MCL) feedforward generation and process (PCL) compensates using high-gain feedback. analyse resulting closed-loop system discuss its relation standard flatness-based approach. In particular we estimated region attraction provided by quadratic Lyapunov...
We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. apply state feedback linearisation process and propose a simplified implementation of model loop which results in simple Brunovsky-form that represents nominal linearised dynamics process. To compensate possibly uncertainties, we employ Lyapunov redesign numeric derivatives output. It turns out special initialisation model, MFC reduces to single-loop...
<div class="section abstract"><div class="htmlview paragraph">This study presents a two-step method for estimating motorcycle tire lateral forces, which are critical to the safety of driver assistance systems. In pre-filtering stage, partial attitude is estimated using Kalman filter and kinematic model. observation side slip angle subsequently forces provided by sliding mode observer. It extends previous research incorporating both out-of-plane in-plane dynamics. The paper also...
In this article, a Lyapunov-based control concept is presented combining variable structure and adaptive control. The considered system class comprises single-input systems which are affected by structured unstructured uncertainties. design based on Lyapunov function for the super-twisting algorithm. This exploited to derive part of proposed controller using certainty equivalence principle. It demonstrated that combination sliding-mode methodology allows relax boundedness condition known...
In this contribution, we use the so-called algebraic derivative method for a non-asymptotic state observation of nonlinear SISO systems. We derive general formula time-varying filter that allows non-model-based, quasiinstantaneous estimation time derivatives arbitrary analog signals. The estimates are based on integrals measured signals alone. For preserving accuracy, process has to be re-initialized after some period time. Besides resetting time-interval equidistantly, estimated absolute...
This paper places into perspective the so-called algebraic time-derivative estimation method introduced by Fliess and co-authors with standard results from linear state-space theory for control systems. In particular, it is shown that can essentially be seen as a special case of deadbeat state based on reconstructibility Gramian considered system.
A novel approach for the real-time image processing of a Shack-Hartmann wavefront sensor (SHWFS) is presented. prevalent problem these sensors that during its operation highly distorted wavefronts may lead to spots leave confined area subapertures. This unnecessarily limits dynamic range SHWFS. When using an SHWFS in control loop, additionally, customary approaches result large latencies, which decisively reduce closed-loop performance. For increasing SHWFS, we employ single-pass...
The paper presents the comparison of two different continuous-time adaptive control strategies applied to temperature stabilization molten glass during conditioning. Both methods include on-line linear model parameter identification using a nonstandard procedure based on modulating functions method. related task is great practical importance because it directly affects quality manufactured containers. must be stabilized with accuracy about 1C∘ which can very difficult. At core this work,...
In this paper, the implementation and usage of a so-called Derivative Estimation Toolbox is demonstrated. By means toolbox, time derivatives sampled, noisy signals may be determined in realtime, all based on recently presented algebraic derivative estimation method. The main contribution possible prototyping control unit. performance experimentally validated brake-testbench. particular, friction force drive torque are estimated realtime.
This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with integrator-based time-derivative technique design estimator, which, contrary asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results presented illustrate approach.
In this paper, a Lyapunov-based control concept is presented that combines variable structure and adaptive control. The considered system class consists of nonlinear single input systems which are affected by matched structured unstructured uncertainties. Resorting to the certainty equivalence principle, controller exploits advantages both sliding-mode methodology. It demonstrated gains discontinuous action may be reduced remarkably when compared with pure sliding-mode-based approaches....
This paper deals with event-triggering based design of discrete-time sliding mode (DTSM) control for linear systems. Multirate output feedback DTSM is designed strategy such that the system trajectories remain bounded in vicinity manifold. An rule developed which evaluated only at periodic time intervals. The updated whenever triggering instant generated these discrete instants. It shown this technique bounded. Also, scheme there always guaranteed Zeno free execution sequences as it...
Abstract The field of optical lithography is subject to intense research and has gained enormous improvement. However, the effort necessary for creating structures at size 20 nm below considerable using conventional technologies. This resulting financial requirements can only be tackled by few global companies thus a paradigm change semiconductor industry conceivable: custom design solutions specific applications will dominate future development (Fritze in: Panning EM, Liddle JA (eds) Novel...
In this work, a novel procedure for identifying the parameters of polynomial systems is introduced. order to get regression form system, and avoid necessity time-derivatives input/output signals, modulating function method applied. contrast other available techniques achieving estimates in finite-time, real-time inversion square matrices not required. Instead, nonlinear gradient algorithm used let estimate converge fixed-time. This allows continuous recursive update parameter avoids...
In this article, we propose an improvement of a recently introduced algebraic approach for the non-asymptotic state and parameter estimation nonlinear systems. particular, increase robustness method with respect to zero mean, high frequency, measurement noises by introducing so-called invariant filtering technique. order reduce already fast transient convergence, when subject noise, devise policy consisting two overlapping estimators appropriate switchings between their results. These are...
This article deals with the trajectory tracking problem for angular velocity of a DC-motor shaft using buck-boost-converter as switch regulated electronic drive. The main result our proposed control scheme is that linear time-varying controller results from consideration exact error dynamics and static passive output feedback design. measuring not really necessary law synthesized only combination converter current voltage variables. reference generated exploiting partial differential...