19 documents found

Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Event-triggered discrete-time sliding mode control for high-order systems...

We propose the design of event-triggered (ET) discrete-time sliding mode (DTSM) control for a high-order discrete-time system via a reduced-order model-based approach. This design includes a triggering mechanism using a reduced-order state vector and a controller based on the modified Bartoszewicz'...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Extended fractional-order memory reset control for integer-order LTI systems...

In this work we extend the concept of fractional-order memory reset control. A fractional-order controller is applied to an integer-order plant and its memory is deleted periodically. As an extension, the controller state itself is reset, based on the reference and the error signal. The closed loop can...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Application of a nonovershooting tracking control method for the double...

The problem of avoiding overshoot in tracking control problems has an extensive history, but only a few works have offered methods that are applicable to a nonlinear plant. The recent paper (Schmid, 2019) adapted some methods from the linear control systems literature to offer state feedback laws to...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Non-asymptotic state estimation of linear reaction diffusion equation using...

In this paper, we propose a non-asymptotic state estimation method for the linear reaction diffusion equation with general boundary conditions. The method is based on the modulating function approach utilizing a modulation functional in time and space. This results in a signal model control problem for...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Parameter preference for the continuous super-twisting-like algorithm based...

In variable structured systems, plenty of designs are built to be homogeneous. Such unperturbed homogeneous dynamics with negative homogeneous degree guarantee finite time convergence. Previous studies provide lower bounds for parameters that result in such finite-time convergence property. In this paper,...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Explicit and implicit IDA-PBC design and implementation for a portal crane

The interconnection and damping assignment passivity-based control (IDA-PBC) is well-known for regulating the behavior of nonlinear systems. In underactuated mechanical systems (UMSs), its application requires the satisfaction of matching conditions, which in many cases demands to solve partial differential...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Article / Chapter
CC BY-NC-ND 4.0
2021-04-14

Analysis of sliding-mode control systems with unmatched disturbances altering...

We consider sliding-mode control systems subject to unmatched disturbances. Classical first-order sliding-mode techniques are capable to compensate unmatched disturbances if differentiations of the output of sufficiently high order are included in the sliding variable. For such disturbances it is commonly...
Frankfurt ; München [u.a.]: Elsevier, 2021-04-14
Dissertation
All rights reserved
2021-02-04

Applications of equivalent representations of fractional- and integer-order...

Nicht-ganzzahlige - fraktionale - Ableitungsoperatoren beschreiben Prozesse mit Gedächtniseffekten, deshalb werden sie zur Modellierung verschiedenster Phänomene, z.B. viskoelastischen Verhaltens, genutzt. In der Regelungstechnik wird das Konzept vor allem wegen des erhöhten Freiheitsgrades im Frequenzbereich...
Dissertation
All rights reserved
2020-12-21

Indirect adaptive higher-order sliding-mode control using the certainty-equivalence...

Seit den 50er Jahren werden große Anstrengungen unternommen, Algorithmen zu entwickeln, welche in der Lage sind Unsicherheiten und Störungen in Regelkreisen zu kompensieren. Früh wurden hierzu adaptive Verfahren, die eine kontinuierliche Anpassung der Reglerparameter vornehmen, genutzt, um die Stabilisierung...
Dissertation
All rights reserved
2018-06-27

Modeling and robust adaptive tracking control of a planar precision positioning...

Precision positioning systems constitute an essential prerequisite for modern production processes in the diverse applications of micro- and nanotechnology. Associated with the control of these systems there are high demands with respect to bandwidth, accuracy, robustness and stability. The most important...
Dissertation
All rights reserved
2017-12-19

On-line path planning and robust adaptive path following for underactuated...

Autonome Unterwasservehikel (AUV) sind für den Einsatz in maritimen Gebieten mit harschen und lebensbedrohlichen Umgebungsbedingungen sowie langen Missionshorizonten unerlässlich. Die Planung solcher Missionen erfolgt dabei oft über einen übergeordneten Missionsplanungsalgorithmus, der auf Grundlage...
Article / Chapter
All rights reserved
2017-01-16

Observer designs for a turbocharger system of a diesel engine

We consider observer designs for an exhaust-gas turbocharger based on a third order nonlinear model of the air path of a diesel engine. To propose an observer, the system is analyzed in view of different observability properties for nonlinear systems. We derive explicit constraints for the system state...
Ilmenau: ilmedia, 2017-01-16
Article / Chapter
All rights reserved
2017-01-11

Identification of Active Magnetic Bearing Systems Utilizing a Modulating...

An application of modulating function (MF) technique to the direct closed-loop identification for the estimation of a continuous-time model of multi-input-multi-output magnetic bearing system from sampled data are presented in this paper. The plant description given as a differential matrix polynomial...
Ilmenau: ilmedia, 2017-01-11
Dissertation
All rights reserved
2012-12-04

Towards understanding human locomotion

Die zentrale Frage, die in der vorliegenden Arbeit untersucht wurde, ist, wie man die komplizierte Dynamik des menschlichen Laufens besser verstehen kann. In der wissenschaftlichen Literatur werden zur Beschreibung von Laufbewegungen (Gehen und Rennen) oftmals minimalistische "Template"-Modelle verwendet....
Dissertation
2011-09-29

H∞ Suboptimal Tracking Control for Bilinear Power Converter Systems with...

In this thesis, bilinear power converters are considered that arise for state-averaged models in continuous conduction mode. Since such power converters are often not feedback linearizable with respect to the output to be controlled,they are an interesting and demanding class of control systems. One...
Habilitation
All rights reserved

Advanced automotive active safety systems : focus on integrated chassis contro ...

Die vorliegende Arbeit fasst die aktuellen Entwicklungen von den aktiven Fahrsicherheitssystemen zusammen und stellt eine Reihe neuer wissenschaftlicher Ergebnisse vor, die aus Forschungsaktivitäten des Autors in Kooperation mit den internationalen akademischen und industriellen Partnern entstanden sind....
Ilmenau: ilmedia