Index
Learning in Control
Algorithms of artificial intelligence and machine learning are of increasing importance for control engineering. At the Chair of Automatic Control, research is mainly directed towards the extension of control methods by learning components.
Learning in Model Design and Identification
Regression methods allow to approximate an unknown function from individual data points. For this purpose, Gaussian process regression uses a mean function that describes the prior knowledge and a covariance function that describes the correlation between data points. The advantage with regard to other regression methods is that by learning the covariance a direct measure of the model accuracy is obtained and thus the reliability of predictions can be assessed.
In the context of control engineering, Gaussian process regression can be used in a variety of ways. One focus of research is the identification of systems, where physical modelling is either poor or requires high effort. Moreover, such learned models can be adapted online in order to reflect effects of aging or wear. A particular challenge is the real-time capable implementation, for which the number of data points must be suitably limited.
If the model includes information about the reliability, this can be used, for example, in a stochastic model predictive controller. In addition to the mean value, it computes a prediction of the uncertainty that allows to satisfy constraints with a given probability.


Learning in Optimization and Optimal Control
Reinforcement learning aims at obtaining an optimal control strategy from repeated interactions with the system. Specifically, for each state, the action that maximizes the expected reward is searched. Formulating this task as an optimization problem shows the conceptual similarity to model predictive control, with the difference that reinforcement learning does not require model knowledge of the system.
Inverse optimal control searches a cost functional, such that the solution of the corresponding optimization problem replicates a desired system behaviour as closely as possible. This allows, for example, to use expert knowledge for the automatic determination of weighting factors for a model predictive controller.
Although many technical tasks can be formulated as optimization problems, there are cases, where the cost function or constraints can only be evaluated by costly numerical simulations. Here, Bayesian optimization allows to solve the complex optimization problem using a limited number of evaluations of the cost function and the constraints. To this end, methods like Monte Carlo simulation or the approximation of unknown functions by Gaussian process regression can be used.


Control & Optimization
One research focus of the Chair of Automatic Control is on the development of nonlinear and (model) predictive control schemes as well as path/trajectory planning for dynamical systems. An important aspect in this regard are real-time feasible algorithms and their embedded hardware implementation for highly dynamical applications.
Model predictive control
Model predictive control (MPC) is a modern control scheme that is particularly suitable for nonlinear systems (NMPC) with multiple control inputs and state/control constraints (e.g. actuator limits, safety constraints, etc.). The main research focus at the institute is on the development of highly efficient and real-time feasible MPC schemes as well as the hardware portability of the corresponding algorithms, e.g. for dSPACE, PLC and ECU hardware. Besides the methodological research and algorithmic development, the application of these real-time MPC schemes on different mechatronic systems is subject of various industrial research projects.
The computational efficiency of the (nonlinear) MPC schemes is achieved by tailored suboptimal/real-time implementations that are based on the approximate solution of the underlying dynamic optimization problem with incremental refinement.
Part of the research was implemented within the open-source toolbox GRAMPC that implements an efficient (projected) gradient method with adaptive line search. GRAMPC allows for a convenient setup, tuning and utilization of the MPC scheme for highly dynamical systems with sampling times in the (sub)millisecond range or high-dimensional systems. GRAMPC contains an additional interface (GUI) to MATLAB/Simulink.
Current research extends the existing results to stochastic nonlinear systems (stochastic NMPC) as well as to modular, networked systems.
Links:
- Real-time NMPC-Toolbox GRAMPC: Link


Real-time embedded optimization
Complex systems or highly dynamical systems such as mechatronic systems with sampling times in the (sub)millisecond range pose significant challenges for the real-time feasibility of optimization based methods, in particular in the presence of constraints. Focus at the institute therefore concerns memory and computation time efficient algorithms for online optimization and model predictive control that are suitable for hardware implementation with limited resources (embedded design).
The interfacing to standard soft- and hardware allows for a straightforward integration and simulation under Matlab/Simulink as well as the direct implementation on real-time hardware (e.g. dSPACE). The methods are used for efficient implementation on PLC and ECU level within several industrial projects and cooperations.
Links:
- Real-time NMPC of a magnetic levitation system
- Interactive Java applet for NMPC of an overhead crane with state/control constraints: Java-Applet
- PLC implementation of NMPC for an overhead crane (lab scale): Video
Distributed systems & DMPC
A focus of research is on modular, distributed systems, which are composed by a large number of physically coupled subsystems. An example for this kind of systems is a smart grid. Distributed algorithms are predestinated to control high-scaled distributed systems. A popular way is to adapt model predictive controllers (MPC) for distributed systems. In this case, they are called distributed model predictive controllers (DMPC). The research in the environment of DMPC has several fields for research. One is the development of efficient algorithms, which ensure optimal behavior based on shared information and the investigation of stability guarantees for the controlled system by using decomposition schemes and parallel computation. Another field of research focuses on the consideration of the physical coupling between the subsystems. If information about the dynamical behavior of the neighbor of an agent is given, it can be considered in the optimization algorithm. As the considered system is both complex in dynamics and high-scaled, the implementation of controlling algorithms is challenging. To solve this issue, a framework is developed at the chair of automatic control, which uses the modularity of the network for a clear and simple usage. If the network is changing, the framework is able to automatically adapt its algorithm. This framework is used for the controlling of a scalable spring-mass system. The masses represent agents. Each of the agents are fully actuated and the size of the network is varied for the first simulation example. The simulation result for 100 agents is presented in the following video.
It is numerically shown, that the computational effort for each agent is mostly independent of the number of agents. This shows the predestination of the used algorithm for high-scaled distributed systems. Only the outer agents are actuated for another simulation example. As the agents are not able to directly control their neighbors, the controlling task can only be solved with the usage of communication. This task can be solved by using DMPC as well. The simulation result can be seen in the following video.
The software framework GRAMPC-D has been used to control the robots of the Robotarium¹ for the sake of an experimental validation. At first, a distribution problem was considered, whereby the robots have to maximize their distance. The second scenario evaluated a formation control problem. The robots form the letter “G”. The last scenario considered a platooning scenario whereby the first robot drives to desired positions while the others are following. Thereby, the last robot of the platoon was plugged out and plugged in again.
- Video: ICMA 2021
¹ S.Wilson et al., “The Robotarium: Globally Impactful Opportunities, Challenges, and Lessons Learned in Remote-Access, Distributed Control of Multirobot Systems,” in IEEE Control Systems Magazine, vol. 40, no. 1, pp. 26-44, Feb. 2020.


Mechatronics & Automotive
Mechatronic systems, which comprise both mechanical and electrical parts, represent an important application field of control engineering. Due to the limited computing power of the used ECUs, the application of modern control methods in these systems is associated with particular challenges. The Chair of Automatic Control researches control methods for, for example, electric drives, automatic transmissions and vehicles.
Electric drives
Mechatronics is a combination of the classical engineering disciplines of mechanical and electrical engineering. Accordingly a mechatronic system is the conjunction of a mechanical and electrical subsystem. To further increase the performance of the whole system it is of utmost importance to consider and model the separate subsystems as one system. Synchronous machines and power shift transmissions are examples for systems that are studied at our institute.
Permanent magnet synchronous machines (PMSM) play an increasingly important part in modern drive technology. They are used in industrial as well as automotive applications by virtue of their high efficiency and torque density. Besides an energy optimal operation the high performance control of those machines requires the adherence of a variety of nonlinear input and state constraints.
Heavy duty/Off-road applications
Combustion engines
The development of combustion engines has been focused on the improvement of fuel efficiency in the past. Nowadays the compliance with increasingly restrictive exhaust emission regulations affects engine development. As a result, combustion engines have become very complex systems with many degrees of freedom. As the combustion is highly nonlinear, the use of classical control algorithms is evermore sophisticated.
Model predictive control (MPC) is also a suitable approach for this application as the control problem can be easily formulated as constrained optimal control problem. Nevertheless, its solution using accurate models typically leads to a high numerical load. Thus, the real-time feasible applicability on a standard electronic control unit is a challenging. This computational burden can be drastically reduced using suboptimal MPC approaches.
As the name indicates, MPC is based on reliable models. Thus, precise models are needed despite unavoidable model deviations for instance due to engine wear. Computational intelligence techniques that are applied in a wide range of applications can be used to cope with this challenge. This way, suitable engine models can be tracked online.
Powershift transmissions
Because of their higher efficiency and shifting comfort dual clutch transmissions are increasingly used over conventional transmissions. Those advantages are paid for with a significantly more complex shifting process which can hardly be handled without methods of modern control theory. Input constraints in the form of torques and state constraints in the form of shaft revolutions can be taken into account by those methods, thereby decreasing the application costs considerably.
To fulfil those requirements model predictive control strategies for the aforementioned systems are developed at our institute. The real time capability of the control strategies is of key importance with sampling rates typically in the (sub-)millisecond range and available computing capacity severely limited, especially on electric control units. Besides the nonlinearities of the models different control concepts are considered.

(Source: ZF Friedrichshafen AG)

(Source: ZF Friedrichshafen AG)
Off-road
Besides the automotive industry, automation of industrial or agricultural vehicles is of increasing importance. By introducing automated driving functions, the driver should be relieved or completely replaced for everyday tasks. Both optimization-based methods of path planning and vehicle control are being researched at the Chair of Automatic Control and developed for real-time use in vehicles.
The challenges in off-road vehicle control are quite different compared to on-road. On the one hand, it is important to consider limitations and actuator dynamics. In addition, there are usually combinations of vehicle and trailer or vehicle and work equipment. Aside from that, the vehicle parameters are permanently varying due to changing loads and environments. In contrast to on-road, the speeds are lower, but the grounds are often unpaved and slippery. This must also be considered by the vehicle controller.
The challenges of global path planning includes manoeuvring in narrow space, such as reverse parking of a trailer truck. In order to be able to react to dynamic obstacles, the local path planning ensures that collision-free and drivable trajectories are generated. In addition, the trajectories have to consider the entire vehicle combination and comply with certain comfort requirements.

(Source: ZF Friedrichshafen AG)
Automotive applications
An important field of application for control systems is the automotive sector. Today’s high demands on ride comfort, vehicle dynamics and compliance with emission and efficiency targets have made electronic control systems an integral part. Both in vehicle suspension systems and the hybrid powertrains as well as in concepts of e-mobility the increasing complexity of the systems requires the use of appropriate control methods.
In order to meet the high demands, the institute develops model-based control strategies for horizontal dynamics of over-actuated vehicles, vehicle vertical dynamics as well as longitudinal dynamics and drives.
Horizontal dynamics of overactuated vehicles
The increasing electrification of motor vehicles opens the possibility to switch to decentralized actuator configurations. In these, each wheel can be individually driven, braked and steered and a more flexible interior design is made possible. This leads to a system that has more actuators than are required for the specification of even vehicle motion. The control of such overactuated vehicles is the subject of the considerations. By using this overactuation, an increase in driving safety or fault tolerance can be achieved.
Vehicle vertical dynamics
With active suspension systems, the existing conflict between driving comfort and driving safety can be mitigated compared to a passive suspension system design. The control of such systems under changing roadway characteristics and the estimation of these characteristics from the movement of wheels and vehicle body are examined. The improvement of the vehicle response to driver steering and braking interventions with simultaneously reduced vehicle reaction to uneven roads is the goal.
Longitudinal dynamics and drives
Today, the longitudinal dynamic behavior of a vehicle no longer results from the mechanical actuation of the engine and transmission by the driver, but rather from an interaction of complex, highly-automated powertrain structures. On the one hand, control strategies for components (e.g. friction clutches) are developed whose behavior significantly influences this interaction. On the other hand, concepts for automating this interaction are considered, which also include the driver-vehicle interface and, for example, the operating strategy of hybrid drives.
Robotics
Robotics belongs to the largest fields of application for control engineering methods. Besides conventional industrial robots, as known from the automobile production, there is an increasing usage of collaborative and mobile robots, for example as vacuum cleaners or autonomous vehicles. Research projects in this area concern the control of movements and forces on the one hand and the planning of paths and trajectories on the other.
Contact
Dr.-Ing. Andreas Völz
Tel.: +49 9131 85-61036
E-Mail | Homepage
Prof. Dr.-Ing. Knut Graichen
Tel.: +49 9131 85-27127
E-Mail | Homepage
Interaction control
When the robot is in contact with its environment, the forces and moments that arise must be taken into account by the control system. The challenges include the contact modelling, e.g. stiffness and friction, the safe handling of contact loss, or the selection of controller parameters for different applications.
In order to meet the demand for versatile and flexibly applicable control methods, the Chair of Automatic Control develops a model predictive interaction controller. Here, differenct objectives such as position control, direct force control, impedance control, or hybrid variants can be realized by a generic control framework. Safety aspects can be explicitly considered by limiting the maximum velocities or forces.
One possible field of application is the generic implementation of assembly tasks. The task can be decomposed into a sequence of motion and interaction primitives, where each primitive is represented by a specific parameterization of the model predictive interaction control. In order to reduce the effort for parameterization, the use of learning-based methods is investigated.
Links:
- “Writing on a blackboard with chalk” – Model predictive interaction control for hybrid force/motion control (2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)) DOI: 10.1109/IROS45743.2020.9341168): Video
- „Admittance Control of the XPlanar System for Human-Mover Interaction“ – Dynamic adaptation of the mover target position due to interaction forces: Video
- “Object manipulation with an anthropomorphic hand” – Model Predictive Interaction Control for Force Closure Grasping (submitted at the 2021 IEEE Conference on Decision and Control (CDC)): Video
Motion control
One of the basic functions of a robot is to move efficiently between different configurations or along trajectories. A challenge is the predictive control of robot arms taking into account the nonlinear rigid body dynamics as well as constraints. A real-time capable implementation is only possible with specialized algorithms that exploit the structure of the optimization problem.
Another field of research is the development of real-time predictive motion planning methods for driving simulators. By using modern nonlinear model predictive control approaches (MPC), the actuator constraints and the future reference values can be directly incorporated into the motion planning, which is not possible when using the classic filter-based approach. This enables a dynamic prepositioning of the simulator and leads to a better exploitation of the simulator potential. Since the future desired values in the online driver-in-the-loop application are dependent on the driver inputs and thus unknown, the future human driving behavior needs to be estimated in a suitable way in order to fully exploit the predictive potential of the approach. Another aspect in this field is the consideration of perception models to take the mechanism of the human motion perception into account.
Links:
Collision-free motion planning
If the position of humans and objects in the workspace is detected by sensors, safety can be improved by collision-free motion planning. The challenges are the high number of degrees of freedom of a robot arm, the complex collision detection and the limited computation time, when the environment changes frequently.
Research at the Chair of Automatic Control concerns on the one hand the method of dynamic roadmaps, which enables global path planning in less than 100 milliseconds, and its efficient extension to dual-arm robots. On the other hand, optimization-based methods are investigated, that allow taking constraints into account, e.g. closed kinematics.
Furthermore, collision-free path planning also plays a major role in the fields of mobile robots and autonomous vehicles. The task is particularly challenging when vehicles with multiple trailers are considered, since the computation of feasible motions is very complex for this system class. Research at the chair concerns the method of state lattices, which is based on precomputed motion primitives and an efficient graph search.
Links:
- Collision-free motion planning for a rotating robot with seven degrees of freedom: Video
- Collision-free motion planning for a dual-arm robot with twelve degrees of freedom: Video
- Motion planning for a dual-arm robot with closed kinematics: Video
- Predictive path-following control for continuous replanning with dynamic roadmaps (IEEE RA-L 2019, DOI der Publikation: 1109/LRA.2019.2929990): Video
- Collision-free motion planning for truck and trailer systems: Video
Publications
2023
- Gold, T., Völz, A., & Graichen, K. (2023). Model predictive interaction control for robotic manipulation tasks. IEEE Transactions on Robotics, 39(1), 76-89. https://dx.doi.org/10.1109/TRO.2022.3196607
- Harder, K., Niemeyer, J., Remele, J., & Graichen, K. (2023). Hierarchical model predictive control for an off-highway Diesel engine with SCR catalyst. International Journal of Engine Research. https://dx.doi.org/10.1177/14680874221143600
- Schumann, M., Ebersberger, S., & Graichen, K. (2023). Improved nonlinear estimation in thermal networks using machine learning. In Proc. IEEE International Conference on Mechatronics (ICM 2023, accepted). Loughborough (UK).
- Snobar, F., Michalka, A., Horn, M., Strohmeyer, C., & Graichen, K. (2023). Rack force estimation from standstill to high speeds by hybrid model design and blending. In Proceedings of the IEEE International Conference on Mechatronics (ICM 2023). Loughborough (UK).
- Spenger, P., & Graichen, K. (2023). Performance prediction of NMPC algorithms with incomplete optimization. In Proc. 22nd IFAC World Congress (accepted). Yokohama, Japan.
2022
- Bergmann, D., Harder, K., Niemeyer, J., & Graichen, K. (2022). Nonlinear MPC of a Heavy-Duty Diesel Engine With Learning Gaussian Process Regression. IEEE Transactions on Control Systems Technology, 30(1), 113-129. https://dx.doi.org/10.1109/TCST.2021.3054650
- Burk, D., Völz, A., & Graichen, K. (2022). A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D). Optimization and Engineering, 23, 771-795. https://dx.doi.org/10.1007/s11081-021-09605-3
- Burk, D., Völz, A., & Graichen, K. (2022). Improving the performance of distributed model predictive control by applying graph partitioning methods. In Proceedings of the 26th International Conference on System Theory, Control and Computing (ICSTCC). Sinaia (Romania).
- Dahlmann, J., Volz, A., Szabo, T., & Graichen, K. (2022). A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems. In Proceedings of the American Control Conference (pp. 2018-2024). Atlanta, GA, USA: Institute of Electrical and Electronics Engineers Inc..
- Dahlmann, J., Völz, A., Szabo, T., & Graichen, K. (2022). A numerical approach for solving the inversion problem for general n-trailer systems. In Proceedings 2022 American Control Conference (ACC) (pp. 2018-2024). Atlanta, GA (USA).
- Dahlmann, J., Völz, A., Szabo, T., & Graichen, K. (2022). Trajectory optimization for truck-trailer systems based on predictive path-following control. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA). Trieste (Italy).
- Gold, T., Römer, R., Völz, A., & Graichen, K. (2022). Catching objects with a robot arm using model predictive control. In Proceedings 2022 American Control Conference (ACC) (pp. 1915-1920). Atlanta, GA (USA).
- Goller, T., Gold, T., Völz, A., & Graichen, K. (2022). Model predictive interaction control based on a path-following formulation. In Proceedings IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 551-556). Guilin (China).
- Graichen, K., & Görges, D. (2022). Ausgewählte Beiträge des GMA Fachausschusses 1.50 .,Grundlagen vernetzter Systeme". At-Automatisierungstechnik, 70(4), 315-316. https://dx.doi.org/10.1515/auto-2022-0033
- Huber, H., Burk, D., & Graichen, K. (2022). Comparison of sensitivity-based and ADMM-based DMPC applied to building automation. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA). Trieste (Italy).
- Kerschbaum, S., & Deutscher, J. (2022). Bilateral backstepping control of coupled linear parabolic PDEs with spatially varying coefficients. Automatica, 135. https://dx.doi.org/10.1016/j.automatica.2021.109923
- Kowalewski, J., Lorenz, A., Lomakin, A., Alvarez, R., & Graichen, K. (2022). Circulating current control and energy balancing of a modular multilevel converter using model predictive control for HVDC applications. In Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON 2022). Brussels (BE).
- Lamprecht, A., Steffen, D., Nagel, K., Häcker, J., & Graichen, K. (2022). Online Model Predictive Motion Cueing With Real-Time Driver Prediction. IEEE Transactions on Intelligent Transportation Systems, 23(8), 12414-12428.
- Landgraf, D., Völz, A., & Graichen, K. (2022). Nonlinear model predictive control with latent force models. In Proceedings 2022 American Control Conference (ACC) (pp. 4979-4984). Atlanta, GA (USA).
- Lübke, M., Su, Y., Cherian, A.J., Fuchs, J., Dubey, A., Weigel, R., & Franchi, N. (2022). Full Physical Layer Simulation Tool to Design Future 77 GHz JCRS-Applications. IEEE Access. https://dx.doi.org/10.1109/ACCESS.2022.3170919
- Makowicki, T., Bitzer, M., & Graichen, K. (2022). Cycle-by-Cycle Combustion Optimisation: Calibration of Data-based Models and Improvements of Computational Efficiency. Mathematical and Computer Modelling of Dynamical Systems, (accepted).
- Rabenstein, G., Demir, O., Trachte, A., & Graichen, K. (2022). Data-driven feed-forward control of hydraulic cylinders using Gaussian process regression for excavator assistance functions. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA). Trieste (Italy).
- Reinhard, J., Löhe, K., & Graichen, K. (2022). Optimal current setpoint computation for externally excited synchronous machines. In Proceedings of the 6th IEEE Conference on Control Technology and Applications (CCTA). 6th IEEE Conference on Control Technology and Applications (CCTA).
- Schumann, M., Ebersberger, S., & Graichen, K. (2022). Dynamic and stationary state estimation of fluid cooled three-phase inverters. In Proceedings of the 26th IEEE International Symposium on Power Electronics, Electrical Drives Automation and Motion (SPEEDAM 2022). Sorrento (Italy).
- Snobar, F., Reinhard, J., Huber, H., Hoffmann, M., Stelzig, M., Vossiek, M., & Graichen, K. (2022). FOV-based model predictive object tracking for quadcopters. In Proceedings of the 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022) (pp. 18 - 23). Los Angeles, CA (USA).
- Stecher, J., Kiltz, L., & Graichen, K. (2022). Semi-infinite programming using Gaussian process regression for robust design optimization. In Proceedings European Control Conference (pp. 52-59). London (UK).
- Tang, Y., & Moor, T. (2022). Compositional Verification of Non-Blockingness with Prioritised Events. In IFAC PAPERSONLINE (pp. 236-243). Prague, CZ: AMSTERDAM: ELSEVIER.
- Triska, L., & Moor, T. (2022). Abstraction Based Supervisory Control for Non-Regular ∗-Languages. In Proceedings of the 16th IFAC Workshop on Discrete Event Systems. Prag, CZ.
2021
- Burk, D., Völz, A., & Graichen, K. (2021). Experimental validation of the open-source DMPC framework GRAMPC-D applied to the remote-accessible robotarium. In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA).
- Burk, D., Völz, A., & Graichen, K. (2021). Towards asynchronous ADMM for distributed model predictive control of nonlinear systems. In Proceedings European Control Conference (ECC 2021) (pp. 1950-1955).
- Gold, T., Rohrmüller, M., Völz, A., & Graichen, K. (2021). Model predictive interaction control for force closure grasping. In Proceedings of the 2021 IEEE Conference on Decision and Control (CDC) (pp. 1018-1023). Austin, TX, USA.
- Hippe, P. (2021). An alternative method for windup prevention. At-Automatisierungstechnik, 69(9), 750-758. https://dx.doi.org/10.1515/auto-2021-0051
- Hippe, P. (2021). Prevention of Windup Caused by Saturating Sensors (Approach with Saturation Indicator). In SpringerBriefs in Applied Sciences and Technology. (pp. 1-15). Springer Science and Business Media Deutschland GmbH.
- Hippe, P. (2021). Prevention of Windup Caused by Saturating Sensors (Compensating Approach). In SpringerBriefs in Applied Sciences and Technology. (pp. 29-48). Springer Science and Business Media Deutschland GmbH.
- Hippe, P. (2021). Windup Prevention in the Joint Presence of Input and Output Saturation—The MIMO Case. In SpringerBriefs in Applied Sciences and Technology. (pp. 61-90). Springer Science and Business Media Deutschland GmbH.
- Huber, H., & Graichen, K. (2021). A sensitivity-based distributed model predictive control algorithm for nonlinear continuous-time systems. In 5th IEEE Conference on Control Technology and Applications (CCTA) (pp. (accepted)).
- Lamprecht, A., Emmert, T., & Graichen, K. (2021). Learning-based driver prediction for MPC-based motion cueing algorithms. In Driving Simulation Conference Europe 2021 (DSC) (pp. 133 - 140).
- Lamprecht, A., Steffen, D., Häcker, J., & Graichen, K. (2021). Potential der modellprädiktiven Regelung für Fahrsimulatoren. At-Automatisierungstechnik, 69(2), 155-170. https://dx.doi.org/10.1515/auto-2020-0090
- Lomakin, A., & Deutscher, J. (2021). Algebraic detection and identification of parameter faults for robots. At-Automatisierungstechnik, 69(8), 645-655. https://dx.doi.org/10.1515/auto-2021-0045
- Lukassek, M., Völz, A., Szabo, T., & Graichen, K. (2021). Model predictive path-following control for general n-trailer systems with an arbitrary guidance point. In Proceedings European Control Conference (ECC 2021) (pp. 1329-1334).
- Tang, Y., & Moor, T. (2021). Compositional Verification of Finite Automata under Event Preemption. In 2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) (pp. 301-308). , ELECTR NETWORK: NEW YORK: IEEE.
- Triska, L., & Moor, T. (2021). Behaviour equivalent max-plus automata for timed petri nets under open-loop race-policy semantics. Discrete Event Dynamic Systems: Theory and Applications, Topical Collection on Control 2022. https://dx.doi.org/10.1007/s10626-021-00346-0
- Triska, L., Portella, J., & Reger, J. (2021). Dynamic Extension for Adaptive Backstepping Control of Uncertain Pure-Feedback Systems. In IFAC PAPERSONLINE (pp. 307-312). Tokyo, JAPAN: AMSTERDAM: ELSEVIER.
- Völz, A., & Graichen, K. (2021). Gradient-based nonlinear model predictive control for systems with state-dependent mass matrix. In Proceedings of the 2021 IEEE Conference on Decision and Control (CDC), accepted.
- Wang, X., Li, Z., & Wonham, W.M. (2021). Real-Time Scheduling Based on Nonblocking Supervisory Control of State-Tree Structures. IEEETransactions on Automatic Control, 66(9), 4230-4237. https://dx.doi.org/10.1109/TAC.2020.3031023
2020
- Bergmann, D., & Graichen, K. (2020). Safe Bayesian Optimization under Unknown Constraints. In 59th IEEE Conference on Decision and Control (CDC 2020) (pp. 3592-3597). Institute of Electrical and Electronics Engineers Inc..
- Burk, D., Völz, A., & Graichen, K. (2020). Distributed optimization with ALADIN for non-convex optimal control problems. In 59th IEEE Conference on Decision and Control (CDC 2020).
- Burk, D., Völz, A., & Graichen, K. (2020). Neighbor approximations for distributed optimal control of nonlinear networked systems. In Proceedings of the European Control Conference (ECC 2020) (pp. 1238-1243).
- Deutscher, J., & Kerschbaum, S. (2020). Robust output regulation by state feedback control for coupled linear parabolic PIDEs. IEEE Transactions on Automatic Control, 65, 2207-2214. https://dx.doi.org/10.1109/TAC.2019.2938329
- Englert, T., & Graichen, K. (2020). Nonlinear model predictive torque control and setpoint computation of induction machines for high performance applications. Control Engineering Practice, 99. https://dx.doi.org/10.1016/j.conengprac.2020.104415
- Fischer, F., & Deutscher, J. (2020). Flatness-based algebraic fault diagnosis for distributed-parameter systems. Automatica, 117, 108987. https://dx.doi.org/10.1016/j.automatica.2020.108987
- Fischer, F., & Deutscher, J. (2020). Flatness-based algebraic fault identification for a wave equation with dynamic boundary conditions. In Proceedings of the IFAC World Congress (accepted). Berlin, DE.
- Gaukler, M. (2020). Analysis of Real-Time Control Systems using First-Order Continuization. In Goran Frehse and Matthias Althoff (Eds.), ARCH20 (EPiC Series in Computing, vol. 74) (pp. 209-241).
- Gaukler, M., Roppenecker, G., & Ulbrich, P. (2020). Details and Proofs for: Stability Analysis of Multivariable Digital Control Systems with Uncertain Timing.
- Gaukler, M., Roppenecker, G., & Ulbrich, P. (2020). Stability Analysis of Multivariable Digital Control Systems with Uncertain Timing. In IFAC-PapersOnLine (pp. 3085-3091).
- Geiselhart, R., Bergmann, D., Niemeyer, J., Remele, J., & Graichen, K. (2020). Hierarchical predictive control of a combined engine/SCR system with limited model knowledge. SAE International Journal of Engines, 13(2).
- Geiselhart, R., Bergmann, D., Niemeyer, J., Remele, J., & Graichen, K. (2020). Hierarchical Predictive Control of a Combined Engine/Selective Catalytic Reduction System with Limited Model Knowledge. SAE International Journal of Engines, 13(2). https://dx.doi.org/10.4271/03-13-02-0015
- Gold, T., Lomakin, A., Goller, T., Völz, A., & Graichen, K. (2020). Towards a Generic Manipulation Framework for Robots based on Model Predictive Interaction Control. In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 401 - 407). Beijing, CN.
- Gold, T., Völz, A., & Graichen, K. (2020). Model Predictive Interaction Control for Industrial Robots. In Proceedings of the 21st IFAC World Congress (pp. 10026 - 10033). Berlin, DE.
- Gold, T., Völz, A., & Graichen, K. (2020). Model Predictive Position and Force Trajectory Tracking Control for Robot-Environment Interaction. In Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7397-7402). Las Vegas, NV, USA, US.
- Jemaa, K., Kotman, P., Reimann, S., & Graichen, K. (2020). Tube-based internal model control of minimum-phase input-affine MIMO systems under input constraints. In Proceedings of the 21st IFAC World Congress.
- Joos, S., Trachte, A., Bitzer, M., & Graichen, K. (2020). Constrained real-time control of hydromechanical powertrains - methodology and practical application. Mechatronics, 71. https://dx.doi.org/10.1016/j.mechatronics.2020.102397
- Kruse, T., & Graichen, K. (2020). Moving horizon estimation for continuous glucose monitoring. In Proceedings of the 7th International Conference on Biomedical Engineering and Systems (ICBES 20).
- Lomakin, A., & Deutscher, J. (2020). Algebraic fault detection and identification for rigid robots. In Proceedings of the International Conference on Robotics and Automation (ICRA) (pp. 9352-9358). Paris, FR.
- Lomakin, A., & Deutscher, J. (2020). Fault detection and identification for nonlinear MIMO systems using derivative estimation. In Proceedings of the 21st world congress of the international federation of automatic control (pp. 676-681). Berlin, DE.
- Lomakin, A., & Deutscher, J. (2020). Identification of Dynamic Parameters for Rigid Robots Based on Polynomial Approximation. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), (accepted). Las Vegas, US.
- Lomakin, A., Mayr, A., Graichen, K., & Franke, J. (2020). Optimization of direct winding processes based on a holistic control approach. In Proceedings of the Electric Drives Production Conference (E-DPC). Ludwigsburg (D).
- Lukassek, M., Völz, A., Szabo, T., & Graichen, K. (2020). Model predictive control for agricultural machines with implements. In Proceedings 28th Mediterranean Conference on Control and Automation (MED) (pp. 387-392).
- Mayr, A., Kißkalt, D., Lomakin, A., Graichen, K., & Franke, J. (2020). Towards an intelligent linear winding process through sensor integration and machine learning techniques. In Proceedings of the 8th CIRP Global Web Conference – Flexible Mass Customisation (CIRPe 2020).
- Mesmer, F., Szabo, T., & Graichen, K. (2020). Learning feedforward control of a hydraulic clutch actuation path based on policy gradients. In 59th IEEE Conference on Decision and Control (CDC 2020).
- Moor, T., Schmidt, K.W., & Schmuck, A.-K. (2020). An Efficient Algorithm for the Computation of the Controllability Prefix of (*)-Languages. In IFAC PAPERSONLINE (pp. 2122-2129). AMSTERDAM: ELSEVIER.
- Schmuck, A.-K., Moor, T., & Schmidt, K.W. (2020). A Reactive Synthesis Approach to Supervisory Control of Terminating Processes. In IFAC PAPERSONLINE (pp. 2149-2156). AMSTERDAM: ELSEVIER.
- Triska, L., & Moor, T. (2020). Behaviour Equivalent Max-Plus Automata for a Class of Timed Petri Nets. In 15th IFAC Workshop on Discrete Event Systems. Rio de Janeiro, BR.
- Völz, A., & Graichen, K. (2020). Prädiktive Pfadfolgeregelung für die kollisionsfreie Bewegungsplanung von Robotern. At-Automatisierungstechnik, 68(7), 557-570.
- Völz, A., & Graichen, K. (2020). Prädiktive Pfadfolgeregelung für die kollisionsfreie Bewegungsplanung von Robotern. At-Automatisierungstechnik, 68(7), 557-570. https://dx.doi.org/10.1515/auto-2020-0048
- Wang, D., Wang, X., & Li, Z. (2020). Nonblocking Supervisory Control of State-Tree Structures With Conditional-Preemption Matrices. IEEE Transactions on Industrial Informatics, 16(6), 3744-3756. https://dx.doi.org/10.1109/TII.2019.2939628
- Wang, D., Wang, X., & Li, Z. (2020). State-based fault diagnosis of discrete-event systems with partially observable outputs. Information Sciences, 529, 87-100. https://dx.doi.org/10.1016/j.ins.2020.04.027
- Wang, X., Moor, T., & Li, Z. (2020). Top-Down Nested Supervisory Control of State-Tree Structures Based on State Aggregations. In IFAC PAPERSONLINE (pp. 11175-11180). AMSTERDAM: ELSEVIER.
- Yang, J.-M., Moor, T., & Raisch, J. (2020). Refinements of behavioural abstractions for the supervisory control of hybrid systems. Discrete Event Dynamic Systems-Theory and Applications. https://dx.doi.org/10.1007/s10626-020-00315-z
2019
- Bergmann, D., Geiselhart, R., & Graichen, K. (2019). Modelling and control of a heavy-duty Diesel engine gas path with Gaussian process regression. In Proc. European Control Conference (ECC 2019) (pp. 1207-1213). Naples (Italy).
- Bergmann, D., & Graichen, K. (2019). Gaußprozessregression zur Modellierung zeitvarianter Systeme. At-Automatisierungstechnik, 67(8), 637-647.
- Bestler, A., & Graichen, K. (2019). Distributed model predictive control for continuous-time nonlinear systems based on suboptimal ADMM. Optimal Control Applications & Methods, 40(1), 1-23. https://dx.doi.org/10.1002/oca.2459
- Burk, D., Völz, A., & Graichen, K. (2019). Towards a modular framework for distributed model predictive control of nonlinear neighbor-affine systems. In 58th IEEE Conference on Decision and Control (CDC 2019) (pp. 5279-5284). Nice (France).
- Deutscher, J., & Gabriel, J. (2019). Fredholm backstepping control of coupled linear parabolic PDEs with input and output delays. IEEE Transactions on Automatic Control, (in press). https://dx.doi.org/10.1109/TAC.2019.2945035
- Deutscher, J., & Gabriel, J. (2019). Minimum time output regulation for general linear heterodirectional hyperbolic systems. International Journal of Control, (in press). https://dx.doi.org/10.1080/00207179.2018.1533648
- Deutscher, J., & Gabriel, J. (2019). Periodic output regulation for general linear heterodirectional hyperbolic systems. Automatica, 103, 208-216. https://dx.doi.org/10.1016/j.automatica.2019.02.006
- Deutscher, J., Gehring, N., & Kern, R. (2019). Output feedback control of general linear heterodirectional hyperbolic PDE-ODE systems with spatially-varying coefficients. International Journal of Control, 92, 2274-2290. https://dx.doi.org/10.1080/00207179.2018.1436770
- Deutscher, J., & Kerschbaum, S. (2019). Output regulation for coupled linear parabolic PIDEs. Automatica, 100, 360-370. https://dx.doi.org/10.1016/j.automatica.2018.11.033
- Englert, T., Völz, A., Mesmer, F., Rhein, S., & Graichen, K. (2019). A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC). Optimization and Engineering, 20(3), 769-809. https://dx.doi.org/10.1007/s11081-018-9417-2
- Fischer, F., & Deutscher, J. (2019). Flachheitsbasierte algebraische Fehlerdiagnose für einen Euler-Bernoulli-Balken mittels Modulationsfunktionen. At-Automatisierungstechnik, 67, 622-636. https://dx.doi.org/10.1515/auto-2019-0035
- Gaukler, M., Rheinfels, T., Ulbrich, P., & Roppenecker, G. (2019). Convergence Rate Abstractions for Weakly-Hard Real-Time Control.
- Gaukler, M., & Ulbrich, P. (2019). Worst-Case Analysis of Digital Control Loops with Uncertain Input/Output Timing. In Proceedings of the 6th International Workshop on Applied Verification of Continuous and Hybrid Systems (ARCH '19)..
- Geiselhart, R., Bergmann, D., Niemeyer, J., Remele, J., & Graichen, K. (2019). Hierarchical optimization of operational costs of a heavy-duty diesel engine and an exhaust aftertreatment system. In Proc. European Control Conference (ECC 2019) (pp. 1227-1232). Naples (Italy).
- Gold, T., Völz, A., & Graichen, K. (2019). External torque estimation for an industrial robot arm using joint torsion and motor current measurements. In Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS) and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS) (pp. 879-884). Vienna (Austria).
- Graichen, K., & Quevedo, D. (2019). Ausgewählte Beiträge des GMA-Fachausschusses 1.50 "Grundlagen vernetzter Systeme". At-Automatisierungstechnik, 67(12), 988-989. https://dx.doi.org/10.1515/auto-2019-0121
- Gu, C., Wang, X., & Li, Z. (2019). Synthesis of Supervisory Control With Partial Observation on Normal State-Tree Structures. IEEE Transactions on Automation Science and Engineering, 16(2), 984-997. https://dx.doi.org/10.1109/TASE.2018.2880178
- Hiller, M., Qiu, C., Particke, F., Hofmann, C., & Thielecke, J. (2019). Learning Topometric Semantic Maps from Occupancy Grids. In 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (pp. 4190-4197). Macau, PEOPLES R CHINA: NEW YORK: IEEE.
- Hofmann, C., Particke, F., Hiller, M., & Thielecke, J. (2019). Object detection, classification and localization by infrastructural stereo cameras. In Andreas Kerren, Christophe Hurter, Jose Braz (Eds.), VISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (pp. 808-815). Prague, CZ: SciTePress.
- Jemaa, K., Kotman, P., Reimann, S., & Graichen, K. (2019). Tube-based internal model control of differentially flat input-affine SISO systems under input constraints. In Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS) and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS) (pp. 158-163). Vienna (Austria).
- Joos, S., Bitzer, M., Karrelmeyer, R., & Graichen, K. (2019). Constrained online trajectory planning for flat SISO systems using a switched state variable filter. Automatica, (accepted).
- Joos, S., Bitzer, M., Karrelmeyer, R., & Graichen, K. (2019). Constrained online trajectory planning for nonlinear flat SISO systems using a switched state variable filter. Automatica, 110. https://dx.doi.org/10.1016/j.automatica.2019.108583
- Joos, S., Bruder, R., Specker, T., Bitzer, M., & Graichen, K. (2019). Kinematic real-time trajectory planning with state and input constraints for the example of highly automated driving. In Proc. 23rd International Conference on System Theory, Control and Computing (ICSTCC 2019) (pp. 779-784).
- Joos, S., Trachte, A., Bitzer, M., & Graichen, K. (2019). Constrained real-time swivel angle control for hydraulic axial piston motors. In Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS) and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS)} (pp. 1433-1438). Vienna (Austria).
- Kerschbaum, S., & Deutscher, J. (2019). Backstepping control of coupled linear parabolic PDEs with space and time dependent coefficients. IEEE Transactions on Automatic Control, (in press). https://dx.doi.org/10.1109/TAC.2019.2944918
- Lamprecht, A., Steffen, D., Häcker, J., & Graichen, K. (2019). Comparison between a Filter- and an MPC-based MCA in an Offline Simulator Study. In Proceedings of the Driving Simulation Conference & Exhibition (DSC) (pp. 101-107). Strasbourg, FR.
- Lamprecht, A., Steffen, D., Häcker, J., & Graichen, K. (2019). Optimal control based reference generation for model predictive motion cueing algorithms. In 3rd IEEE Conference on Control Technology and Application (CCTA 2019) (pp. 203-208). Hong Kong (China).
- Mesmer, F., Szabo, T., & Graichen, K. (2019). Feedforward control of a hydraulic clutch actuation path. In Proc. European Control Conference (ECC 2019) (pp. 620-626). Naples (Italy).
- Mesmer, F., Szabo, T., & Graichen, K. (2019). Learning methods for the feedforward control of a hydraulic clutch actuation path. In Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019) (pp. 733-738). Hong Kong (China).
- Popp, J., & Deutscher, J. (2019). Optimizing a Hybrid Diesel Power Unit Using Extremum-Seeking Control. IEEE Transactions on Control Systems Technology, 27, 2068-2084. https://dx.doi.org/10.1109/TCST.2018.2848636
- Reger, J., & Triska, L. (2019). Dynamic Extensions for Exact Backstepping Control of Systems in Pure Feedback Form. In 58th IEEE Conference on Decision and Control (CDC 2019). Nice, FR.
- Schmuck, A.-K., Moor, T., & Majumdar, R. (2019). On the relation between reactive synthesis and supervisory control of non-terminating processes. Discrete Event Dynamic Systems-Theory and Applications. https://dx.doi.org/10.1007/s10626-019-00299-5
- Ulbrich, P., & Gaukler, M. (2019, April). QRONOS: Towards Quality-aware Responsive Real-Time Control Systems. Poster presentation at 25th IEEE Real-Time and Embedded Technology and Applications Symposium, Brief Presentations Track, Montreal, Quebec, CA.
- Völz, A., & Graichen, K. (2019). A predictive path-following controller for continuous replanning with dynamic roadmaps. IEEE Robotics and Automation Letters, 4(4), 3963-3970. https://dx.doi.org/10.1109/LRA.2019.2929990
- Wang, X., Li, Z., & Moor, T. (2019). SCT-based priority-free conditionally-preemptive scheduling of modular real-time systems with exact task execution time. Discrete Event Dynamic Systems-Theory and Applications. https://dx.doi.org/10.1007/s10626-019-00288-8
2018
- Bai, X. (2018). Verification of Eventuality Properties for Discrete-time Affine Systems. In 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC) (pp. 1560-1565). Miami Beach, FL, US: NEW YORK: IEEE.
- Deutscher, J., & Gabriel, J. (2018). Robust State Feedback Regulator Design for General Linear Heterodirectional Hyperbolic Systems. IEEE Transactions on Automatic Control, 63, 2620-2627. https://dx.doi.org/10.1109/TAC.2018.2791524
- Deutscher, J., Gehring, N., & Kern, R. (2018). Output feedback control of general linear heterodirectional hyperbolic ODE-PDE-ODE systems. Automatica, 95, 472-480. https://dx.doi.org/10.1016/j.automatica.2018.06.021
- Deutscher, J., & Kerschbaum, S. (2018). Backstepping Control of Coupled Linear Parabolic PIDEs with Spatially-Varying Coefficients. IEEE Transactions on Automatic Control, 63, 4218-4233. https://dx.doi.org/10.1109/TAC.2018.2802422
- Deutscher, J., & Kerschbaum, S. (2018). Backstepping für gekoppelte parabolische Systeme mit ortsabhängigen Koeffizienten. At-Automatisierungstechnik, 66(7), 558-572. https://dx.doi.org/10.1515/auto-2018-0012
- Englert, T., & Graichen, K. (2018). A fixed-point iteration scheme for model predictive torque control of PMSMs. In Proceedings 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC) (pp. 668-673). Madison, WI (USA).
- Fischer, F., & Deutscher, J. (2018). Modulating Function Based Fault Detection for Parabolic Systems with Polynomial Faults. IFAC-PapersOnLine, 51(24), 359-366. https://dx.doi.org/10.1016/j.ifacol.2018.09.602
- Fischer, F., Deutscher, J., & Laleg-Kirati, M. (2018). Source estimation for first order time-varying hyperbolic systems. In Proceedings of the MTNS 2018 (pp. 78-84). Hong Kong, HK.
- Gabriel, J., & Deutscher, J. (2018). State Feedback Regulator Design for Coupled Linear Wave Equations. In Proceedings of the 16th European Control Conference, ECC 2018 (pp. 3013-3018). Institute of Electrical and Electronics Engineers Inc..
- Gaukler, M., Michalka, A., Ulbrich, P., & Klaus, T. (2018). A New Perspective on Quality Evaluation for Control Systems with Stochastic Timing. In Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (HSCC '18) (pp. 91-100). Porto, Portugal, PT: New York, NY, USA: ACM Press.
- Harder, K., Buchholz, M., Späder, T., & Graichen, K. (2018). A real-time nonlinear air path observer for off-highway diesel engines. In Proceedings 2018 European Control Conference (ECC) (pp. 237-242). Limassol (Cyprus).
- Hiller, M., Particke, F., Hofmann, C., Bey, H., & Thielecke, J. (2018). World Modeling for Mobile Platforms Using a Contextual Object-Based Representation of the Environment. In IEEE (Eds.), Proceedings of the 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) (pp. 187-191). Tianjin, China.
- Kern, R., Gehring, N., Deutscher, J., & Meißner, M. (2018). Design and Experimental Validation of an Output Feedback Controller for a Pneumatic System with Distributed Parameters. In Proceedings of the Proc. Int. Conf. Control and Systems (ICCAS) 2018 (pp. 1391-1396). YongPyong Resort, KR.
- Lamprecht, A., Häcker, J., & Graichen, K. (2018). Constrained motion cueing for driving simulators using a real-time nonlinear MPC scheme. In Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 7466-7471). Madrid (Spain).
- Moor, T., & Götz, S. (2018). Deterministic Finite-Automata Abstractions of Time-Variant Sequential Behaviours. In Proceedings of the Workshop on Discrete Event Systems (pp. 388-393). Elsevier B.V..
- Rhein, S., & Graichen, K. (2018). Constrained trajectory planning and actuator design for electromagnetic heating systems. Control Engineering Practice, 74, 191-203.
- Schmuck, A.-K., Moor, T., & Majumdar, R. (2018). On the Relation between Reactive Synthesis and Supervisory Control of Input/Output Behaviours. In Proceedings of the Workshop on Discrete Event Systems (pp. 31-38). Elsevier B.V..
- Völz, A., & Graichen, K. (2018). An optimization-based approach to dual-arm motion planning with closed kinematics. In Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 8346-8351). Madrid (Spain).
- Völz, A., & Graichen, K. (2018). Computation of collision distance and gradient using an automatic sphere approximation of the robot model with bounded error. In Proceedings 50th International Symposium on Robotics (ISR) (pp. 322-329). München (Germany).
- Yang, J.-M., Moor, T., & Raisch, J. (2018). Local Refinement of l-complete Approximations for Supervisory Control of Hybrid Systems. In Proceedings of the Workshop on Discrete Event Systems (pp. 472-479). Elsevier B.V..
2017
- Bai, X., & Moor, T. (2017). Consistent abstractions for the supervision of sequential behaviours. In Proceedings of the 56nd IEEE Conference on Decision and Control.
- Deutscher, J. (2017). Finite-time output regulation for linear 2×2 hyperbolic systems using backstepping. Automatica, 75, 54-62. https://dx.doi.org/10.1016/j.automatica.2016.09.020
- Deutscher, J. (2017). Output regulation for general linear heterodirectional hyperbolic systems with spatially-varying coefficients. Automatica, 85, 34-42. https://dx.doi.org/10.1016/j.automatica.2017.07.027
- Deutscher, J. (2017). Robust output regulation by observer-based feedforward control. International Journal of Systems Science, 48(4), 795-804. https://dx.doi.org/10.1080/00207721.2016.1216198
- Deutscher, J., & Kerschbaum, S. (2017). Backstepping control of coupled diffusion-reaction systems with spatially-varying reaction and Neumann boundary conditions. In Proceedings of the 56th IEEE Annual Conference on Decision and Control, CDC 2017 (pp. 2504-2510). Institute of Electrical and Electronics Engineers Inc..
- Fischer, F., & Deutscher, J. (2017). Fault detection for parabolic systems with distributed inputs and outputs using the modulation function approach. IFAC-PapersOnLine, 50(1), 6774-6779. https://dx.doi.org/10.1016/j.ifacol.2017.08.1195
- Hammer, J., Gaukler, M., Kanzler, P., Hörauf, P., & Novac, D. (2017). FAU FabLab: A Fabrication Laboratory for Scientists, Students, Entrepreneurs and the Curious.
- Meurer, T., Woittennek, F., & Deutscher, J. (2017). Methoden und Anwendungen verteilt-parametrischer Systeme. At-Automatisierungstechnik, 65(5), 295-297. https://dx.doi.org/10.1515/auto-2017-0034
- Moor, T., & Schmidt, K.W. (2017). The controllability prefix for supervisory control under partial observation with an application to fault-tolerant control. In Proceedings of the 20th IFAC World Congress Toulouse.
- Popp, J., & Deutscher, J. (2017). Ein Konzept zur Wirkungsgradoptimierung von Einzylinder-Dieselgeneratoren mittels Optimalsteuerung und Extremum-Seeking. Forschung Im Ingenieurwesen-Engineering Research, 81(4), 421-435. https://dx.doi.org/10.1007/s10010-017-0251-z
- Popp, J., & Deutscher, J. (2017). Optimizing a hybrid diesel power unit using extremum seeking control. IFAC-PapersOnLine, 50(1), 7849-7854. https://dx.doi.org/10.1016/j.ifacol.2017.08.736
- Popp, J., & Deutscher, J. (2017). Wirkungsgradoptimierung eines Einzylinder-Dieselgenerators mittels Optimalsteuerung und Extremum-Seeking. In Proceedings of the Mechatronik 2017. Dresden, DE.
- Völz, A., & Graichen, K. (2017). Composition of dynamic roadmaps for dual-arm motion planning. In Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017) (pp. 1242-1248). Munich (Germany).
2016
- Baechle, T., Graichen, K., Buchholz, M., & Dietmayer, K. (2016). Loss-focused predictive thermal management of induction motors in electric vehicles using nonlinear fixed-point MPC. In Proceedings 2016 IEEE Multi-Conference on Systems and Control (MSC) (pp. 1392-1397). Buenos Aires (Argentina).
- Deutscher, J. (2016). Backstepping Design of Robust Output Feedback Regulators for Boundary Controlled Parabolic PDEs. IEEE Transactions on Automatic Control, 61(8), 2288-2294. https://dx.doi.org/10.1109/TAC.2015.2491718
- Deutscher, J. (2016). Fault detection for linear distributed-parameter systems using finite-dimensional functional observers. International Journal of Control, 89(3), 550-563. https://dx.doi.org/10.1080/00207179.2015.1086024
- Deutscher, J., & Kerschbaum, S. (2016). Backstepping design of robust state feedback regulators for second order hyperbolic PIDEs. IFAC-PapersOnLine, 49(8), 80-85. https://dx.doi.org/10.1016/j.ifacol.2016.07.422
- Fischer, F., & Deutscher, J. (2016). Algebraic fault detection and isolation for parabolic distributed–parameter systems using modulation functions. IFAC-PapersOnLine, 49(8), 162-167. https://dx.doi.org/10.1016/j.ifacol.2016.07.441
- Kerschbaum, S., & Deutscher, J. (2016). Backstepping-based output regulation for systems with infinite-dimensional actuator and sensor dynamics. Proceedings in Applied Mathematics and Mechanics, 16, 43-46. https://dx.doi.org/10.1002/pamm.201610012
- Klaus, T., Franzmann, F.P., Gaukler, M., Michalka, A., & Ulbrich, P. (2016). Closing the loop: Towards control-aware design of adaptive real-time systems. In Proceedings of the 2016 IEEE Real-Time Systems Symposium, RTSS 2016. Institute of Electrical and Electronics Engineers Inc..
- Klaus, T., Franzmann, F.P., Gaukler, M., Michalka, A., & Ulbrich, P. (2016). Poster Abstract: "Closing the Loop: Towards Control-aware Design of Adaptive Real-Time Systems". Poster presentation at 37th Real-Time Systems Symposium, Porto, Portugal.
- Löhe, K., Zehelein, T., & Roppenecker, G. (2016). Road quality estimation by autoregressive filtering for a two-axle vehicle. At-Automatisierungstechnik, 64(5), 355-364. https://dx.doi.org/10.1515/auto-2016-0012
- Makowicki, T., Bitzer, M., Kotman, P., & Graichen, K. (2016). A combustion cycle model for stationary and transient engine operation. In Proceedings 8th IFAC International Symposium on Advances in Automotive Control (AAC) (pp. 479-485). Kolmården Wildlife Resort (Sweden).
- Moor, T. (2016). A discussion of fault-tolerant supervisory control in terms of formal languages. Annual Reviews in Control, 41(159), 169. https://dx.doi.org/10.1016/j.arcontrol.2016.04.001
- Völz, A., & Graichen, K. (2016). Distance metrics for path planning with dynamic roadmaps. In Proceedings 47th International Symposium on Robotics (ISR) (pp. 126-132). München (Germany).
2015 and earlier
2015
- Agethen, C., & Moor, T. (2015). A hierarchical and modular control architecture for sequential behaviours. Discrete Event Dynamic Systems: Theory and Applications, 25, 95-124. https://dx.doi.org/10.1007/s10626-014-0182-x
- Bär, W. (2015). Predictive knowledge-based coach tilting control. In Proceedings of the 1999 European Control Conference, ECC 1999 (pp. 2143-2147). Institute of Electrical and Electronics Engineers Inc..
- Deutscher, J. (2015). A backstepping approach to the output regulation of boundary controlled parabolic PDEs. Automatica, 57, 56-64. https://dx.doi.org/10.1016/j.automatica.2015.04.008
- Deutscher, J. (2015). Backstepping design of robust flatness-based tracking controllers for boundary-controlled parabolic PDEs. In Proceedings of the European Control Conference, ECC 2015 (pp. 891-896). Institute of Electrical and Electronics Engineers Inc..
- Deutscher, J. (2015). Backstepping-Entwurf flachheitsbasierter Folgeregler mit robuster asymptotischer Störkompensation für parabolische PDEs. At-Automatisierungstechnik, 63(12), 953-967. https://dx.doi.org/10.1515/auto-2014-1155
- Graichen, K. (2015). Nonlinear MPC with fixed-point iterations: Numerical and experimental validation. IFAC-PapersOnLine, 28(25), 62-67. https://dx.doi.org/10.1016/j.ifacol.2015.11.060
- Graichen, K., & Hentzelt, S. (2015). A bi-level nonlinear predictive control scheme for hopping robots with hip and tail actuation. In Proceedings 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) (pp. 4480-4485). Hamburg (Germany).
- Hippe, P. (2015). Prevention of windup caused by saturating sensors Windup-Vermeidung bei begrenzenden Sensoren. At-Automatisierungstechnik, 63(12), 968-976. https://dx.doi.org/10.1515/auto-2015-0056
- Michalka, A., & Roppenecker, G. (2015). Kompensation von Drehmomentfehlern automatisierter Reibkupplungen durch beobachterbasierte Störgrößenaufschaltung. In VDI-Berichte Nr. 2233 (pp. 37-52). Baden-Baden: Düsseldorf: VDI-Verlag GmbH.
- Moor, T. (2015). Fault-tolerant supervisory control. In 5th IFAC International Workshop on Dependable Control of Discrete Systems (pp. 124-131).
- Moor, T., Schmidt, K.W., & Schmidt, K. (2015). Fault-tolerant control of discrete-event systems with lower-bound specifications. In Proceedings of the 5th IFAC International Workshop on Dependable Control of Discrete Systems, DCDS 2015 (pp. 161-166).
- Moseberg, J.-E., & Roppenecker, G. (2015). Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators. Vehicle System Dynamics, 53(12), 1742-1758. https://dx.doi.org/10.1080/00423114.2015.1081954
- Popp, J., & Deutscher, J. (2015). Zwei-Freiheitsgrade-Regelung eines Einzylinder-Dieselgenerators unter Berücksichtigung der Periodizität. In B. Lohmann und G. Roppenecker (Eds.), Methoden und Anwendungen der Regelungstechnik. (pp. 40-56). Aachen: Shaker Verlag.
- Röber, J., Zwick, C., Bänisch, A., Dirauf, S., Roppenecker, G., Weigel, R., & Dirauf, S. (2015). Novel Control Methods for Phase Lock Loops. In European conference on circuit theory and design (ECCTD). Trondheim: IEEE.
- Völz, A., & Graichen, K. (2015). Stochastische modellprädiktive Regelung unsicherer nichtlinearer Systeme basierend auf der Unscented-Transformation. In Proceedings GMA Fachausschuss 1.40 ``Theoretische Verfahren der Regelungstechnik'' (pp. 293-301). Salzburg (Austria).
- Völz, A., & Graichen, K. (2015). Stochastic model predictive control of nonlinear continuous-time systems using the unscented transformation. In Proceedings of the European Control Conference, ECC 2015 (pp. 3365-3370). Institute of Electrical and Electronics Engineers Inc..
2014
- Baechle, T., Graichen, K., Buchholz, M., & Dietmayer, K. (2014). Slip-constrained model predictive control allocation for an all-wheel driven electric vehicle. In Proceedings 19th IFAC World Congress (pp. 12042-12047). Cape Town (South Africa).
- Baechle, T., Graichen, K., Buchholz, M., & Dietmayer, K. (2014). Vehicle dynamic control in challenging driving situations using nonlinear model predictive control allocation. In Proceedings 2014 IEEE Multi-Conference on Systems and Control (pp. 346-351). Nice (France).
- Deutscher, J. (2014). Dual observer-based compensators for nonlinear systems. International Journal of Robust and Nonlinear Control, 24(1), 110-122. https://dx.doi.org/10.1002/rnc.2877
- Deutscher, J., & Harkort, C. (2014). Structure-preserving approximation of distributed-parameter second-order systems using Krylov subspaces. Mathematical and Computer Modelling of Dynamical Systems, 20(4), 395-413. https://dx.doi.org/10.1080/13873954.2013.833524
- Deutscher, J., & Roppenecker, G. (2014). Robuste asymptotische Störkompensation mittels beobachterbasierter Störgrößenaufschaltungen. At-Automatisierungstechnik, 62(8), 547-561. https://dx.doi.org/10.1515/auto-2014-1104
- Hentzelt, S., & Graichen, K. (2014). Experimental results for distributed model predictive control applied to a water distribution system. In Proceedings 2014 IEEE Multi-Conference on Systems and Control (pp. 1100-1106). Nice (France).
- Kaepernick, B., & Graichen, K. (2014). PLC implementation of a nonlinear model predictive controller. In Proceedings 19th IFAC World Congress (pp. 1892-1897). Cape Town (South Africa).
- Käpernick, B., & Graichen, K. (2014). Nichtlineare modellprädiktive Regelung auf SPS. Automatisierungstechnische Praxis, 56, 38-46. https://dx.doi.org/10.17560/atp.v56i03.460
- Käpernick, B., & Graichen, K. (2014). The gradient based nonlinear model predictive control software GRAMPC. In Proceedings 13th European Control Conference (ECC) (pp. 1170-1175). Strasbourg (France).
- Käpernick, B., Süß, S., Schubert, E., & Graichen, K. (2014). A synthesis strategy for nonlinear model predictive controller on FPGA. In Proceedings 2014 UKACC 10th International Conference on Control (pp. 662-667). Loughborough (UK).
- Michalka, A. (2014). Ein modellbasiertes Gesamtkonzept zur Längsdynamiksteuerung und -regelung von Parallelhybridfahrzeugen (Dissertation).
- Moseberg, J.-E., & Roppenecker, G. (2014). Feed-forward control of a vehicle with single-wheel actuators. In Proceedings of the 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 (pp. 6283-6288). IFAC Secretariat.
- Moseberg, J.-E., & Roppenecker, G. (2014). Horizontal vehicle motion control with single-wheel chassis actuators. At-Automatisierungstechnik, 62(3), 216-225. https://dx.doi.org/10.1515/auto-2013-1066
- Nohr, M., Utz, T., & Graichen, K. (2014). Kinetic modelling of an industrial semi-batch alkoxylation reactor for control studies. In Proceedings 2014 UKACC 10th International Conference on Control (pp. 623-628). Loughborough (UK).
- Rhein, S., Utz, T., & Graichen, K. (2014). Efficient state constraint handling for MPC of the heat equation. In Proceedings 2014 UKACC 10th International Conference on Control (pp. 663-668). Loughborough (UK).
- Utz, T., Braun, M., Freckmann, G., & Graichen, K. (2014). Model of the glucose-insulin system of type-1 diabetics and optimization-based bolus calculation. In Proceedings 2014 UKACC 10th International Conference on Control (pp. 587-592). Loughborough (UK).
- Utz, T., & Graichen, K. (2014). Thermal modelling and optimization-based control of a batch diffusion furnace. In Proceedings 2014 IEEE Multi-Conference on Systems and Control (pp. 474-479). Nice (France).
- Utz, T., Rhein, S., & Graichen, K. (2014). Transformation approach to constraint handling in optimal control of the heat equation. In Proceedings 19th IFAC World Congress (pp. 9135-9140). Cape Town (South Africa).
2013
- Agethen, C., Moor, T., Baier, C., & Wittmann, T.K. (2013). Consistent abstractions for the purpose of supervisory control. In Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013 (pp. 7291-7296). Florence, IT: Institute of Electrical and Electronics Engineers Inc..
- Claasen, G., Martin, P., & Graichen, K. (2013). Error growth due to noise during occlusions in inertially-aided tracking systems. In Proceedings 2013 IEEE Intern. Conf. Robotics and Automation (ICRA) (pp. 5781-5787). Karlsruhe (Germany).
- Deutscher, J. (2013). Finite-dimensional dual state feedback control of linear boundary control systems. International Journal of Control, 86(1), 41-53. https://dx.doi.org/10.1080/00207179.2012.717723
- Deutscher, J. (2013). Krylov subspace methods for block patterned linear systems. In Proceedings of the 12th European Control Conference 2013 (pp. 827-832). Zurich.
- Deutscher, J., & Harkort, C. (2013). Approximation verteilt-parametrischer Systeme zweiter Ordnung mittels Krylov-Unterraummethoden. At-Automatisierungstechnik, 61, 533-544. https://dx.doi.org/10.1524/auto.2013.0051
- Harkort, C., & Deutscher, J. (2013). An approach for the construction of the control input operator associated to boundary control systems. In Proceedings of the Workshop on Multidimensional Systems 2013 (pp. 51-56). Erlangen, DE.
- Hentzelt, S., & Graichen, K. (2013). An augmented Lagrangian method in distributed dynamic optimization based on approximate neighbor dynamics. In Proceedings IEEE Intern. Conf. Systems, Man, and Cybernetics (SMC 2013) (pp. 571-576). Manchester (UK).
- Hippe, P. (2013). Windup prevention in systems with input and output constraints. In Proceedings of the 2013 International Conference on Process Control, PC 2013 (pp. 1-6). Strbske Pleso.
- Käpernick, B., & Graichen, K. (2013). Model predictive control of an overhead crane using constraint substitution. In Proceedings 2013 American Control Conference (ACC) (pp. 3979-3984). Washington, DC (USA).
- Käpernick, B., & Graichen, K. (2013). Transformation of output constraints in optimal control applied to a double pendulum on a cart. In Proceedings 9th IFAC Symposium ``Nonlinear Control Systems'' (NOLCOS) (pp. 193-198). Toulouse (Italy).
- Käpernick, B., Hentzelt, S., & Graichen, K. (2013). A parallelizable decomposition approach for constrained optimal control problems. In Proceedings 52th IEEE Conference on Decision and Control (CDC) (pp. 5783-5788). Florence (Italy).
- Michalka, A., & Roppenecker, G. (2013). Kupplungsschlupfregelung als Teil eines Gesamtkonzepts zur Antriebsstrangsteuerung eines Parallelhybridfahrzeugs. In VDI-Berichte Nr. 2196 (pp. 121-132). Düsseldorf: VDI Verlag GmbH.
- Mohr, A., & Deutscher, J. (2013). Analyse von PDE-DAE-Systemen mittels einer Normalform. In G. Roppenecker und B. Lohmann (Eds.), Methoden und Anwendung der Regelungstechnik. (pp. 77-97). Aachen: Shaker Verlag.
- Mohr, A., & Deutscher, J. (2013). Parametric state feedback design for linear infinite-dimensional systems. In Proceedings of the 12th European Control Conference 2013 (pp. 2086-2091). Zurich.
- Rhein, S., Utz, T., & Graichen, K. (2013). Model predictive control and moving horizon estimation of a large-scale chemical reactor model. In Proceedings 1st {IFAC} Symposium on Control of Systems Governed by Partial Differential Equations (CPDE) (pp. 121-126). Paris (France).
- Utz, T., & Graichen, K. (2013). Two-degrees-of-freedom optimization-based control and estimation of a parabolic equation system. In Proceedings 2013 American Control Conference (ACC) (pp. 384-389). Washington, DC (USA).
- Utz, T., Graichen, K., & Kugi, A. (2013). Combined feedforward/model predictive tracking control design for nonlinear diffusion-convection-reaction-systems. In F. Tröltzsch DH (Eds.), System Modeling and Optimization. (pp. 296-305). Vienna (Austria): Springer.
2012
- Agethen, C., Baier, C., & Moor, T. (2012). A hierarchical control architecture for sequential behaviours. In Proceedings of the 11th International Workshop on Discrete Event Systems, WODES 2012 (pp. 259-264). Guadalajara, Jalisco.
- Boutalis, Y., Moor, T., & Schmidt, K. (2012). Fuzzy Hybrid Systems modeling with application in decision making and control. In Proceedings of the 2012 6th IEEE International Conference Intelligent Systems, IS 2012 (pp. 290-296). Sofia, BG.
- Egretzberger, M., Graichen, K., & Kugi, A. (2012). Flatness-based MPC and global path planning towards cognition-supported pick-and-place tasks of tower cranes. In Irschik H, Krommer M, Belyaev A (Eds.), Advanced Dynamics and Model-Based Control of Structures and Machines. (pp. 63-71). Vienna (Austria): Springer.
- Graichen, K. (2012). A fixed-point iteration scheme for real-time model predictive control. Automatica, 48(7), 1300-1305. https://dx.doi.org/10.1016/j.automatica.2012.03.023
- Graichen, K., & Käpernick, B. (2012). A real-time gradient method for nonlinear model predictive control. In Zheng T (Eds.), Frontiers of Model Predictive Control. (pp. 9-28). InTech (open access).
- Graichen, K., & Käpernick, B. (2012). Nonlinear MPC with systematic handling of a class of constraints. In Oberwolfach Report No. 12/2012 (Workshop ``Control Theory: Mathematical Perspectives on Complex Networked Systems'') (pp. 17-18). Oberwolfach (Germany).
- Harkort, C., & Deutscher, J. (2012). Parametric approximation of connected Euler-Bernoulli beams with variable beam lengths. In Proceedings of the MATHMOD 2012 (pp. 734-739). Wien, AT.
- Harkort, C., & Deutscher, J. (2012). Stability and passivity preserving Petrov-Galerkin approximation of linear infinite-dimensional systems. Automatica, 48(7), 1347-1352. https://dx.doi.org/10.1016/j.automatica.2012.04.010
- Harkort, C., & Deutscher, J. (2012). Strukturerhaltende Approximation linearer verteilt-parametrischer PCHD-Systeme. At-Automatisierungstechnik, 60(9), 534-546. https://dx.doi.org/10.1524/auto.2012.1023
- Hentzelt, S., & Graichen, K. (2012). Dual decomposition of optimal control problems with coupled nonlinear dynamics. In CD-ROM Proceedings European Congress on Computational Methods in Applied Sciences and Engineering (ECCOMAS 2012). Vienna (Austria).
- Schmidt, K., & Boutalis, Y.S. (2012). Fuzzy discrete event systems for multiobjective control: Framework and application to mobile robot navigation. IEEE Transactions on Fuzzy Systems, 20(5), 910-922. https://dx.doi.org/10.1109/TFUZZ.2012.2189219
- Ulbrich, P., Franzmann, F.P., Harkort, C., Hoffmann, M., Klaus, T., Rebhan, A., & Schröder-Preikschat, W. (2012). Taking Control: Modular and Adaptive Robotics Process Control Systems. In Proceedings of the 10th IEEE International Symposium on Robotic and Sensors Environments (pp. 55-60). Magdeburg: Los Alamitos: IEEE Computer Society.
2011
- Bäuml, M., & Deutscher, J. (2011). Entwurf von Ausgangsrückführungen für nichtlineare Systeme mittels Sum-of-Squares-Programmierung. At-Automatisierungstechnik, 59, 364-373. https://dx.doi.org/10.1524/auto.2011.0927
- Deutscher, J. (2011). Entwurf dualer Störbeobachter für lineare konzentriert- und verteilt-parametrische Systeme. At-Automatisierungstechnik, 59, 552-562. https://dx.doi.org/10.1524/auto.2011.0947
- Graichen, K., & Utz, T. (2011). Combined feedforward/model predictive tracking control design for nonlinear diffusion-convection-reaction-systems. In Proceedings 25th IFIP TC7 Conference on System Modeling and Optimization. Berlin (Germany).
- Harkort, C., & Deutscher, J. (2011). Abtastregelung linearer verteilt-parametrischer Systeme unter Verwendung allgemeiner Halteglieder. In B. Lohmann und G. Roppenecker (Eds.), Methoden und Anwendungen der Regelungstechnik. (pp. 89-99). Aachen: Shaker Verlag.
- Harkort, C., & Deutscher, J. (2011). Discrete-time modal state reconstruction for infinite-dimensional systems using generalized sampling. IFAC-PapersOnLine, 44, 13311-13316. https://dx.doi.org/10.3182/20110828-6-IT-1002.00795
- Harkort, C., & Deutscher, J. (2011). Finite-dimensional observer-based control of linear distributed parameter systems using cascaded output observers. International Journal of Control, 84(1), 107-122. https://dx.doi.org/10.1080/00207179.2010.541942
- Harkort, C., & Deutscher, J. (2011). Krylov subspace methods for linear infinite-dimensional systems. IEEE Transactions on Automatic Control, 56, 441-447. https://dx.doi.org/10.1109/TAC.2010.2090063
- Moor, T., Schmidt, K., & Wittmann, T.K. (2011). Abstraction-based control for not necessarily closed behaviours. In Proceedings of the 18th IFAC World Congress (pp. 6988-6993). Milano, IT.
- Schmid, C., & Roppenecker, G. (2011). Parameteridentification for LTI-systems using modulating functions generated by a signal model. At-Automatisierungstechnik, 59(8), 521-528. https://dx.doi.org/10.1524/auto.2011.0942
- Steinböck, A., Graichen, K., Kugi, A., & Wild, D. (2011). A mathematical model of a slab reheating furnace for simulation, control, and optimization. In Proceedings 4th International Conference on Modelling and Simulation of Metallurgical Processes in Steelmaking (STEELSIM). Düsseldorf (Germany).
- Ulbrich, P., Kapitza, R., Harkort, C., Schmid, R., & Schröder-Preikschat, W. (2011). I4Copter: An Adaptable and Modular Quadrotor Platform. In Proceedings of the 26th ACM Symposium on Applied Computing (pp. 380-396). TaiChung, Taiwan, TW: New York, NY, USA: ACM.
2010
- Antritter, F., & Deutscher, J. (2010). Folgeregelung nichtlinearer Eingrößensysteme mittels linearer zeitvarianter Ausgangsrückführung. At-Automatisierungstechnik, 58, 383-393. https://dx.doi.org/10.1524/auto.2010.0853
- Boutalis, Y., & Schmidt, K. (2010). Multi-objective decision making using fuzzy discrete event systems: A mobile robot example. In Proceedings of the 18th Mediterranean Conference on Control and Automation, MED'10 (pp. 575-580). Marrakech.
- Deutscher, J., & Harkort, C. (2010). A parametric approach to finite-dimensional control of linear distributed-parameter systems. International Journal of Control, 58, 383-393. https://dx.doi.org/10.1080/00207179.2010.487545
- Deutscher, J., & Harkort, C. (2010). Entwurf endlich-dimensionaler Regler für lineare verteilt-parametrische Systeme durch Ausgangsbeobachtung. At-Automatisierungstechnik, 58, 435-446. https://dx.doi.org/10.1524/auto.2010.0859
- Deutscher, J., & Harkort, C. (2010). Führungs- und Störgrößenaufschaltungen für lineare verteilt-parametrische Systeme. At-Automatisierungstechnik, 58(1), 27-37. https://dx.doi.org/10.1524/auto.2010.0812
- Deutscher, J., & Harkort, C. (2010). Parametric approach to the decoupling of linear distributed-parameter systems. IET Control Theory and Applications, 4(12), 2855-2866. https://dx.doi.org/10.1049/iet-cta.2009.0286
- Graichen, K., Egretzberger, M., & Kugi, A. (2010). Suboptimal model predictive control of a laboratory crane. In Proceedings 8th IFAC Symposium ``Nonlinear Control Systems'' (NOLCOS) (pp. 397-402). Bologna (Italy).
- Graichen, K., Petit, N., Kugi, A., & Chaplais, F. (2010). Handling constraints in optimal control with saturation functions and system extension. Systems & Control Letters, 59(11), 671-679. https://dx.doi.org/10.1016/j.sysconle.2010.08.003
- Moor, T., Schmidt, K., & Perk, S. (2010). Applied supervisory control for a flexible manufacturing system. In Proceedings of the 10th International Workshop on Discrete Event Systems, WODES 2010 (pp. 253-258). Berlin.
- Schmidt, K. (2010). Abstraction-based failure diagnosis for discrete event systems. Systems & Control Letters, 59(1), 42-47. https://dx.doi.org/10.1016/j.sysconle.2009.11.004
- Utz, T., Graichen, K., & Kugi, A. (2010). Trajectory planning and receding horizon tracking control of a quasilinear diffusion-convection-reaction system. In Proceedings 8th IFAC Symposium ``Nonlinear Control Systems'' (NOLCOS) (pp. 587-592). Bologna (Italy).
2009
- Bäuml, M., & Deutscher, J. (2009). Stabilisierung nichtlinearer Systeme mit Zustandsbeschränkungen mittels SOS-Programmierung. In G. Roppenecker und B. Lohmann (Eds.), Methoden und Anwendungen der Regelungstechnik. (pp. 47-60). Aachen: Shaker Verlag.
- Bäuml, M., & Deutscher, J. (2009). Stabilization of nonlinear systems with input saturation using SOS-programming. In Proceedings of the MATHMOD 2009. Wien, AT.
- Bäuml, M., & Deutscher, J. (2009). Stabilization of nonlinear systems with non-polynomial nonlinearities using SOS-programming. In Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009 (pp. 82-89). Cambridge.
- Deutscher, J., & Harkort, C. (2009). Parametric state feedback design for second-order Riesz-spectral systems. In Proceedings of the 10th European Control Conference 2009. Budapest, HU.
- Deutscher, J., & Harkort, C. (2009). Parametric state feedback design of linear distributed-parameter systems. International Journal of Control, 82(6), 1060-1069. https://dx.doi.org/10.1080/00207170802434383
- Graichen, K., Kiefer, T., & Kugi, A. (2009). Real-time trajectory optimization under input constraints for a flatness-controlled laboratory helicopter. In Proceedings 10th European Control Conference (ECC). Budapest (Hungary).
- Graichen, K., & Petit, N. (2009). Incorporating a class of constraints into the dynamics of optimal control problems. Optimal Control Applications & Methods, 30(6), 537-561. https://dx.doi.org/10.1002/oca.880
- Harkort, C., & Deutscher, J. (2009). Reduktion von Spillover für lineare verteilt-parametrische Systeme. In G. Roppenecker und B. Lohmann (Eds.), Methoden und Anwendungen der Regelungstechnik. (pp. 15-26). Aachen: Shaker Verlag.
- Harkort, C., & Deutscher, J. (2009). Spillover reduction for linear distributed-parameter systems using dynamic extensions. In Proceedings of the 10th European Control Conference 2009. Budapest, HU.
- Hippe, P., & Deutscher, J. (2009). A polynomial approach to the prevention of windup in stable MIMO systems. In Proceedings of the 10th European Control Conference 2009. Budapest, HU.
- Hippe, P., & Deutscher, J. (2009). Design of observer-based compensators: From the time to the frequency domain. Springer London.
- Hippe, P., & Deutscher, J. (2009). Windup prevention for MIMO systems in the frequency domain. Archives of Control Sciences, 19, 355-369.
- Kotman, P., Bitzer, M., Graichen, K., & Kugi, A. (2009). Hybrid modeling of a two-stage turbocharged diesel engine air system. In Proceedings 6th Vienna International Conference on Mathematical Modelling (MATHMOD~09) (pp. 2015-2024). Vienna (Austria).
- Michalka, A. (2009). Antriebskoordinator am Beispiel eines Parallelhybridfahrzeugs. In Methoden und Anwendungen der Regelungstechnik, Erlangen-Münchener Workshops 2007 und 2008 (pp. 109 - 119). Hirschberg: Shaker Verlag.
- Michalka, A., Roppenecker, G., Wurmthaler, C., & Orend, R. (2009). Modellbasierte Steuerungsberechnung für Doppelkupplungsgetriebe als Teil eines neuen Gesamtkonzepts zur Getriebesteuerung und - regelung. At-Automatisierungstechnik, 57(5), 230-237. https://dx.doi.org/10.1524/auto.2009.0767
- Ponssard, C., Graichen, K., Petit, N., & Laurent-Varin, J. (2009). Ascent optimization for a heavy space launcher. In Proceedings 10th European Control Conference (ECC). Budapest (Hungary).
- Roppenecker, G. (2009). State feedback control of linear systems - A renewed approach. At-Automatisierungstechnik, 57(10), 491-498. https://dx.doi.org/10.1524/auto.2009.0796
- Schmidt, E.G., & Schmidt, K. (2009). Message scheduling for the FlexRay protocol: The dynamic segment. IEEE Transactions on Vehicular Technology, 58(5), 2160-2169. https://dx.doi.org/10.1109/TVT.2008.2008653
- Wurmthaler, C., & Kühnlein, A. (2009). Model based feed forward control for measurable disturbances. At-Automatisierungstechnik, 57(7), 328-331. https://dx.doi.org/10.1524/auto.2009.0782
2008
- Bäuml, M., & Deutscher, J. (2008). Approximate observer error linearization for nonlinear systems with input. IFAC-PapersOnLine, 41, 7600-7605. https://dx.doi.org/10.3182/20080706-5-KR-1001.01285
- Deutscher, J., & Bäuml, M. (2008). Approximate feedback linearization using multivariable Legendre polynomials. IFAC-PapersOnLine, 41, 4749-4754. https://dx.doi.org/10.3182/20080706-5-KR-1001.00799
- Deutscher, J., & Harkort, C. (2008). Vollständige Modale Synthese eines Wärmeleiters. At-Automatisierungstechnik, 56, 539-548. https://dx.doi.org/10.1524/auto.2008.0732
- Graichen, K., & Petit, N. (2008). A continuation approach to state and adjoint calculation in optimal control applied to the reentry problem. In Proceedings 17th IFAC World Congress (pp. 14307-14312). Seoul, Korea.
- Graichen, K., & Petit, N. (2008). Constructive methods for initialization and handling mixed state-input constraints in optimal control. Journal of Guidance Control and Dynamics, 31(5), 1334-1343. https://dx.doi.org/10.2514/1.33870
- Graichen, K., & Petit, N. (2008). Solving the Goddard problem with thrust and dynamic pressure constraints using saturation functions. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Seoul.
- Graichen, K., & Zeitz, M. (2008). Feedforward control design for finite-time transition problems of nonlinear systems with input and output constraints. IEEE Transactions on Automatic Control, 53(5), 1273-1278. https://dx.doi.org/10.1109/TAC.2008.921044
- Graichen, K., & Zeitz, M. (2008). Feedforward control design for nonlinear MIMO systems under input constraints. International Journal of Control, 81(3), 417-427. https://dx.doi.org/10.1080/00207170701591465
- Michalka, A., & Orend, R. (2008). Gesamtkonzept zur Steuerung und Regelung von Fahrzeugen mit Doppelkupplungsgetriebe. In VDI-Berichte Nr. 2029 (pp. 247-261). Düsseldorf: VDI-Verlag GmbH.
- Michalka, A., Roppenecker, G., Wurmthaler, C., & Orend, R. (2008). Modellbasierte Steuerungsberechnung für Doppelkupplungsgetriebe als Teil eines neuen Gesamtkonzepts zur Getriebesteuerung und -regelung. In VDI-Berichte Nr. 2009 (pp. 657-666). Düsseldorf: VDI Verlag GmbH.
- Moor, T., Schmidt, K., & Perk, S. (2008). LibFAUDES - an open source C++ library for discrete event systems. In Proceedings of the 9th International Workshop on Discrete Event Systems, WODES' 08 (pp. 125-130). Goteborg.
- Perk, S., Moor, T., & Schmidt, K. (2008). Controller synthesis for an I/O-based hierarchical system architecture. In Proceedings of the 9th International Workshop on Discrete Event Systems, WODES' 08 (pp. 474-479). Goteborg.
- Schmidt, E.G., & Schmidt, K. (2008). Message scheduling for the static segment of the FlexRay protocol. In Proceedings of the 2008 IEEE 16th Signal Processing, Communication and Applications Conference, SIU. Aydin.
- Schmidt, E.G., & Schmidt, K. (2008). Shared medium communication for distributed discrete event control. In Proceedings of the 2008 IEEE 16th Signal Processing, Communication and Applications Conference, SIU. Aydin.
- Schmidt, K., Moor, T., & Perk, S. (2008). Nonblocking hierarchical control of decentralized discrete event systems. IEEETransactions on Automatic Control, 53(10), 2252-2265. https://dx.doi.org/10.1109/TAC.2008.2006817
2007
- Deutscher, J. (2007). A numerical approach to approximate input-output linearization of nonlinear systems. In Proceedings of the 9th European Control Conference 2007 (pp. 3635-3640). Institute of Electrical and Electronics Engineers Inc..
- Genzel, M., Orend, R., Michalka, A., & Pohlmann, R. (2007). Control unit for a dry double clutch transmission. In 6th Int. Symposium "Innovative Automotive Transmissions". Berlin.
- Graichen, K., Treuer, M., & Zeitz, M. (2007). Swing-up of the double pendulum on a cart by feedforward and feedback control with experimental validation. Automatica, 43(1), 63-71. https://dx.doi.org/10.1016/j.automatica.2006.07.023
- Hippe, P. (2007). Stable and unstable systems with amplitude and rate saturation.
- Müller, B., & Deutscher, J. (2007). Continuous curvature trajectory design and feedforward control for parking a car. IEEE Transactions on Control Systems Technology, 15, 541-553. https://dx.doi.org/10.1109/TCST.2006.890289
- Müller, B., & Deutscher, J. (2007). Orbital tracking control for car parking via control of the clock using a nonlinear reduced order steering-angle observer. In Proceedings of the 9th European Control Conference 2007 (pp. 1917-1924). Institute of Electrical and Electronics Engineers Inc..
- Müller, B., & Deutscher, J. (2007). Orbital tracking control for parking via control of the clock. In B. Lohmann und G. Roppenecker (Eds.), Methoden und Anwednungen der Regelungstechnik..
- Müller, B., Deutscher, J., Grodde, S., & Roppenecker, G. (2007). Universelle Bahnplanung für das automatische Einparken. ATZ - Automobiltechnische Zeitschrift, 109, 66-71. https://dx.doi.org/10.1007/BF03221861
- Roppenecker, G. (2007). Universelle Bahnplanung für das Automatische Einparken. ATZ - Automobiltechnische Zeitschrift, 109(1), 66-71.
- Schmidt, K. (2007). A shared-medium communication architecture for distributed discrete event systems. In Proceedings of the 2007 Mediterranean Conference on Control and Automation, MED. Athens.
- Schmidt, K. (2007). Hierarchical and decentralized multitasking control of discrete event systems. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 5936-5941). New Orleans, LA.
- Schmidt, K. (2007). Systematic message schedule construction for time-triggered CAN. IEEE Transactions on Vehicular Technology, 56, 3431-3441. https://dx.doi.org/10.1109/TVT.2007.906413
2006
- Antritter, F., & Deutscher, J. (2006). Nonlinear tracking control of a dc motor via a boost-converter using linear dynamic output feedback. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 6587-6592). San Diego, CA.
- Antritter, F., & Deutscher, J. (2006). Trajectory design using differential parameterizations. Proceedings in Applied Mathematics and Mechanics, 6, 795-796. https://dx.doi.org/10.1002/pamm.200610377
- Antritter, F., Reger, J., & Maurer, P. (2006). Flatness based control of a buck-converter driven DC motor. In Proceedings of the 4th IFAC Symposium on Mechatronic Systems, MX 2006 (pp. 36-41). Heidelberg.
- Deutscher, J. (2006). A parametric frequency domain approach to decoupling with coupled rows. International Journal of Systems Science, 37(11), 735-746. https://dx.doi.org/10.1080/00207720600813087
- Deutscher, J. (2006). Numerical design of nonlinear observers with approximately linear error dynamics. In Proceedings of the Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) (pp. 2985-2990). Munich.
- Deutscher, J., & Bäuml, M. (2006). A state space embedding approach to time discretization via an approximate normal form. In Proceedings of the MATHMOD 2006. Wien, AT.
- Deutscher, J., & Bäuml, M. (2006). Design of nonlinear observers with approximately linear error dynamics using multivariable Legendre polynomials. International Journal of Robust and Nonlinear Control, 16, 709-727. https://dx.doi.org/10.1002/rnc.1091
- Deutscher, J., & Schmid, C. (2006). A numerical approach to approximate feedback linearization. In Proceedings of the Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) (pp. 1934-1939). Munich.
- Deutscher, J., & Schmidt, C. (2006). A state space embedding approach to approximate feedback linearization of single input nonlinear control systems. International Journal of Robust and Nonlinear Control, 16(9), 421-440. https://dx.doi.org/10.1002/rnc.1069
- Graichen, K. (2006). Feedforward Control Design for Finite-Time Transition Problems of Nonlinear Systems with Input and Output Constraints. Aachen (Germany): Shaker Verlag.
- Graichen, K., Hagenmeyer, V., & Zeitz, M. (2006). Feedforward control with online parameter estimation applied to the Chylla-Haase reactor benchmark. Journal of Process Control, 16(7), 733-745. https://dx.doi.org/10.1016/j.jprocont.2006.01.001
- Graichen, K., & Zeitz, M. (2006). A new approach to feedforward control design under output constraints applied to the side-stepping of the triple inverted pendulum. In Proceedings 4th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2006) (pp. 181-186). Heidelberg (Germany).
- Graichen, K., & Zeitz, M. (2006). Inversionsbasierter Vorsteuerungsentwurf mit Ein- und Ausgangsbeschränkungen. At-Automatisierungstechnik, 54(4), 187-199. https://dx.doi.org/10.1524/auto.2006.54.4.187
- Graichen, K., & Zeitz, M. (2006). Vorsteuerungsentwurf mit Eingangsbeschränkungen für nichtlineare Mehrgrößensysteme. In Proceedings GMA Fachausschuss 1.40 ``Theoretische Verfahren der Regelungstechnik'' (pp. 245-260). Bosen (Germany).
- Hippe, P. (2006). Windup prevention for stable and unstable MIMO systems. International Journal of Systems Science, 37(2), 67-78. https://dx.doi.org/10.1080/00207720500443969
- Kiefer, T., Kugi, A., Graichen, K., & Zeitz, M. (2006). Feedforward and feedback tracking control of a 3DOF helicopter experiment under input and output constraints. In Proceedings 45th IEEE Conference on Decision and Control (CDC) (pp. 1586-1593). San Diego (USA).
- Müller, B., & Deutscher, J. (2006). Zweistufige Trajektorienplanung für das automatische Einparken. In Proceedings of the AUTOREG 2006 (pp. 379-388). Wiesloch.
- Müller, B., Deutscher, J., & Grodde, S. (2006). Trajectory generation and feedforward control for parking a car. In Proceedings of the Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) (pp. 163-168). Munich.
- Schmidt, K. (2006). Hierarchical discrete event systems with inputs and outputs. In Proceedings of the 8th International Workshop on Discrete Event Systems, WODES 2006 (pp. 427-432). Ann Arbor, MI.
- Schmidt, K. (2006). Marked-string accepting observers for the hierarchical and decentralized control of discrete event systems. In Proceedings of the 8th International Workshop on Discrete Event Systems, WODES 2006 (pp. 413-418). Ann Arbor, MI.
- Schmidt, K. (2006). Modular and decentralized supervisory control of concurrent discrete event systems using reduced system models. In Proceedings of the 8th International Workshop on Discrete Event Systems, WODES 2006 (pp. 149-154). Ann Arbor, MI.
- Wieland, P., Meurer, T., Graichen, K., & Zeitz, M. (2006). Feedforward control design under input constraints for a tubular reactor model. In Proceedings 45th IEEE Conference on Decision and Control (CDC) (pp. 3968-3973). San Diego (USA).
2005
- Antritter, F., & Deutscher, J. (2005). Asymptotic tracking for nonlinear systems using fictitious inputs. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 4022-4027). Seville.
- Deutscher, J. (2005). Input-output linearization of nonlinear systems using multivariable Legendre polynomials. Automatica, 41, 299-304. https://dx.doi.org/10.1016/j.automatica.2004.11.001
- Deutscher, J., Schmidt, K., & Antritter, F. (2005). Feedforward control of nonlinear systems using fictitious inputs. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 7264-7269). Seville, ES.
- Graichen, K., Hagenmeyer, V., & Zeitz, M. (2005). Adaptive feedforward control with parameter estimation for the Chylla-Haase polymerization reactor. In Proceedings 44th IEEE Conference on Decision and Control & European Control Conference (CDC--ECC) (pp. 3049-3054). Sevilla (Spain).
- Graichen, K., Hagenmeyer, V., & Zeitz, M. (2005). A new approach to inversion-based feedforward control design for nonlinear systems. Automatica, 41(12), 2033-2041. https://dx.doi.org/10.1016/j.automatica.2005.06.008
- Graichen, K., Treuer, M., & Zeitz, M. (2005). Fast side-stepping of the triple inverted pendulum via constrained nonlinear feedforward control design. In Proceedings 44th IEEE Conference on Decision and Control & European Control Conference (CDC--ECC) (pp. 1096-1101). Sevilla (Spain).
- Graichen, K., & Zeitz, M. (2005). Feedforward control design for nonlinear systems under input constraints. In T. Meurer, K. Graichen, E.D. Gilles (Eds.), Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems. (pp. 235-252). Berlin (Germany): Springer.
- Graichen, K., & Zeitz, M. (2005). Nonlinear feedforward and feedback tracking control with input constraints solving the pendubot swing-up problem. In Proceedings 16th IFAC World Congress (pp. 1112-1117). Prague (CZ).
- Graichen, K., & Zeitz, M. (2005). Vorsteuerungsentwurf mit Ausgangsbeschränkungen am Beispiel von Mehrfachpendeln. In Proceedings GMA Fachausschuss 1.40 ``Theoretische Verfahren der Regelungstechnik'' (pp. 39-49). Bosen (Germany).
- Meurer, T., Graichen, K., & Gilles, E.D. (Eds.) (2005). Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems. Berlin (Germany): Springer.
- Meurer, T., Graichen, K., & Zeitz, M. (2005). Motion planning and feedforward control for distributed parameter systems under input constraints. In Proceedings 16th IFAC World Congress (pp. 934-939). Prague (CZ).
- Müller, B., & Deutscher, J. (2005). Approximate input-output linearization using L2-optimal bilinearization. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 4903-4908). Seville.
- Schmidt, K. (2005). A hierarchical architecture for nonblocking control of decentralized discrete event systems. In Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05 (pp. 902-907). Limassol.
- Schmidt, K. (2005). Natural gait generation techniques for multi-bodied isolated mechanical systems. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 3664-3669). Barcelona.
- Schmidt, K. (2005). Nonblocking hierarchical control of decentralized des. In Proceedings of the 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 (pp. 163-168). Prague.
- Wurmthaler, C., & Meier, G. (2005). Longitudinal vehicle guidance using neural networks. In Proceedings of the 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005 (pp. 685-688). Espoo.
- Zeitz, M., Graichen, K., & Meurer, T. (2005). Vorsteuerung mit Trajektorienplanung als Basis einer Folgeregelung. In GMA-Kongress ``Automation als interdisziplinäre Herausforderung'', VDI-Berichte Nr. 1883 (pp. 795-806). Baden-Baden (Germany).
2004
- Antritter, F., Müller, B., & Deutscher, J. (2004). Tracking control for nonlinear flat systems by linear dynamic output feedback. IFAC-PapersOnLine, 37, 141-146. https://dx.doi.org/10.1016/S1474-6670(17)31213-2
- Graichen, K., Hagenmeyer, V., & Zeitz, M. (2004). Van de Vusse CSTR as a benchmark problem for nonlinear feedforward control design techniques. In Proceedings 6th IFAC Symposium ``Nonlinear Control Systems'' (NOLCOS) (pp. 1123-1128). Stuttgart (Germany).
- Graichen, K., & Zeitz, M. (2004). Swing-up of a pendubot under input constraints. In Proceedings 49th Ilmenau International Scientific Colloquium (pp. 393-398). Ilmenau (Germany).
- Meier, G., Roppenecker, G., & Wurmthaler, C. (2004). Automatische Fahrzeug-Längsführung mittels Trajektorien- Folgeregelung: Ein modulares Konzept zur Trennung zwischen Fahrzeug- und Fahrer-Spezifika.
- Reger, J., & Schmidt, K. (2004). A finite field framework for modeling, analysis and control of finite state automata. Mathematical and Computer Modelling of Dynamical Systems, 10, 253-285. https://dx.doi.org/10.1080/13873950412331300142
- Reger, J., & Schmidt, K. (2004). Modeling and analyzing finite state automata in the finite field F 2. Mathematics and Computers in Simulation, 66, 193-206. https://dx.doi.org/10.1016/j.matcom.2003.11.005
- Roppenecker, G., Wurmthaler, C., & Meier, G. (2004). Automatic lateral vehicle guidance using tracking control - A modular approach to separate driver- and vehicle-dependent dynamics. In Proceedings of the 2004 IEEE Intelligent Vehicles Symposium (pp. 145-149). Parma.
2003
- Bitzer, M., Graichen, K., & Zeitz, M. (2003). Model-based trajectory control of pressure swing adsorption plants. In Proceedings 7th International Symposium on Advanced Control of Chemical Processes (ADCHEM 2003) (pp. 627-632). Hong Kong (China).
- Deutscher, J. (2003). A linear differential operator approach to flatness based tracking for linear and non-linear systems. International Journal of Control, 76, 266-276. https://dx.doi.org/10.1080/0020717031000067358
- Deutscher, J. (2003). Asymptotically exact input-output linearization using Carleman linearization. In Proceedings of the 7th European Control Conference 2003 (pp. 1726-1731). Institute of Electrical and Electronics Engineers Inc..
- Deutscher, J., & Lohmann, B. (2003). Flatness based asymptotic disturbance rejection for linear and nonlinear systems. In Proceedings of the 7th European Control Conference 2003 (pp. 3183-3188). Institute of Electrical and Electronics Engineers Inc..
- Hippe, P. (2003). Hyperbolic QR factorization for J-spectral factorization of polynomial matrices. In Proceedings of the 42nd IEEE Conference on Decision and Control (pp. 3479-3484). Maui, HI.
- Hippe, P. (2003). Windup prevention for unstable systems. Automatica, 39(11), 1967-1973. https://dx.doi.org/10.1016/S0005-1098(03)00216-4
- Hippe, P., & Deutscher, J. (2003). Frequency domain design of reduced order H∞ filters for discrete time systems. In Proceedings of the 7th European Control Conference 2003 (pp. 2207-2212). Institute of Electrical and Electronics Engineers Inc..
- Reger, J., & Schmidt, K. (2003). Aspects on analysis and synthesis of linear discrete systems over the finite field Fq. In Proceedings of the 2003 European Control Conference, ECC 2003 (pp. 1601-1606). Institute of Electrical and Electronics Engineers Inc..
- Schmitt-Braeß, G. (2003). Design of robust multivariable feedback control systems using pole assignment and positivity concepts. European Journal of Control, 9(4), 384-391. https://dx.doi.org/10.3166/ejc.9.384-391
- Schmitt-Braeß, G. (2003). Feedback of passive systems: Synthesis and analysis of linear robust control systems. IEE Proceedings Control Theory and Applications, 150(1), 83-91. https://dx.doi.org/10.1049/ip-cta:20030104
- Schmitt-Braeß, G. (2003). Using circle criteria for verifying asymptotic stability in PI-like fuzzy control systems: Application to the milling process. IEE Proceedings Control Theory and Applications, 150(6), 619-627. https://dx.doi.org/10.1049/ip-cta:20030795
2002
- Deutscher, J. (2002). Approximate input-output linearization of nonminimum phase nonlinear systems with linear unforced dynamics. IFAC-PapersOnLine, 35, 91-96. https://dx.doi.org/10.3182/20020721-6-ES-1901.00265
- Deutscher, J. (2002). Frequency domain design of reduced order observer based H∞ controllers - a polynomial approach. International Journal of Control, 75, 1196-1212. https://dx.doi.org/10.1080/00207170210162047
- Deutscher, J. (2002). On parametric state feedback design in the frequency domain. IFAC-PapersOnLine, 35, 285-290. https://dx.doi.org/10.3182/20020721-6-ES-1901.00209
- Hippe, P., & Deutscher, J. (2002). Design of reduced order H∞ filters for discrete time systems. IFAC-PapersOnLine, 35, 107-112. https://dx.doi.org/10.3182/20020721-6-ES-1901.00179
- Reger, J. (2002). Cycle analysis for deterministic finite state automata. In Proceedings of the 15th World Congress of the International Federation of Automatic Control, 2002 (pp. 247-252). IFAC Secretariat.
- Schmitt-Braeß, G. (2002). A generalized circle criterion and its fields of application. In Proceedings of the 2002 IEEE International Conference on Control Applications (pp. 1100-1105). Glasgow.
- Schmitt-Braeß, G. (2002). Extended Circle Criterion: Stable fuzzy control of a milling process. In Proceedings of the 15th World Congress of the International Federation of Automatic Control, 2002 (pp. 85-90). IFAC Secretariat.
- Schmitt-Braeß, G. (2002). Multivariable circle criterion: Stable fuzzy control of a milling process. In Proceedings of the 2002 IEEE International Conference on Control Applications (pp. 385-390). Glasgow.
2001
- Deutscher, J., & Hippe, P. (2001). Design of reduced order H∞ filters in the frequency domain. In Proceedings of the Workshop on Polynomial Design Methods in Signals, Systems and Control 2001. Prag, CZ.
- Deutscher, J., & Hippe, P. (2001). Parametric compensator design in the frequency domain. International Journal of Control, 74, 1467-1480. https://dx.doi.org/10.1080/00207170110072895
- Deutscher, J., & Hippe, P. (2001). Parametric design of output feedback controllers in the frequency domain. In Proceedings of the 6th European Control Conference 2001 (pp. 3110-3114). Institute of Electrical and Electronics Engineers Inc..
- Hippe, P., & Deutscher, J. (2001). A windup prevention scheme for exponentially unstable SISO plants. In Proceedings of the 6th European Control Conference 2001 (pp. 3213-3218). Institute of Electrical and Electronics Engineers Inc..
- Hippe, P., & Deutscher, J. (2001). Time domain design of the reduced order H∞ filter. In Proceedings of the IFAC Symposium on System Structure and Control 2001. Prag, CZ.
- Reger, J. (2001). Deadlock analysis for deterministic finite state automata using affine linear models. In Proceedings of the 6th European Control Conference, ECC 2001 (pp. 3131-3136). Institute of Electrical and Electronics Engineers Inc..
2000
- Deutscher, J., & Hippe, P. (2000). A frequency domain approach to complete modal synthesis. In Proceedings of the Conference on Control System Design 2000. Bratislava, SK.
- Deutscher, J., & Hippe, P. (2000). Vollständige Modale Synthese im Frequenzbereich. At-Automatisierungstechnik, 48, 26-34. https://dx.doi.org/10.1524/auto.2000.48.1.26
1999
- Deutscher, J., & Hippe, P. (1999). A frequency domain approach to the partial decoupling of non-minimum phase systems and non-decouplable systems. In Proceedings of the 5th European Control Conference 1999 (pp. 361-366). Institute of Electrical and Electronics Engineers Inc..
- Hippe, P. (1999). A windup prevention scheme for multiple integrating plants allowing for arbitrary reference step inputs. In Proceedings of the 1999 European Control Conference, ECC 1999 (pp. 3514-3518). Institute of Electrical and Electronics Engineers Inc..
- Wurmthaler, C., & Hippe, P. (1999). Systematic closed-loop design in the presence of input saturations. Automatica, 35(4), 689-695. https://dx.doi.org/10.1016/S0005-1098(98)00199-X
1998
- Hippe, P., & Deutscher, J. (1998). Problems in the computational solution of the stationary discrete-time LQG problem. In Proceedings of the IFAC Conference on System Structure and Control 1998. Nantes, FR.
1997
- Hippe, P. (1997). Controller and plant windup prevention in MIMO loops with input saturation. In Proceedings of the 4th European Control Conference, ECC 1997 (pp. 1891-1896). Institute of Electrical and Electronics Engineers Inc..
1996
- Wurmthaler, C., & Hippe, P. (1996). Comments on "Dynamic compensation method for multivariable control systems with saturating actuators". IEEETransactions on Automatic Control, 41(10). https://dx.doi.org/10.1109/9.539443
1994
- Hippe, P. (1994). A frequency-domain condition for L2-optimal reduced-order models. At-Automatisierungstechnik, 42, 78-79. https://dx.doi.org/10.1524/auto.1994.42.112.78
1993
- Hippe, P. (1993). Design of the reduced-order Wiener-filter. At-Automatisierungstechnik, 41(7), 254-258. https://dx.doi.org/10.1515/auto-1993-0707
1992
- Hippe, P. (1992). Design of MIMO compensators for systems with unmeasurable disturbances: The polynomial approach. Automatica, 28(5), 1003-1009. https://dx.doi.org/10.1016/0005-1098(92)90154-8
- Hippe, P. (1992). Frequency weighted order reduction for compensator design. At-Automatisierungstechnik, 40(12), 447-453. https://dx.doi.org/10.1515/auto-1992-1203
- Hippe, P. (1992). Inversion of Polynomial Matrices by Interpolation. IEEE Transactions on Automatic Control, 37(3), 363-365. https://dx.doi.org/10.1109/9.119638
- Hippe, P. (1992). Reduced-Order wiener filter. International Journal of Systems Science, 23(12), 2413-2418. https://dx.doi.org/10.1080/00207729208949467
1991
- Henneberger, K. (1991). Order reduction of discrete systems using a balanced and a equivalent state representation. At-Automatisierungstechnik, 39, 170-178. https://dx.doi.org/10.1524/auto.1991.39.112.170
1990
- Hippe, P. (1990). A nonminimal representation of reduced-order observers. Automatica, 26(2), 405-409. https://dx.doi.org/10.1016/0005-1098(90)90137-7
- Hippe, P. (1990). Design of reduced-order observer-based compensators in the frequency domain. At-Automatisierungstechnik, 38, 274-278. https://dx.doi.org/10.1524/auto.1990.38.112.274
- Hippe, P., & Wurmthaler, C. (1990). Optimal reduced-order estimators in the frequency domain: The discrete-time case. International Journal of Control, 52(5), 1051-1061. https://dx.doi.org/10.1080/00207179008953583
1989
- Hippe, P. (1989). Design of reduced-order Kalman filters in the frequency domain. At-Automatisierungstechnik, 37, 219-225. https://dx.doi.org/10.1524/auto.1989.37.112.219
- Hippe, P. (1989). Dynamic measuring of frequency and frequency oscillations in multiphase power systems. IEEE Transactions on Power Delivery, 4(1), 95-102. https://dx.doi.org/10.1109/61.19193
1988
- Hippe, P. (1988). Comments on “FF-Pade Method of Model Reduction in Frequency Domain”. IEEE Transactions on Automatic Control, 33(4), 415-416. https://dx.doi.org/10.1109/9.192206
- Hippe, P. (1988). Parameterization of the full-order compensator in the frequency domain. International Journal of Control, 48(4), 1583-1603. https://dx.doi.org/10.1080/00207178808906271
1987
- Hippe, P. (1987). Design of pole placing controllers for stable and unstable systems with pure time delay. International Journal of Control, 45(6), 2173-2182. https://dx.doi.org/10.1080/00207178708933874
- Hippe, P. (1987). Measuring the frequency oscillations in power supply systems with the aid of an observer-based filter. At-Automatisierungstechnik, 35, 487-494. https://dx.doi.org/10.1524/auto.1987.35.112.487
- Hippe, P. (1987). Parametric compensator design. International Journal of Control, 45(4), 1455-1468. https://dx.doi.org/10.1080/00207178708933821
- Hippe, P. (1987). The relation between pole-zero location and input-output behaviour of linear dynamical systems and its consequences for identification model order reduction and controller design. At-Automatisierungstechnik, 35, 411-417. https://dx.doi.org/10.1524/auto.1987.35.112.411
- Wurmthaler, C., & Hippe, P. (1987). Comments on 'a regulating and tracking pi(d) controller'. International Journal of Control, 46(5), 1851-1856. https://dx.doi.org/10.1080/00207178708934017
- Wurmthaler, C., & Hippe, P. (1987). Design of Optimal State Controllers in the Frequency Domain. At-Automatisierungstechnik, 35, 321-326. https://dx.doi.org/10.1524/auto.1987.35.112.321
1985
- Hippe, P. (1985). Eine Bemerkung zur Pol-Nullstellen-Kompensation in Regelkreisen. At-Automatisierungstechnik, 33, 359-360. https://dx.doi.org/10.1524/auto.1985.33.112.359
1983
- Hippe, P. (1983). Environ analysis of linear compartmental systems: The dynamic, time-invariant case. Ecological Modelling, 19(1), 1-26. https://dx.doi.org/10.1016/0304-3800(83)90067-4
- Hippe, P. (1983). Systematische Auslegung von Zustandsregelkreisen im Frequenzbereich Systematic design of state controllers in the frequency domain. At-Automatisierungstechnik, 31, 403-409. https://dx.doi.org/10.1524/auto.1983.31.112.403
1982
- Hippe, P. (1982). A measure for the influence of feedback control on the dynamics of linear, timeinvariant systems. At-Automatisierungstechnik, 30, 96-101. https://dx.doi.org/10.1524/auto.1982.30.112.96
- Hippe, P. (1982). Correspondence:comments on ‘ further comments on “ minimal order observers for linear multivariable systems with unmeasurable disturbances ”. International Journal of Control, 36(5), 897-899. https://dx.doi.org/10.1080/00207178208932941
1981
- Wurmthaler, C., & Hippe, P. (1981). A minimal-order servo compensator includung disturbance rejection. At-Automatisierungstechnik, 29, 155-164. https://dx.doi.org/10.1524/auto.1981.29.112.155
- Wurmthaler, C., & Hippe, P. (1981). A simple method to design state controllers with disturbance rejection. At-Automatisierungstechnik, 29, 131-136. https://dx.doi.org/10.1524/auto.1981.29.112.131
Projects
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Hardware architecture, automatic control, autonomy functionality, and developer community: Modular learning control and planning for mobile professional operation vehicles
(Third Party Funds Group – Sub project)
Overall project: POV.OS - Hardware and software platform for mobile professional operation vehicles
Term: 1. January 2023 - 31. December 2025
Funding source: Bundesministerium für Wirtschaft und Klimaschutz (BMWK) -
Formulation of dispersed systems via (melt) emulsification: Process design, in situ diagnostics and regulation
(Third Party Funds Group – Sub project)
Overall project: Autonome Prozesse in der Partikeltechnik - Erforschung und Erprobung von Konzepten zur modellbasierten Führung partikeltechnischer Prozesse
Term: 1. January 2023 - 31. December 2025
Funding source: DFG / Schwerpunktprogramm (SPP)The aim of this project is the automated production of liquid-liquid disperse systems via melt emulsification, whereby in this process emulsification takes place at elevated temperature. The products obtained after cooling are dispersions of spherical nanoparticles or microparticles. Within the scope of this project, a melt emulsification device for the automated production of product particles with a well-defined particle size distribution (PSD) will be further developed. The PSD has a significant influence on the subsequent product properties, such as flow behavior or drug release kinetics. The PSD of the products is determined by the complex interaction of competing mechanisms. These are, in particular, droplet breakup in a rotor-stator device as a result of shear and elongation stress, as well as coalescence and further ripening, which in turn depend on the system composition, i.e. the emulsifier used (type, concentration) and the dispersion phase (viscosity, volume fraction).
Therefore, for a better process understanding and an active process control, possibilities for in situ determination of the PSD are urgently required. In this project, a novel fiber-coupled measurement system based on broadband elastic light scattering is developed for in situ measurement of the PSD. The system will be validated on reference particle systems and applied to the emulsification process. Furthermore, a hybrid process model is developed, which is the basis for the design of a model predictive control of the process. The model predictive control in combination with the in situ measurement will provide the possibility for an active process control and the production of emulsions with predefined properties and a simultaneous optimization of the process time.
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Predictive and learning control methods
(Third Party Funds Group – Sub project)
Overall project: AGENT-2: Agent-based data-driven modeling for stochastic and self-adjusting control of building energy systems
Term: 1. November 2022 - 31. October 2025
Funding source: Bundesministerium für Wirtschaft und Klimaschutz (BMWK)To achieve climate targets, CO2 emissions in the building sector have to be significantly reduced. However, the integration of renewable energy sources increases the complexity of building energy systems and thus the requirements for the operation strategy. Model-based and predictive controllers are necessary for efficient operation. However, due to the high complexity of the energy systems, the development, implementation, and commissioning are very complex leading to high costs, which is why model predictive and optimization-based control strategies are rarely used in practice so far. The goal of the AGENT-2 project is to develop a self-adjusting and self-learning model-predictive control concept that reduces the implementation and commissioning effort and thus increases the applicability of efficient operating strategies in practice. The control concept to be developed is based on distributed agents, each of which learns the system behavior of a subsystem and controls the subsystem. This is based on the findings and the framework developed in the previous project AGENT. The operation of the overall system is achieved by the interaction oft h e self-learning agents with each other. Thus, a self-adjusting and scalable control strategy for building energy systems is created. The self-learning control strategy is compared with state-of-the-art concepts in simulations and tested in practical operation in two demonstration buildings. The findings will be generalized and possibilities for the transfer into practice will be investigated. The project thus contributes to increasing the efficiency of building operation and to reducing the costs of controller implementation and commissioning.
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Robust Planning and Control using Probabilistic Methods
(Third Party Funds Group – Sub project)
Overall project: Verbundprojekt MANNHEIM-AUTOtech.agil: Architektur und Technologien zur Orchestrierung automobiltechnischer Agilität
Term: 1. October 2022 - 30. September 2025
Funding source: Bundesministerium für Bildung und Forschung (BMBF) -
Cooperative manipulation with dual-arm robots at the payload limit
(Third Party Funds Single)
Term: 1. September 2022 - 31. August 2025
Funding source: DFG-Einzelförderung / Sachbeihilfe (EIN-SBH)Dual-armrobots offer a high potential for automation technology, as they canbe used to implement tasks that are not possible with one arm alone.This includes in particular the manipulation of large or heavyobjects that exceed the payload of a single arm. Illustrativeexamples are the movement of beverage crates, long boards or pipes,which are also preferably grasped by humans with both hands.
However,cooperative manipulation is particularly challenging, because botharms and the grasped object form a closed kinematic chain. Thecorresponding constraints reduce the number of degrees of freedom andmust be taken into account on the levels of control, trajectory andpath planning. Conversely, the system has the advantage that the loadcan be flexibly distributed on both arms due to the redundantactuators. This is especially crucial for heavy objects, since it isthe only way to comply with actuator torque constraints. The firstgoal of the research project is therefore the development of adynamic load distribution that explicitly takes actuator constraintsinto account and is thus suited for high payloads. To this end, anoptimization-based approach is pursued with a focus on efficiency andreal-time capability.
Moreover,this load distribution must be taken into account on all systemlevels, since otherwise large payloads can lead to the situation thatno admissible trajectory can be computed for a path or that atrajectory is not executable by the controller. Consequently, thesecond goal is the consistent consideration of the dynamic loaddistribution. On the control level, this includes not only theisolated solution of the optimal load distribution in each samplingstep, but also the approach of a forward-looking model predictivecontroller. For trajectory planning, on the one hand, a time-optimaltrajectory generation with subordinate solution of the dynamic loaddistribution and, on the other hand, the extension of the modelpredictive controller to a predictive path-following controller shallbe investigated. Furthermore, a path planner for dual-arm robots willbe developed for the first time, which explicitly considers thepayload and can be extended in a modular manner to take collisions aswell as the additional degrees of freedom of a mobile base intoaccount.
Thethird goal is the extensive experimental validation of the control,trajectory and path planning methods in order to practicallydemonstrate the potential of cooperative manipulation with dual-armrobots. For this purpose, a mobile dual-arm robot with additionalmotion capturing system from the DFG major instrumentation proposal438833210 is available at the Chair of Automatic Control. Inparticular, movements with large and heavy objects shall beperformed, whose mass is in the order of magnitude of the combinedmaximum payload of both arms.
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Feasibility of stochastic model predictive control for autonomous driving
(Third Party Funds Single)
Term: 1. August 2022 - 31. December 2022
Funding source: Industrie -
Control of ring resonator modulators in optical communication
(Third Party Funds Single)
Term: 1. February 2022 - 31. January 2025
Funding source: Industrie -
Distributed model predictive control of nonlinear systems with asynchronous communication
(Third Party Funds Single)
Term: 1. January 2022 - 31. December 2024
Funding source: Deutsche Forschungsgemeinschaft (DFG) -
Anomaly detection and intelligent recalibration of sensorized systems
(Third Party Funds Single)
Term: 1. November 2021 - 31. October 2024
Funding source: Industrie -
KI-unterstützte Modellierung zur Steigerung der Regelgüte
(Third Party Funds Single)
Term: 1. July 2021 - 30. June 2024
Funding source: Industrie -
Kinesthetic teaching and predictive control of interaction tasks in robotics
(Third Party Funds Single)
Term: 1. July 2021 - 30. June 2024
Funding source: Deutsche Forschungsgemeinschaft (DFG)Precise interactions as part of industrial manufacturing tasks are typically very complex to characterize and implement. One reason for this is the heterogeneity of the task-specific requirements for the motion and control behavior. A direct implementation of the task into a robot program therefore requires highly qualified specialists and is only profitable for large lot sizes. For a flexible applicability and easy (re-)configuration of the robot system, an approach to programming by kinesthetic demonstration is developed in this project. The robot is guided by the user through the entire manipulation task, while the robot motion as well as the interaction forces are simultaneously recorded. Typically, several repetitions of the demonstration are necessary in order to compensate for the suboptimality and imprecision of the human demonstration. This is particularly important for complex motion sequences or interaction situations, such as periodic movements or the assembly of components, that are difficult to demonstrate but at the same time are crucial for a successful task execution.
The basis for this project is a previously developed general framework for model predictive interaction control (MPIC). The manipulation task is split into a sequence of elementary tasks, so-called manipulation primitives (MPs) with individual motion and control characteristics, which are treated in a holistic manner by a model predictive control approach. The MPIC approach is elaborated in this project regarding the kinesthetic demonstration of manipulation tasks, e.g. by considering the switching between MPs over the prediction horizon of the MPC. A further focus lies on the automatic generation of the MP sequence from the repeated demonstration of the manipulation task without requiring additional expert knowledge. Based on the demonstration, the manipulation task will be iteratively refined by learning the setpoints and the transition conditions of the MPs and finally by optimizing the overall manipulation task.
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Innovative Regelungs- und Steuerungsstrategien für Druckerhöhungsanlagen - TP Erlangen
(Third Party Funds Group – Sub project)
Overall project: Innovative Regelungs- und Steuerungsstrategien für Druckerhöhungsanlagen
Term: 1. July 2021 - 30. June 2024
Funding source: Bayerische Forschungsstiftung -
Robust control of modular multi-level converters
(Third Party Funds Single)
Term: 16. June 2021 - 31. December 2024
Funding source: Industrie -
Motion planning for driving simulators
(Third Party Funds Single)
Term: 1. January 2021 - 30. June 2021
Funding source: Industrie -
Thermische Umrichtermodellierung für elektrische Antriebssysteme
(Third Party Funds Single)
Term: 1. August 2020 - 31. July 2023
Funding source: Industrie -
Regelung des Antriebsstrangs beim Kaltwalzen
(Third Party Funds Single)
Term: 1. July 2020 - 31. August 2023
Funding source: Industrie -
Automated path planning for truck-trailer configurations
(Third Party Funds Single)
Term: 1. September 2019 - 31. August 2022
Funding source: Industrie -
Modulare und hierarchische Ansätze für die Regelung nebenläufiger zeitbewerteter ereignisdiskreter Systeme
(Third Party Funds Single)
Term: 15. July 2019 - 14. July 2022
Funding source: DFG-Einzelförderung / Sachbeihilfe (EIN-SBH)Neue Technologien haben zur Entwicklung von Systemen geführt, die weitgehend autonom agieren und typischerweise aus einer Vielzahl vernetzter Komponenten bestehen. Die Komplexität solcher Systeme erfordert neuartige Ansätze zur Modellierung und Reglersynthese, um die gewünschte Funktionalität zu garantieren. Ereignisdiskrete Systeme (discrete-event systems, DES) sind Modelle, deren Dynamik durch das Auftreten asynchroner Ereignisse charakterisiert wird. Solche Modelle eignen sich für viele "man made Systems", wie beispielsweise automatisierte Transportvorrichtungen und flexible Fertigungsanlagen. Die Modellierung ereignisdiskreter Systeme erfolgt mit aus der Informatik bekannten Beschreibungsmitteln, wie etwa endlichen Automaten, formalen Sprachen oder Petri-Netzen. Zur Reglersyn these hat sich die sog. "supervisory control theory" etabliert, bei der der Regler bzw. supervisor aus vergangenen Ereignissen ableitet, welche Ereignisse aktuell unterbunden werden müssen, um einen wunschgemäßen Ablauf des geregelten Systems zu gewährleisten. Eine zentrale Herausforderung ist hierbei die in der Komponentenzahl exponentiell wachsende Zahl von Zuständen des Gesamtsystems. Dieser begegnet man durch modulare oder hierarchische Ansätze, die das explizite Erstellen eines Gesamtmodells umgehen. In ihrer Grundform beschreiben ereignisdiskrete Systeme nur die Reihenfolge der Abfolge von Ereignissen. Dies reicht aus, um Regler zu entwerfen, die einen sicheren und zielführenden Betrieb des geregelten Systems garantieren. In vielen Anwendungen spielt aber neben Sicherheit auch Performanz eine Rolle. Letztere bezieht sich i.A. nicht nur auf die Reihenfolge sondern auch auf die Zeitpunkte, zu denen Ereignisse auftreten. Dazu bietet die Literatur eine Auswahl von Modellformen, die sich hinsichtlich ihrer Ausdrucksstärke deutlich unterscheiden. Am unteren Ende rangieren Ansätze nach Brandin/Wonham, bei denen das Verstreichen von Zeit durch das globale Ereignis "tick" abgebildet wird, sowie sog. zeitbewertete Ereignisgraphen (timed event graphs, TEGs), deren Verhalten sich als Lösungen linearer (max,+)- Gleichungen darstellen lässt. Für beide Ansätze ist die Reglersynthese gut erforscht. Allerdings wird die hier verfügbare Ausdrucksstärke vielen Anwendungen nicht gerecht: Modelliert man nach Brandin-Wonham, so lassen sich nebenläufige Prozesse, die mehrere unabhängige Echtzeituhren erfordern, nicht darstellen; verwendet man zeitbewertete Ereignisgraphen, so können logische Verzweigungen nicht dargestellt werden. In diesem Projekt wollen wir effiziente Methoden zur ereignisdiskreten Regelung für Modellformen untersuchen, die in ihrer Ausdrucksstärke über die beiden genannten Ansätze deutlich hinaus gehen. Wir streben insbesondere an, mit Hilfe modularer und hierarchischer Methoden für sog. (max,+)-Automaten und ausgewählt strukturierte Petri-Netze Regler zu entwerfen, die gegebene Anforderungen hinsichtlich Korrektheit und Performanz garantieren.
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Agent-based systems for intelligent and robust control of complex energy systems in non-residential buildings as part of a superordinate energy system
(Third Party Funds Group – Sub project)
Overall project: Agentensysteme zur intelligenten und robusten Steuerung komplexer Energiesysteme in Nichtwohngebäuden als Bestandteil des übergeordneten Energiesystems
Term: 1. May 2019 - 31. December 2022
Funding source: Bundesministerium für Wirtschaft und Technologie (BMWi) -
Formale Verifikation in der Fertigungsautomatisierung (Projektabschnitt B1)
(Third Party Funds Single)
Term: 15. April 2019 - 14. April 2020
Funding source: Siemens AG -
Trajectory planning for off-road applications
(Third Party Funds Single)
Term: 1. April 2019 - 31. October 2021
Funding source: Industrie -
Modular distributed model predictive control of nonlinear systems with neighborhood models
(Third Party Funds Single)
Term: 1. April 2019 - 31. December 2020
Funding source: DFG-Einzelförderung / Sachbeihilfe (EIN-SBH)The steadily growing demands on efficiency and flexibility of modern automation and control systems requires a broader design approach for the overall system that goes beyond the isolated look at and control of single subsystems. Decentral and distributed control schemes follow this holistic design approach by including the interdependencies between the subsystems in the control design.
Model predictive control (MPC) appears to be a suitable control approach to tackle these kind of systems. In essence, MPC relies on the numerical solution of a finite-horizon dynamic optimization problem that is repetitively solved according to the sampling rate of the system. An extension of MPC to coupled systems is distributed MPC (DMPC), which assigns a single communicating MPC agent to each subsystem.
The goal of the project is to develop a DMPC scheme for nonlinear coupled systems, where each MPC agent contains a neighborhood model that anticipates the dynamical behavior of its neighbors in order to enhance the convergence and robustness of the distributed algorithm. Besides the development and mathematical investigation of the methodology, a further goal of the project is the numerical and experimental realization of the control approach. A particular intention of the project is to develop a modular framework that allows for an easy configuration and adaptation of the coupling structure for suitable system classes.
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Compliance for a robotic assistance system
(Third Party Funds Single)
Term: 1. April 2019 - 30. September 2022
Funding source: Industrie -
Formale Verifikation in der Fertigungsautomatisierung (Projektabschnitt A)
(Third Party Funds Single)
Term: 15. April 2018 - 14. April 2019
Funding source: Siemens AG -
Fehlerdiagnose verteilt-parametrischer Systeme mittels Modulationsfunktionen
(Third Party Funds Single)
Term: 1. April 2018 - 31. March 2021
Funding source: DFG-Einzelförderung / Sachbeihilfe (EIN-SBH) -
Systematischer Entwurf hierarchisch-hybrider Regler
(Third Party Funds Group – Sub project)
Overall project: FOR 468: Methods from discrete mathematics for the synthesis and control of chemical processes
Term: 1. January 2006 - 30. January 2011
Funding source: DFG / Forschungsgruppe (FOR)Ziel des beschriebenen Forschungsvorhabens ist die Weiterentwicklung eines in der ersten Antragsphase untersuchten Verfahrens zum hierarchischen Entwurf hybrider Regelsysteme. Das genannte Verfahren ermöglicht es, sowohl ingenieurwissenschaftliche Intuition und regelungstechnische Standardverfahren als auch moderne Methoden der diskreten Optimierung auf sichere Weise in einen formalen Entwurfsvorgang einzubinden. Es trägt so zur Beherrschbarkeit der hybriden Regelproblemen innewohnenden Komplexität bei und wurde in der ersten Antragsphase erfolgreich auf eine Mehrprodukt-Batchanlage angewandt. Um das Verfahren zu einer praxistauglichen Entwurfsmethode zu machen, sind eine Reihe von methodischen Weiterentwicklungen notwendig. Diese betreffen strukturelle Fragen hinsichtlich der hierarchischen Reglerarchitektur, Fragen der effizienten Berechnung diskreter Abstraktionen durch sichere Abschätzung erreichbarer Zustandsmengen sowie algorithmische Fragen beim Entwurf ereignisdiskreter Reglerebenen. Die praktische Anwendbarkeit des resultierenden hierarchischen Entwurfsverfahrens soll anhand eines strukturvariablen chromatographischen Trennprozesses nachgewiesen werden.
Research
The research at the Chair of Automatic Control focuses on the methodological development and practical applicability of modern control-oriented methods. The research domains thereby can be divided into control and optimization and discrete event systems. An expertise of the chair is to transfer research into practice in various application domains.
Control & Optimization
Learning in Control
Algorithms of artificial intelligence and machine learning are of increasing importance for control engineering. At the Chair of Automatic Control, research is mainly directed towards the extension of control methods by learning components.
Discrete Event Systems
The research group FGDES develops methods for the analysis and synthesis of discrete-event systems with a particular focus on modular and/or hierarchical control architectures. Here, discrete-event systems are dynamical systems with a finite-range state variable. Prototypical application domains are so called “men made systems”, e.g., for automated manufacturing or logistics, which by construction can be adequately represented by discrete-event models.
Robotics
Mechatronics & Automotive
Mechatronic systems, which comprise both mechanical and electrical parts, represent an important application field of control engineering. Due to the limited computing power of the used ECUs, the application of modern control methods in these systems is associated with particular challenges. The Chair of Automatic Control researches control methods for, for example, electric drives, automatic transmissions and vehicles.
Projects & Publications
Discrete Event Systems
The research group FGDES develops methods for the analysis and sythnesis of discrete-event systems with a particular focus on modular and/or hierarchical architectures. Here, discrete-event systems are dynamical systems with a finite-range state variable. Prototypical application domains are so called “men made systems”, e.g., for automated manufacturing or logistics, which by construction can be adequately represented by discrete-event models.
Contact
Prof. Dr.-Ing. Thomas Moor
Tel.: +49 9131 85-27129
E-Mail | FGDES Homepage
Motivation
How to generate a PLC-program that operates the plant?
The laboratory model on the right represents a flexible manufacturing system. It consists of 29 interacting electro-mechanical components (conveyor belts, pusher, stack-feeder etc.), equipped with 25 actuators (DC-motors) and 57 sensors (key-switches, inductive sensors). The traditional engineering solution to operate the manufacturing system is to program a logic controller (PLC) such that it activates the appropriate motors in reaction on sensor events. This approach crucially relies on the programmer, who must consider any possible configuration of the system. While methods from software engineering assist the programmer and increase productivity, the process by principle remains error prone and unsafe.
Control Theory for Discrete Event Systems!
The manufacturing system can be formally modelled as a discrete-event system (DES). In contrast to continuous states and continuous time used in physically motivated models, discrete-event systems are characterized by discrete and qualitative changes of (symbolic) state values caused by the occurrence of asynchronous discrete events. In the context of our example, the control theoretic perspective on this system class is of a particular interest: given the formal model of the manufacturing system (plant dynamics) and the desired behaviour (formal specification), how can one systematically derive the required PLC program (controller dynamics) that makes ends meet?
Supervisory control theory (SCT) is a framework that provides an answer to the above question, first proposed by P.J. Ramadge and W.M. Wonham in the late 1980s. Since then, many researchers have contributed, including our group, with a particular focus on hierarchical, decentralized and/or modular control system architectures. At the time of writing, the required controller dynamics for systems of the complexity as our laboratory model can be synthesised easily by methods from supervisory control theory. Ongoing projects address the integration of synthesis algorithms with the work-flow of PLC programming, open questions related to fault detection and diagnosis, as well as network implementations of distributed supervision.
Further Directions
The research group FGDES provides the software tools libFAUDES, DESTool, CompileDES and FlexFact, as well asselected Publications via the FGDES homepage.