Nonlinear Control

Description

Modern nonlinear control theory experienced a massive boost in the 1980s and 1990s, not the least due to rapid developments based on differential geometry. One of the new concepts with the most impact ever since then has been differential flatness. Today, flatness-based controllers can be found in a vast number of technological applications solving complex nonlinear problems. Research at LSR aims at furthering this development. In both student projects as well as cooperations with international research and industrial partners the methods are adapted and successfully applied.

Apart from flatness-based control, research in nonlinear control focuses on invariant control preserving (existing) symmetries in a system, and the use of time transformations in control design. Additionally, the challenge on how to estimate unmeasured quantaties both in theory and practice is addressed, the design of nonlinear observers.

Publications (selection)

J. Winkler, M. Neubert, and J. Rudolph, A Review of the Automation of the Czochralski Crystal Growth Process, Acta Phys. Pol., 124, 181-192, 2013.

C. Collon and J. Rudolph, Invariant feedback control for the kinematic car on the sphere, Syst. Control Lett., 61:967-972, 2012.

M. Bachmayer, H. Ulbrich, and J. Rudolph, Flatness-based control of a horizontally moving erected beam with a point mass, Mathematical and  Computer Modelling of Dynamical Systems, 17, 49-69, 2011

C. Collon, J. Rudolph, and F. Woittennek, Invariant feedback design for control systems with Lie symmetries - a kinematic car example, Discrete and Continuous Dynamical Systems (Supplement), 312-321, 2011.

C. Collon und J. Rudolph, Zwei Beispiele für die Berücksichtigung von Symmetrien beim Reglerentwurf (Two Examples for the Application of Invariant Feedback Control), at - Automatisierungstechnik, 59, 540-551, 2011. pdf

M. Krause, J. Rudolph, and F. Woittennek, Time Scaling in Motion Planning and Control of Tree-Like Pendulum Structures, in: "Advances in the Theory of Control, Signals and Systems with Physical Modeling", J. Lévine, Ph. Müllhaupt (Eds.), Springer Verlag, pp. 89-98, 2010.

Participants

Dipl.-Ing. C. Collon

Contact person