MA Lars Jose

Master's Thesis Lars Jose, 2024

Experimental Validation and Comparison of Observer-Based Controllers for a Heavy Rope System

Abstract

Closed-loop Controllers for a class of hyperbolic PDE-ODE systems described in the literature were implemented on a microcontroller and validated through experiments. For this purpose, an experimental setup consisting of a heavy rope, whose behavior can be described by an infinite-dimensional model, on a trolley was used. Available measurements are the position of the trolley and the angle of attack of the rope on the cart. This allows the use of a state observer to approximate the infinite-dimensional state of the rope. A solution-based controller with online prediction and a Backstepping controller could thus be implemented. In addition, a controller based on passivity is used for a comparison. These approaches were then compared based on experimental results and the effort required for implementation.

Supervisors

Prof. Dr.-Ing. habil. J. Rudolph
M.Sc. Abdurrahman Irscheid