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Perspektivenwechsel. Bildinformationen anzeigen

Perspektivenwechsel.

Foto: Universität Paderborn

M.Sc. Lukas Johannes Lanza

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Publikationen
M.Sc. Lukas Johannes Lanza

Systemtheorie

Mitglied - Doktorand

Telefon:
+49 5251 60-5015
Büro:
TP21.1.18
Besucher:
Technologiepark 21
33100 Paderborn

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2021

Internal dynamics of multibody systems

L.J. Lanza, Systems & Control Letters (2021)


Output tracking for a non-minimum phase robotic manipulator

T. Berger, L.J. Lanza, IFAC-PapersOnLine (2021), pp. 178-185

We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control design by a numerical case study where we simulate end-effector output tracking of the robotic manipulator.


    Tracking control for underactuated non-minimum phase multibody systems

    T. Berger, S. Drücker, L.J. Lanza, T. Reis, R. Seifried, Nonlinear Dynamics (2021)

    <jats:title>Abstract</jats:title><jats:p>We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes–Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.</jats:p>


      Funnel control via funnel pre-compensator

      L.J. Lanza, 2021

      We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown. To this end, we prove that the conjunction of the funnel pre-compensator with a minimum phase system of arbitrary relative degree yields a system of the same relative degree which is minimum phase as well. The error between the original system's output and the pre-compensator's output evolves within a prescribed performance funnel; and moreover, the derivatives of the funnel pre-compensator's output are known explicitly. Therefore, output reference tracking with prescribed transient behavior of the tracking error is possible without knowledge of the derivatives of the original system's output; via funnel control schemes for instance.


      Representation and stability of internal dynamics

      L.J. Lanza, PAMM (2021)


      2020

      Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities

      T. Berger, L.J. Lanza, in: Progress in Differential-Algebraic Equations II, 2020


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