Zobrazeno 1 - 6
of 6
pro vyhledávání: '"Lukas Lanza"'
Autor:
Lukas Lanza
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 phas
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3a71f737f8d92cfa53cdeb964bcae33d
Publikováno v:
Nonlinear Dynamics 104 (4): 3671-3699 (2021-06-01)
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 eq
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8331353f0001d7e64f9c87297a16ca8f
http://arxiv.org/abs/2010.01010
http://arxiv.org/abs/2010.01010
Autor:
Thomas Berger, Lukas Lanza
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
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::38215cdd8ad7aab37251f3d63cc6f2b2
http://arxiv.org/abs/2001.07535
http://arxiv.org/abs/2001.07535
Autor:
Lukas Lanza
We consider nonlinear multibody systems and present a suitable set of coordinates for the internal dynamics which allow to decouple the internal dynamics without the need to compute the Byrnes–Isidori form. Furthermore, we derive sufficient conditi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::52018b48e2af89193e739cc3ff97f806
Autor:
Thomas Berger, Lukas Lanza
Publikováno v:
Progress in Differential-Algebraic Equations II ISBN: 9783030539047
We study state estimation for nonlinear differential-algebraic systems, where the nonlinearity satisfies a Lipschitz condition or a generalized monotonicity condition or a combination of these. The presented observer design unifies earlier approaches
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c737931064a367c1f6580faeef0bfcb2
https://doi.org/10.1007/978-3-030-53905-4_9
https://doi.org/10.1007/978-3-030-53905-4_9