4 papers
Tracking control for underactuated non-minimum phase multibody systems
Thomas Berger, Svenja Drücker, Lukas Lanza +2
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinema…
Internal dynamics of multibody systems
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 comput…
Output tracking for a non-minimum phase robotic manipulator
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, w…
Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities
Thomas Berger, Lukas Lanza
We study state estimation for nonlinear differential-algebraic systems, where the nonlinearity satisfies a Lipschitz condition or a generalized monotonicity condition or a combinat…