4 papers · 1 filter
Output feedback control with prescribed performance via funnel pre-compensator
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…
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…
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…