3 citations · 11 across the 18 of their papers we have counts for
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math.OC2020
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…
math.DS2020
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…
math.OC2020
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…