2 citations · 2 across the 5 of their papers we have counts for
6 papers
Port-Hamiltonian modelling of coupled rigid/flexible multibody systems
Thomas Berger, René Hochdahl, Timo Reis +1
We develop a port-Hamiltonian framework for coupled rigid/flexible multibody systems. The rigid dynamics may be nonlinear and subject to configuration and velocity constraints, whi…
Port-Hamiltonian modeling of rigid multibody systems
Thomas Berger, René Hochdahl, Timo Reis +1
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redun…
Experimental validation for the combination of funnel control with a feedforward control strategy
Svenja Drücker, Lukas Lanza, Thomas Berger +2
Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a…
Application of Stable Inversion to Flexible Manipulators Modeled by the ANCF
Svenja Drücker, Robert Seifried
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure…
Intelligent Sliding Mode Control of an Overhead Container Crane
Wallace Moreira Bessa, Svenja Otto, Edwin Kreuzer +1
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopte…
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…