5 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…
A model-free approach to control barrier functions for higher-order systems
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a widely applied modular tool to ensure safe operation of nonlinear dynamical control systems. However, for their construction accurate knowled…
Funnel control with input filter for nonlinear systems with arbitrary relative degree
Janina Schaa, Thomas Berger
This paper addresses output reference tracking with prescribed transient performance for unknown nonlinear multi-input multi-output systems with arbitrary relative degree. We propo…
Analysis and funnel control for nonlinear drill strings
Thomas Berger, Thavamani Govindaraj, Pushya Mitra +1
We study the output tracking problem for a vertically driven drill string system described by a nonlinear boundary-coupled PDE-ODE model. Solvability analysis of the drill string m…
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…