7 papers
Chattering Reduction for a Second-Order Actuator via Dynamic Sliding Manifolds
Patricia Nöther, Lars Watermann, Johann Reger
We analyze actuator chattering in a scalar integrator system subject to second-order actuator dynamics with an unknown time constant and first-order sliding-mode control, using bot…
Stability of Lyapunov redesign trajectory tracking control with unbounded perturbations -- A tube-based stability analysis
Niclas Tietze, Kai Wulff, Johann Reger
Considering a nonlinear system in Byrnes-Isidori form that is subject to unbounded perturbations, we apply Lyapunov redesign via feedback linearisation for trajectory tracking. Lev…
High-gain model-following control for trajectory tracking
Nicals Tietze, Kai Wulff, Johann Reger
We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated b…
Indirect Adaptive Control Using a Static Update Law
Tom Kaufmann, Johann Reger
The update law in the indirect adaptive control scheme can be extended to include feedthrough of an error term. This reduces undesired oscillations of the calculated weights. When…
Non-overshooting output shaping for switched linear systems under arbitrary switching using eigenstructure assignment
Kai Wulff, Maria Christine Honecker, Robert Schmid +1
We consider the analytical control design for a pair of switched linear multiple-input multiple-output (MIMO) systems that are subject to arbitrary switching signals. A state feedb…
Set-point control and local stability for flat nonlinear systems using model-following control
Julian Willkomm, Kai Wulff, Johann Reger
We consider the set-point control problem for nonlinear systems with flat output that are subject to perturbations. The nonlinear dynamics as well as the perturbations are locally…