We develop and apply methods for modeling, discretization and control of dynamical systems under preservation – or inspired by – their physical structure. Current research foci are the discrete modeling of distributed-parameter Port-Hamiltonian systems (dPHS) and the coupling of this control-oriented system representation with numerical methods and computational tools.
A flexible joint and link manipulator has been constructed to serve as an experimental platform to validate our model-based control designs. The DFG-ANR grant Interconnected infinite-dimensional systems for heterogeneous media (INFIDHEM) consolidates our research cooperation with our French and German partners in the field and strengthens the link with our Model Order Reduction group.
- Geometric Modeling and Control of Flexible Robots
- Numerical Methods for Control
- Interconnected Infinite-Dimensional Systems for Heterogeneous Media INFIDHEM
- Feedforward and Feedback Control of Distributed-Parameter Systems Based on Discretized Port-Hamiltonian Models (2015-2019)
- Identification and Control for Pneumatic Systems (2014-2019)
- Easy-to-Implement Energy-Based Control Design for Systems of Conservation Laws
- Geometric Modeling, Discretization and Control of Mechanical Systems (2014-2016)
- Control of Underactuated Mechanical Systems (2011-2016)
- Passivity-Based Control of Switching Nonlinear Systems (2010-2013)
- Parameterization of Passivity Based Controller Design (2006-2010)
- Structure Preserving Model Order Reduction of Port-Hamiltonian Systems