Advanced Topics in Control (VL) |
Subtitle: |
This course is part of the module: Advanced Topics in Control |
Semester: |
WiSe 23/24 |
Course type: |
Lecture |
Course number: |
lv661_w23 |
Lecturer: |
Patrick Göttsch, M. Sc, Prof. Dr. Herbert Werner |
Description: |
- Linear Parameter-Varying (LPV) Gain Scheduling
- Linearizing gain scheduling, hidden coupling - Jacobian linearization vs. quasi-LPV models - Stability and induced L2 norm of LPV systems - Synthesis of LPV controllers based on the two-sided projection lemma - Simplifications: controller synthesis for polytopic and LFT models - Experimental identification of LPV models - Controller synthesis based on input/output models - Applications: LPV torque vectoring for electric vehicles, LPV control of a robotic manipulator
- Control of Multi-Agent Systems
- Communication graphs - Spectral properties of the graph Laplacian - First and second order consensus protocols - Formation control, stability and performance - LPV models for agents subject to nonholonomic constraints - Application: formation control for a team of quadrotor helicopters
- Linear and Nonlinear Model Predictive Control based on LMIs
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Performance accreditation: |
625 - Advanced Topics in Control<ul><li>625 - Advanced Topics in Control: mündlich</li></ul> |
ECTS credit points: |
3 |
Stud.IP informationen about this course: |
Home institute: Institut für Regelungstechnik (E-14)
Registered participants in Stud.IP: 21
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