| Advanced Topics in Control (VL) |
| Untertitel: |
| This course is part of the module: Advanced Topics in Control |
| Semester: |
| WiSe 23/24 |
| Veranstaltungstyp: |
| Vorlesung (Lehre) |
| Veranstaltungsnummer: |
| lv661_w23 |
| DozentIn: |
| Patrick Göttsch, M. Sc, Prof. Dr. Herbert Werner |
| Beschreibung: |
- 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
|
| Leistungsnachweis: |
| 625 - Advanced Topics in Control<ul><li>625 - Advanced Topics in Control: mündlich</li></ul> |
| ECTS-Kreditpunkte: |
| 3 |
| Weitere Informationen aus Stud.IP zu dieser Veranstaltung |
Heimatinstitut: Institut für Regelungstechnik (E-14)
In Stud.IP angemeldete Teilnehmer: 21
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