[{"page":"1-20","language":[{"iso":"eng"}],"_id":"23110","user_id":"24876","volume":"DOI: 10.1080/00207179.2014.893450","title":"Control strategies on stable manifolds for energyefficient swing-ups of double pendula","status":"public","year":"2014","author":[{"full_name":"Flaßkamp, Kathrin","first_name":"Kathrin","last_name":"Flaßkamp"},{"full_name":"Timmermann, Julia","first_name":"Julia","last_name":"Timmermann","id":"15402"},{"last_name":"Ober-Blöbaum","first_name":"Sina","full_name":"Ober-Blöbaum, Sina","id":"16494"},{"full_name":"Trächtler, Ansgar","first_name":"Ansgar","last_name":"Trächtler","id":"552"}],"date_updated":"2022-01-06T06:55:46Z","date_created":"2021-08-09T06:50:04Z","type":"journal_article","department":[{"_id":"153"}],"publication":"International Journal of Control","citation":{"ama":"Flaßkamp K, Timmermann J, Ober-Blöbaum S, Trächtler A. Control strategies on stable manifolds for energyefficient swing-ups of double pendula. <i>International Journal of Control</i>. 2014;DOI: 10.1080/00207179.2014.893450:1-20.","bibtex":"@article{Flaßkamp_Timmermann_Ober-Blöbaum_Trächtler_2014, title={Control strategies on stable manifolds for energyefficient swing-ups of double pendula}, volume={DOI: 10.1080/00207179.2014.893450}, journal={International Journal of Control}, author={Flaßkamp, Kathrin and Timmermann, Julia and Ober-Blöbaum, Sina and Trächtler, Ansgar}, year={2014}, pages={1–20} }","mla":"Flaßkamp, Kathrin, et al. “Control Strategies on Stable Manifolds for Energyefficient Swing-Ups of Double Pendula.” <i>International Journal of Control</i>, vol. DOI: 10.1080/00207179.2014.893450, 2014, pp. 1–20.","short":"K. Flaßkamp, J. Timmermann, S. Ober-Blöbaum, A. Trächtler, International Journal of Control DOI: 10.1080/00207179.2014.893450 (2014) 1–20.","chicago":"Flaßkamp, Kathrin, Julia Timmermann, Sina Ober-Blöbaum, and Ansgar Trächtler. “Control Strategies on Stable Manifolds for Energyefficient Swing-Ups of Double Pendula.” <i>International Journal of Control</i> DOI: 10.1080/00207179.2014.893450 (2014): 1–20.","apa":"Flaßkamp, K., Timmermann, J., Ober-Blöbaum, S., &#38; Trächtler, A. (2014). Control strategies on stable manifolds for energyefficient swing-ups of double pendula. <i>International Journal of Control</i>, <i>DOI: 10.1080/00207179.2014.893450</i>, 1–20.","ieee":"K. Flaßkamp, J. Timmermann, S. Ober-Blöbaum, and A. Trächtler, “Control strategies on stable manifolds for energyefficient swing-ups of double pendula,” <i>International Journal of Control</i>, vol. DOI: 10.1080/00207179.2014.893450, pp. 1–20, 2014."}},{"_id":"42237","language":[{"iso":"ger"}],"main_file_link":[{"url":"https://digital.ub.uni-paderborn.de/ubpb/urn/urn:nbn:de:hbz:466:2-14348","open_access":"1"}],"user_id":"15402","author":[{"first_name":"Julia","last_name":"Timmermann","full_name":"Timmermann, Julia","id":"15402"}],"year":"2014","status":"public","title":"Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels","publication_status":"published","date_updated":"2023-02-20T08:34:15Z","date_created":"2023-02-20T08:33:34Z","department":[{"_id":"153"}],"oa":"1","type":"dissertation","citation":{"mla":"Timmermann, Julia. <i>Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels</i>. 2014.","bibtex":"@book{Timmermann_2014, title={Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels}, author={Timmermann, Julia}, year={2014} }","ama":"Timmermann J. <i>Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels</i>.; 2014.","ieee":"J. Timmermann, <i>Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels</i>. 2014.","apa":"Timmermann, J. (2014). <i>Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels</i>.","short":"J. Timmermann, Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels, 2014.","chicago":"Timmermann, Julia. <i>Optimale Steuerung und Mehrzieloptimierung von dynamischen Systemen untersucht am Beispiel des Mehrfachpendels</i>, 2014."},"supervisor":[{"id":"552","full_name":"Trächtler, Ansgar","first_name":"Ansgar","last_name":"Trächtler"},{"id":"16494","full_name":"Ober-Blöbaum, Sina","first_name":"Sina","last_name":"Ober-Blöbaum"}],"abstract":[{"text":"In dieser Arbeit wird gezeigt, wie optimale Trajektorien für ein unteraktuiertes mechanisches System - das Doppel- bzw. Dreifachpendel auf einem Wagen - mittels optimaler Steuerung bestimmt werden können. Dabei werden neuartige mathematische Methoden verwendet und deren Vorteile in der Anwendung aufgezeigt. Es werden sowohl die theoretischen Ergebnisse analysiert als auch die praktische Umsetzung in Simulationen und am Prüfstand untersucht. Das Manöver, welches hier hauptsächlich betrachtet wird, ist der Aufschwung des Pendels aus der stabilen unteren Ruhelage in die instabile obere Ruhelage. Dabei werden mit Hilfe von Methoden der Mehrzieloptimierung viele Varianten von Lösungen berechnet, die die zwei gegenläufigen Zielgrößen Dauer des Manövers und Steueraufwand unterschiedlich stark berücksichtigen. So ist es möglich eine komplexe Bibliothek von optimalen Lösungen zu erhalten und diese weitergehend bezüglich des Gesamtsystemverhaltens zu analysieren. Ein weiterer Ansatz ist die Entwicklung von Strategien für eine optimale Steuerung auf Mannigfaltigkeiten, die besondere dynamische Strukturen des Pendelsystems für einen optimalen Aufschwung nutzen. Auf der stabilen Mannigfaltigkeit kann sich das dynamische System kostenlos in die Ruhelage bewegen. Dies ist somit ein besonderer physikalisch motivierter Ansatz, um optimale Manöver zu finden.","lang":"ger"}]},{"type":"conference","department":[{"_id":"153"}],"date_created":"2021-08-09T07:28:12Z","publication":"Proceedings in Applied Mathematics and Mechanics","citation":{"mla":"Flaßkamp, Kathrin, et al. “Optimal Control on Stable Manifolds for a Double Pendulum.” <i>Proceedings in Applied Mathematics and Mechanics</i>, vol. 12(1), 2012, pp. 723–24.","bibtex":"@inproceedings{Flaßkamp_Timmermann_Ober-Blöbaum_Dellnitz_Trächtler_2012, title={Optimal Control on Stable Manifolds for a Double Pendulum}, volume={12(1)}, booktitle={Proceedings in Applied Mathematics and Mechanics}, author={Flaßkamp, Kathrin and Timmermann, Julia and Ober-Blöbaum, Sina and Dellnitz, Michael and Trächtler, Ansgar}, year={2012}, pages={723–724} }","ama":"Flaßkamp K, Timmermann J, Ober-Blöbaum S, Dellnitz M, Trächtler A. Optimal Control on Stable Manifolds for a Double Pendulum. In: <i>Proceedings in Applied Mathematics and Mechanics</i>. Vol 12(1). ; 2012:723-724.","ieee":"K. Flaßkamp, J. Timmermann, S. Ober-Blöbaum, M. Dellnitz, and A. Trächtler, “Optimal Control on Stable Manifolds for a Double Pendulum,” in <i>Proceedings in Applied Mathematics and Mechanics</i>, 2012, vol. 12(1), pp. 723–724.","apa":"Flaßkamp, K., Timmermann, J., Ober-Blöbaum, S., Dellnitz, M., &#38; Trächtler, A. (2012). Optimal Control on Stable Manifolds for a Double Pendulum. <i>Proceedings in Applied Mathematics and Mechanics</i>, <i>12(1)</i>, 723–724.","short":"K. Flaßkamp, J. Timmermann, S. Ober-Blöbaum, M. Dellnitz, A. Trächtler, in: Proceedings in Applied Mathematics and Mechanics, 2012, pp. 723–724.","chicago":"Flaßkamp, Kathrin, Julia Timmermann, Sina Ober-Blöbaum, Michael Dellnitz, and Ansgar Trächtler. “Optimal Control on Stable Manifolds for a Double Pendulum.” In <i>Proceedings in Applied Mathematics and Mechanics</i>, 12(1):723–24, 2012."},"user_id":"15694","volume":"12(1)","page":"723-724","language":[{"iso":"eng"}],"_id":"23161","date_updated":"2022-01-24T08:18:41Z","title":"Optimal Control on Stable Manifolds for a Double Pendulum","year":"2012","status":"public","author":[{"full_name":"Flaßkamp, Kathrin","first_name":"Kathrin","last_name":"Flaßkamp"},{"last_name":"Timmermann","first_name":"Julia","full_name":"Timmermann, Julia","id":"15402"},{"full_name":"Ober-Blöbaum, Sina","last_name":"Ober-Blöbaum","first_name":"Sina","id":"16494"},{"full_name":"Dellnitz, Michael","first_name":"Michael","last_name":"Dellnitz"},{"id":"552","full_name":"Trächtler, Ansgar","first_name":"Ansgar","last_name":"Trächtler"}]},{"language":[{"iso":"eng"}],"_id":"23182","user_id":"24876","author":[{"last_name":"Bielawny","first_name":"Dirk","full_name":"Bielawny, Dirk"},{"first_name":"Martin","last_name":"Krüger","full_name":"Krüger, Martin"},{"last_name":"Reinold","first_name":"Peter","full_name":"Reinold, Peter"},{"id":"15402","first_name":"Julia","last_name":"Timmermann","full_name":"Timmermann, Julia"},{"id":"552","full_name":"Trächtler, Ansgar","first_name":"Ansgar","last_name":"Trächtler"}],"year":"2011","title":"Iterative learning of Stochastic Disturbance Profiles Using Bayesian Networks","status":"public","date_updated":"2022-01-06T06:55:47Z","date_created":"2021-08-09T07:36:14Z","department":[{"_id":"153"}],"type":"conference","citation":{"apa":"Bielawny, D., Krüger, M., Reinold, P., Timmermann, J., &#38; Trächtler, A. (2011). Iterative learning of Stochastic Disturbance Profiles Using Bayesian Networks. In <i>9th International Conference on Industrial Informatics (INDIN)</i>.","ieee":"D. Bielawny, M. Krüger, P. Reinold, J. Timmermann, and A. Trächtler, “Iterative learning of Stochastic Disturbance Profiles Using Bayesian Networks,” in <i>9th International Conference on Industrial Informatics (INDIN)</i>, 2011.","short":"D. Bielawny, M. Krüger, P. Reinold, J. Timmermann, A. Trächtler, in: 9th International Conference on Industrial Informatics (INDIN), 2011.","chicago":"Bielawny, Dirk, Martin Krüger, Peter Reinold, Julia Timmermann, and Ansgar Trächtler. “Iterative Learning of Stochastic Disturbance Profiles Using Bayesian Networks.” In <i>9th International Conference on Industrial Informatics (INDIN)</i>, 2011.","mla":"Bielawny, Dirk, et al. “Iterative Learning of Stochastic Disturbance Profiles Using Bayesian Networks.” <i>9th International Conference on Industrial Informatics (INDIN)</i>, 2011.","ama":"Bielawny D, Krüger M, Reinold P, Timmermann J, Trächtler A. Iterative learning of Stochastic Disturbance Profiles Using Bayesian Networks. In: <i>9th International Conference on Industrial Informatics (INDIN)</i>. ; 2011.","bibtex":"@inproceedings{Bielawny_Krüger_Reinold_Timmermann_Trächtler_2011, title={Iterative learning of Stochastic Disturbance Profiles Using Bayesian Networks}, booktitle={9th International Conference on Industrial Informatics (INDIN)}, author={Bielawny, Dirk and Krüger, Martin and Reinold, Peter and Timmermann, Julia and Trächtler, Ansgar}, year={2011} }"},"publication":"9th International Conference on Industrial Informatics (INDIN)"},{"date_created":"2021-08-09T07:36:32Z","department":[{"_id":"153"}],"type":"journal_article","citation":{"short":"J. Timmermann, Vortrag Beim 45. Regelungstechnischen Kolloquium in Boppard (2011).","chicago":"Timmermann, Julia. “Optimale Steuerung Durch DMOC Mit Anwendungen Am Doppelpendel.” <i>Vortrag Beim 45. Regelungstechnischen Kolloquium in Boppard</i>, 2011.","apa":"Timmermann, J. (2011). Optimale Steuerung durch DMOC mit Anwendungen am Doppelpendel. <i>Vortrag Beim 45. Regelungstechnischen Kolloquium in Boppard</i>.","ieee":"J. Timmermann, “Optimale Steuerung durch DMOC mit Anwendungen am Doppelpendel,” <i>Vortrag beim 45. Regelungstechnischen Kolloquium in Boppard</i>, 2011.","ama":"Timmermann J. Optimale Steuerung durch DMOC mit Anwendungen am Doppelpendel. <i>Vortrag beim 45 Regelungstechnischen Kolloquium in Boppard</i>. 2011.","bibtex":"@article{Timmermann_2011, title={Optimale Steuerung durch DMOC mit Anwendungen am Doppelpendel}, journal={Vortrag beim 45. Regelungstechnischen Kolloquium in Boppard}, author={Timmermann, Julia}, year={2011} }","mla":"Timmermann, Julia. “Optimale Steuerung Durch DMOC Mit Anwendungen Am Doppelpendel.” <i>Vortrag Beim 45. Regelungstechnischen Kolloquium in Boppard</i>, 2011."},"publication":"Vortrag beim 45. Regelungstechnischen Kolloquium in Boppard","_id":"23197","language":[{"iso":"eng"}],"user_id":"24876","author":[{"last_name":"Timmermann","first_name":"Julia","full_name":"Timmermann, Julia","id":"15402"}],"year":"2011","title":"Optimale Steuerung durch DMOC mit Anwendungen am Doppelpendel","status":"public","date_updated":"2022-01-06T06:55:47Z"},{"language":[{"iso":"eng"}],"_id":"23180","user_id":"15694","conference":{"location":"Milano, Italy","start_date":"2011-08-28","end_date":"2011-09-02"},"author":[{"id":"15402","last_name":"Timmermann","first_name":"Julia","full_name":"Timmermann, Julia"},{"full_name":"Khatab, Shaady","last_name":"Khatab","first_name":"Shaady"},{"first_name":"Sina","last_name":"Ober-Blöbaum","full_name":"Ober-Blöbaum, Sina","id":"16494"},{"id":"552","full_name":"Trächtler, Ansgar","last_name":"Trächtler","first_name":"Ansgar"}],"year":"2011","status":"public","title":"Discrete Mechanics and Optimal Control and its Application to a Double Pendulum on a Cart","date_updated":"2022-01-21T15:03:56Z","place":"Milano","date_created":"2021-08-09T07:36:12Z","department":[{"_id":"153"}],"type":"conference","citation":{"bibtex":"@inproceedings{Timmermann_Khatab_Ober-Blöbaum_Trächtler_2011, place={Milano}, title={Discrete Mechanics and Optimal Control and its Application to a Double Pendulum on a Cart}, booktitle={18th IFAC World Congress 2011}, author={Timmermann, Julia and Khatab, Shaady and Ober-Blöbaum, Sina and Trächtler, Ansgar}, year={2011} }","short":"J. Timmermann, S. Khatab, S. Ober-Blöbaum, A. Trächtler, in: 18th IFAC World Congress 2011, Milano, 2011.","ama":"Timmermann J, Khatab S, Ober-Blöbaum S, Trächtler A. Discrete Mechanics and Optimal Control and its Application to a Double Pendulum on a Cart. In: <i>18th IFAC World Congress 2011</i>. ; 2011.","chicago":"Timmermann, Julia, Shaady Khatab, Sina Ober-Blöbaum, and Ansgar Trächtler. “Discrete Mechanics and Optimal Control and Its Application to a Double Pendulum on a Cart.” In <i>18th IFAC World Congress 2011</i>. Milano, 2011.","ieee":"J. Timmermann, S. Khatab, S. Ober-Blöbaum, and A. Trächtler, “Discrete Mechanics and Optimal Control and its Application to a Double Pendulum on a Cart,” Milano, Italy, 2011.","mla":"Timmermann, Julia, et al. “Discrete Mechanics and Optimal Control and Its Application to a Double Pendulum on a Cart.” <i>18th IFAC World Congress 2011</i>, 2011.","apa":"Timmermann, J., Khatab, S., Ober-Blöbaum, S., &#38; Trächtler, A. (2011). Discrete Mechanics and Optimal Control and its Application to a Double Pendulum on a Cart. <i>18th IFAC World Congress 2011</i>."},"publication":"18th IFAC World Congress 2011"},{"place":"San Diego","date_created":"2021-08-09T09:01:20Z","type":"conference","department":[{"_id":"153"}],"publication":"7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences ","citation":{"ieee":"S. Ober-Blöbaum and J. Timmermann, “Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System,” San Diego, CA, USA, 2009.","apa":"Ober-Blöbaum, S., &#38; Timmermann, J. (2009). Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System. <i>7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences </i>.","short":"S. Ober-Blöbaum, J. Timmermann, in: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences , ASME, San Diego, 2009.","chicago":"Ober-Blöbaum, Sina, and Julia Timmermann. “Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System.” In <i>7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences </i>. San Diego: ASME, 2009.","mla":"Ober-Blöbaum, Sina, and Julia Timmermann. “Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System.” <i>7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences </i>, ASME, 2009.","bibtex":"@inproceedings{Ober-Blöbaum_Timmermann_2009, place={San Diego}, title={Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System}, booktitle={7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences }, publisher={ASME}, author={Ober-Blöbaum, Sina and Timmermann, Julia}, year={2009} }","ama":"Ober-Blöbaum S, Timmermann J. Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System. In: <i>7th International Conference on Multibody Systems, Nonlinear Dynamics, and Contro, ASME International Design Engineering Technical Conferences </i>. ASME; 2009."},"publisher":"ASME","_id":"23237","language":[{"iso":"eng"}],"user_id":"15694","status":"public","year":"2009","title":"Optimal Control for a Pitcher's Motion Modeled as Constrained Mechanical System","conference":{"location":"San Diego, CA, USA","start_date":"2009-08-30","end_date":"2009-09-02"},"author":[{"id":"16494","last_name":"Ober-Blöbaum","first_name":"Sina","full_name":"Ober-Blöbaum, Sina"},{"last_name":"Timmermann","first_name":"Julia","full_name":"Timmermann, Julia","id":"15402"}],"date_updated":"2022-01-24T07:33:37Z"}]