--- _id: '29835' author: - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza - first_name: Thomas full_name: Berger, Thomas last_name: Berger citation: ama: Lanza LJ, Berger T. Funnel control of linear systems under output measurement losses. Published online 2022. apa: 'Lanza, L. J., & Berger, T. (2022). Funnel control of linear systems under output measurement losses. submitted to: IEEE Transactions on Automatic Control.' bibtex: '@article{Lanza_Berger_2022, title={Funnel control of linear systems under output measurement losses}, publisher={submitted to: IEEE Transactions on Automatic Control}, author={Lanza, Lukas Johannes and Berger, Thomas}, year={2022} }' chicago: 'Lanza, Lukas Johannes, and Thomas Berger. “Funnel Control of Linear Systems under Output Measurement Losses.” submitted to: IEEE Transactions on Automatic Control, 2022.' ieee: 'L. J. Lanza and T. Berger, “Funnel control of linear systems under output measurement losses.” submitted to: IEEE Transactions on Automatic Control, 2022.' mla: 'Lanza, Lukas Johannes, and Thomas Berger. Funnel Control of Linear Systems under Output Measurement Losses. submitted to: IEEE Transactions on Automatic Control, 2022.' short: L.J. Lanza, T. Berger, (2022). date_created: 2022-02-14T15:19:39Z date_updated: 2022-02-16T13:05:15Z ddc: - '510' file: - access_level: open_access content_type: application/pdf creator: lanza date_created: 2022-02-14T15:18:55Z date_updated: 2022-02-16T13:05:15Z file_id: '29836' file_name: BergLanz22.pdf file_size: 480434 relation: main_file file_date_updated: 2022-02-16T13:05:15Z has_accepted_license: '1' language: - iso: eng oa: '1' publisher: 'submitted to: IEEE Transactions on Automatic Control' status: public title: Funnel control of linear systems under output measurement losses type: preprint user_id: '78640' year: '2022' ... --- _id: '29952' abstract: - lang: eng text: "We extend a recent result in high-gain feedback output tracking control to achieve exact tracking within finite time, i.e., the output of a system and its relevant derivatives have certain exact values at a predefined finite time.\r\nWe propose a new funnel control scheme achieving this, whereas the error between the reference and the output evolves within prescribed bounds.\r\nApplications of this are, for instance, linking up two parts of a train, or docking spaceships." author: - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: Lanza LJ. Exact output tracking in prescribed finite time via funnel control. Published online 2022. apa: Lanza, L. J. (2022). Exact output tracking in prescribed finite time via funnel control. bibtex: '@article{Lanza_2022, title={Exact output tracking in prescribed finite time via funnel control}, author={Lanza, Lukas Johannes}, year={2022} }' chicago: Lanza, Lukas Johannes. “Exact Output Tracking in Prescribed Finite Time via Funnel Control,” 2022. ieee: L. J. Lanza, “Exact output tracking in prescribed finite time via funnel control.” 2022. mla: Lanza, Lukas Johannes. Exact Output Tracking in Prescribed Finite Time via Funnel Control. 2022. short: L.J. Lanza, (2022). date_created: 2022-02-22T15:05:11Z date_updated: 2022-02-22T15:05:21Z ddc: - '510' file: - access_level: local content_type: application/pdf creator: lanza date_created: 2022-02-22T15:04:23Z date_updated: 2022-02-22T15:04:23Z file_id: '29953' file_name: Lanz22_Exact_tracking.pdf file_size: 618318 relation: main_file file_date_updated: 2022-02-22T15:04:23Z has_accepted_license: '1' language: - iso: eng status: public title: Exact output tracking in prescribed finite time via funnel control type: preprint user_id: '78640' year: '2022' ... --- _id: '23398' abstract: - lang: eng text: "We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown.\r\nTo this end, we prove that the conjunction of the funnel pre-compensator with a minimum phase system of arbitrary relative degree yields a system of the same relative degree which is minimum phase as well. \r\nThe error between the original system's output and the pre-compensator's output evolves within a prescribed performance funnel; and moreover, the derivatives of the funnel pre-compensator's output are known explicitly. \r\nTherefore, output reference tracking with prescribed transient behavior of the tracking error is possible without knowledge of the derivatives of the original system's output; via funnel control schemes for instance." article_type: original author: - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: Lanza LJ. Output feedback control with prescribed performance via funnel pre-compensator. Mathematics of Control, Signals, and Systems. Published online 2022. doi:10.1007/s00498-022-00322-5 apa: Lanza, L. J. (2022). Output feedback control with prescribed performance via funnel pre-compensator. Mathematics of Control, Signals, and Systems. https://doi.org/10.1007/s00498-022-00322-5 bibtex: '@article{Lanza_2022, title={Output feedback control with prescribed performance via funnel pre-compensator}, DOI={10.1007/s00498-022-00322-5}, journal={Mathematics of Control, Signals, and Systems}, author={Lanza, Lukas Johannes}, year={2022} }' chicago: Lanza, Lukas Johannes. “Output Feedback Control with Prescribed Performance via Funnel Pre-Compensator.” Mathematics of Control, Signals, and Systems, 2022. https://doi.org/10.1007/s00498-022-00322-5. ieee: 'L. J. Lanza, “Output feedback control with prescribed performance via funnel pre-compensator,” Mathematics of Control, Signals, and Systems, 2022, doi: 10.1007/s00498-022-00322-5.' mla: Lanza, Lukas Johannes. “Output Feedback Control with Prescribed Performance via Funnel Pre-Compensator.” Mathematics of Control, Signals, and Systems, 2022, doi:10.1007/s00498-022-00322-5. short: L.J. Lanza, Mathematics of Control, Signals, and Systems (2022). date_created: 2021-08-15T09:43:21Z date_updated: 2022-04-28T06:14:25Z ddc: - '510' doi: 10.1007/s00498-022-00322-5 has_accepted_license: '1' language: - iso: eng main_file_link: - open_access: '1' oa: '1' publication: Mathematics of Control, Signals, and Systems publication_status: published status: public title: Output feedback control with prescribed performance via funnel pre-compensator type: journal_article user_id: '78640' year: '2022' ... --- _id: '21583' author: - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: Lanza LJ. Representation and stability of internal dynamics. PAMM. 2021. doi:10.1002/pamm.202000256 apa: Lanza, L. J. (2021). Representation and stability of internal dynamics. PAMM. https://doi.org/10.1002/pamm.202000256 bibtex: '@article{Lanza_2021, title={Representation and stability of internal dynamics}, DOI={10.1002/pamm.202000256}, journal={PAMM}, author={Lanza, Lukas Johannes}, year={2021} }' chicago: Lanza, Lukas Johannes. “Representation and Stability of Internal Dynamics.” PAMM, 2021. https://doi.org/10.1002/pamm.202000256. ieee: L. J. Lanza, “Representation and stability of internal dynamics,” PAMM, 2021. mla: Lanza, Lukas Johannes. “Representation and Stability of Internal Dynamics.” PAMM, 2021, doi:10.1002/pamm.202000256. short: L.J. Lanza, PAMM (2021). date_created: 2021-03-31T06:10:52Z date_updated: 2022-01-06T06:55:06Z doi: 10.1002/pamm.202000256 language: - iso: eng publication: PAMM publication_identifier: issn: - 1617-7061 - 1617-7061 publication_status: published status: public title: Representation and stability of internal dynamics type: journal_article user_id: '78640' year: '2021' ... --- _id: '22206' abstract: - lang: eng text: AbstractWe consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes–Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop. author: - first_name: Thomas full_name: Berger, Thomas last_name: Berger - first_name: Svenja full_name: Drücker, Svenja last_name: Drücker - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza - first_name: Timo full_name: Reis, Timo last_name: Reis - first_name: Robert full_name: Seifried, Robert last_name: Seifried citation: ama: Berger T, Drücker S, Lanza LJ, Reis T, Seifried R. Tracking control for underactuated non-minimum phase multibody systems. Nonlinear Dynamics. 2021. doi:10.1007/s11071-021-06458-4 apa: Berger, T., Drücker, S., Lanza, L. J., Reis, T., & Seifried, R. (2021). Tracking control for underactuated non-minimum phase multibody systems. Nonlinear Dynamics. https://doi.org/10.1007/s11071-021-06458-4 bibtex: '@article{Berger_Drücker_Lanza_Reis_Seifried_2021, title={Tracking control for underactuated non-minimum phase multibody systems}, DOI={10.1007/s11071-021-06458-4}, journal={Nonlinear Dynamics}, author={Berger, Thomas and Drücker, Svenja and Lanza, Lukas Johannes and Reis, Timo and Seifried, Robert}, year={2021} }' chicago: Berger, Thomas, Svenja Drücker, Lukas Johannes Lanza, Timo Reis, and Robert Seifried. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics, 2021. https://doi.org/10.1007/s11071-021-06458-4. ieee: T. Berger, S. Drücker, L. J. Lanza, T. Reis, and R. Seifried, “Tracking control for underactuated non-minimum phase multibody systems,” Nonlinear Dynamics, 2021. mla: Berger, Thomas, et al. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics, 2021, doi:10.1007/s11071-021-06458-4. short: T. Berger, S. Drücker, L.J. Lanza, T. Reis, R. Seifried, Nonlinear Dynamics (2021). date_created: 2021-05-17T05:24:00Z date_updated: 2022-01-06T06:55:29Z doi: 10.1007/s11071-021-06458-4 language: - iso: eng publication: Nonlinear Dynamics publication_identifier: issn: - 0924-090X - 1573-269X publication_status: published status: public title: Tracking control for underactuated non-minimum phase multibody systems type: journal_article user_id: '78640' year: '2021' ... --- _id: '23277' abstract: - lang: eng text: We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control design by a numerical case study where we simulate end-effector output tracking of the robotic manipulator. author: - first_name: Thomas full_name: Berger, Thomas last_name: Berger - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: Berger T, Lanza LJ. Output tracking for a non-minimum phase robotic manipulator. IFAC-PapersOnLine. 2021:178-185. doi:10.1016/j.ifacol.2021.06.074 apa: Berger, T., & Lanza, L. J. (2021). Output tracking for a non-minimum phase robotic manipulator. IFAC-PapersOnLine, 178–185. https://doi.org/10.1016/j.ifacol.2021.06.074 bibtex: '@article{Berger_Lanza_2021, title={Output tracking for a non-minimum phase robotic manipulator}, DOI={10.1016/j.ifacol.2021.06.074}, journal={IFAC-PapersOnLine}, author={Berger, Thomas and Lanza, Lukas Johannes}, year={2021}, pages={178–185} }' chicago: Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” IFAC-PapersOnLine, 2021, 178–85. https://doi.org/10.1016/j.ifacol.2021.06.074. ieee: T. Berger and L. J. Lanza, “Output tracking for a non-minimum phase robotic manipulator,” IFAC-PapersOnLine, pp. 178–185, 2021. mla: Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” IFAC-PapersOnLine, 2021, pp. 178–85, doi:10.1016/j.ifacol.2021.06.074. short: T. Berger, L.J. Lanza, IFAC-PapersOnLine (2021) 178–185. date_created: 2021-08-09T09:13:11Z date_updated: 2022-01-06T06:55:48Z doi: 10.1016/j.ifacol.2021.06.074 language: - iso: eng main_file_link: - url: https://www.sciencedirect.com/science/article/pii/S2405896321005309 page: 178-185 publication: IFAC-PapersOnLine publication_identifier: issn: - 2405-8963 publication_status: published status: public title: Output tracking for a non-minimum phase robotic manipulator type: journal_article user_id: '78640' year: '2021' ... --- _id: '21954' article_number: '104931' author: - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: Lanza LJ. Internal dynamics of multibody systems. Systems & Control Letters. 2021. doi:10.1016/j.sysconle.2021.104931 apa: Lanza, L. J. (2021). Internal dynamics of multibody systems. Systems & Control Letters. https://doi.org/10.1016/j.sysconle.2021.104931 bibtex: '@article{Lanza_2021, title={Internal dynamics of multibody systems}, DOI={10.1016/j.sysconle.2021.104931}, number={104931}, journal={Systems & Control Letters}, author={Lanza, Lukas Johannes}, year={2021} }' chicago: Lanza, Lukas Johannes. “Internal Dynamics of Multibody Systems.” Systems & Control Letters, 2021. https://doi.org/10.1016/j.sysconle.2021.104931. ieee: L. J. Lanza, “Internal dynamics of multibody systems,” Systems & Control Letters, 2021. mla: Lanza, Lukas Johannes. “Internal Dynamics of Multibody Systems.” Systems & Control Letters, 104931, 2021, doi:10.1016/j.sysconle.2021.104931. short: L.J. Lanza, Systems & Control Letters (2021). date_created: 2021-05-04T14:49:22Z date_updated: 2022-01-06T06:55:21Z doi: 10.1016/j.sysconle.2021.104931 language: - iso: eng publication: Systems & Control Letters publication_identifier: issn: - 0167-6911 publication_status: published status: public title: Internal dynamics of multibody systems type: journal_article user_id: '78640' year: '2021' ... --- _id: '36372' author: - first_name: Thomas full_name: Berger, Thomas id: '77457' last_name: Berger - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: 'Berger T, Lanza LJ. Output tracking for a non-minimum phase robotic manipulator. In: IFAC-PapersOnLine. Vol 54(9). ; 2021:178-185.' apa: Berger, T., & Lanza, L. J. (2021). Output tracking for a non-minimum phase robotic manipulator. IFAC-PapersOnLine, 54(9), 178–185. bibtex: '@inproceedings{Berger_Lanza_2021, title={Output tracking for a non-minimum phase robotic manipulator}, volume={54(9)}, booktitle={IFAC-PapersOnLine}, author={Berger, Thomas and Lanza, Lukas Johannes}, year={2021}, pages={178–185} }' chicago: Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” In IFAC-PapersOnLine, 54(9):178–85, 2021. ieee: T. Berger and L. J. Lanza, “Output tracking for a non-minimum phase robotic manipulator,” in IFAC-PapersOnLine, 2021, vol. 54(9), pp. 178–185. mla: Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” IFAC-PapersOnLine, vol. 54(9), 2021, pp. 178–85. short: 'T. Berger, L.J. Lanza, in: IFAC-PapersOnLine, 2021, pp. 178–185.' date_created: 2023-01-12T10:28:01Z date_updated: 2023-01-12T12:29:02Z language: - iso: eng page: 178-185 publication: IFAC-PapersOnLine status: public title: Output tracking for a non-minimum phase robotic manipulator type: conference user_id: '77457' volume: 54(9) year: '2021' ... --- _id: '36329' author: - first_name: Thomas full_name: Berger, Thomas id: '77457' last_name: Berger - first_name: S. full_name: Drücker, S. last_name: Drücker - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza - first_name: T. full_name: Reis, T. last_name: Reis - first_name: R. full_name: Seifried, R. last_name: Seifried citation: ama: Berger T, Drücker S, Lanza LJ, Reis T, Seifried R. Tracking control for underactuated non-minimum phase multibody systems. Nonlinear Dynamics. 2021;104(4):3671-3699. apa: Berger, T., Drücker, S., Lanza, L. J., Reis, T., & Seifried, R. (2021). Tracking control for underactuated non-minimum phase multibody systems. Nonlinear Dynamics, 104(4), 3671–3699. bibtex: '@article{Berger_Drücker_Lanza_Reis_Seifried_2021, title={Tracking control for underactuated non-minimum phase multibody systems}, volume={104}, number={4}, journal={Nonlinear Dynamics}, author={Berger, Thomas and Drücker, S. and Lanza, Lukas Johannes and Reis, T. and Seifried, R.}, year={2021}, pages={3671–3699} }' chicago: 'Berger, Thomas, S. Drücker, Lukas Johannes Lanza, T. Reis, and R. Seifried. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics 104, no. 4 (2021): 3671–99.' ieee: T. Berger, S. Drücker, L. J. Lanza, T. Reis, and R. Seifried, “Tracking control for underactuated non-minimum phase multibody systems,” Nonlinear Dynamics, vol. 104, no. 4, pp. 3671–3699, 2021. mla: Berger, Thomas, et al. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics, vol. 104, no. 4, 2021, pp. 3671–99. short: T. Berger, S. Drücker, L.J. Lanza, T. Reis, R. Seifried, Nonlinear Dynamics 104 (2021) 3671–3699. date_created: 2023-01-12T09:36:24Z date_updated: 2023-01-12T12:29:28Z intvolume: ' 104' issue: '4' language: - iso: eng page: 3671-3699 publication: Nonlinear Dynamics status: public title: Tracking control for underactuated non-minimum phase multibody systems type: journal_article user_id: '77457' volume: 104 year: '2021' ... --- _id: '21579' author: - first_name: Thomas full_name: Berger, Thomas last_name: Berger - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: 'Berger T, Lanza LJ. Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities. In: Progress in Differential-Algebraic Equations II. Cham; 2020. doi:10.1007/978-3-030-53905-4_9' apa: Berger, T., & Lanza, L. J. (2020). Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities. In Progress in Differential-Algebraic Equations II. Cham. https://doi.org/10.1007/978-3-030-53905-4_9 bibtex: '@inbook{Berger_Lanza_2020, place={Cham}, title={Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities}, DOI={10.1007/978-3-030-53905-4_9}, booktitle={Progress in Differential-Algebraic Equations II}, author={Berger, Thomas and Lanza, Lukas Johannes}, year={2020} }' chicago: Berger, Thomas, and Lukas Johannes Lanza. “Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities.” In Progress in Differential-Algebraic Equations II. Cham, 2020. https://doi.org/10.1007/978-3-030-53905-4_9. ieee: T. Berger and L. J. Lanza, “Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities,” in Progress in Differential-Algebraic Equations II, Cham, 2020. mla: Berger, Thomas, and Lukas Johannes Lanza. “Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities.” Progress in Differential-Algebraic Equations II, 2020, doi:10.1007/978-3-030-53905-4_9. short: 'T. Berger, L.J. Lanza, in: Progress in Differential-Algebraic Equations II, Cham, 2020.' date_created: 2021-03-31T05:58:22Z date_updated: 2022-01-06T06:55:06Z doi: 10.1007/978-3-030-53905-4_9 language: - iso: eng place: Cham publication: Progress in Differential-Algebraic Equations II publication_identifier: isbn: - '9783030539047' - '9783030539054' issn: - 2199-7497 - 2199-840X publication_status: published status: public title: Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities type: book_chapter user_id: '78640' year: '2020' ... --- _id: '36351' author: - first_name: Thomas full_name: Berger, Thomas id: '77457' last_name: Berger - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza citation: ama: 'Berger T, Lanza LJ. Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities. In: Grundel S, Reis T, Schöps S, eds. Progress in Differential-Algebraic Equations II. Springer; 2020:257-289.' apa: Berger, T., & Lanza, L. J. (2020). Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities. In S. Grundel, T. Reis, & S. Schöps (Eds.), Progress in Differential-Algebraic Equations II (pp. 257–289). Springer. bibtex: '@inbook{Berger_Lanza_2020, title={Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities}, booktitle={Progress in Differential-Algebraic Equations II}, publisher={Springer}, author={Berger, Thomas and Lanza, Lukas Johannes}, editor={Grundel, S. and Reis, T. and Schöps, S.}, year={2020}, pages={257–289} }' chicago: Berger, Thomas, and Lukas Johannes Lanza. “Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities.” In Progress in Differential-Algebraic Equations II, edited by S. Grundel, T. Reis, and S. Schöps, 257–89. Springer, 2020. ieee: T. Berger and L. J. Lanza, “Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities,” in Progress in Differential-Algebraic Equations II, S. Grundel, T. Reis, and S. Schöps, Eds. Springer, 2020, pp. 257–289. mla: Berger, Thomas, and Lukas Johannes Lanza. “Observers for Differential-Algebraic Systems with Lipschitz or Monotone Nonlinearities.” Progress in Differential-Algebraic Equations II, edited by S. Grundel et al., Springer, 2020, pp. 257–89. short: 'T. Berger, L.J. Lanza, in: S. Grundel, T. Reis, S. Schöps (Eds.), Progress in Differential-Algebraic Equations II, Springer, 2020, pp. 257–289.' date_created: 2023-01-12T10:09:22Z date_updated: 2023-01-12T12:29:45Z editor: - first_name: S. full_name: Grundel, S. last_name: Grundel - first_name: T. full_name: Reis, T. last_name: Reis - first_name: S. full_name: Schöps, S. last_name: Schöps language: - iso: eng page: 257-289 publication: Progress in Differential-Algebraic Equations II publisher: Springer status: public title: Observers for differential-algebraic systems with Lipschitz or monotone nonlinearities type: book_chapter user_id: '15694' year: '2020' ...