Fast trajectory planning for robotic systems in the presence of obstacles and dynamically moving targets

This research addresses the development of new methods for fast path planning in presence of obstacles and dynamically moving targets. Simulations and experiments are shown for a lab-sized cantry crane. Read more →

Observer-based Iterative Learning Control to Improve Path Accuracy of Industrial Robots2018 - 2021

For robotic machining tasks, path accuracy is an essential performance criterion. Due to varying friction, non-constant transmission ratio of the gears and variable stiffness of the robot axes, path deviations occur in industrial robots, which have to be compensated for high-precision processes. In the course of the project, suitable robot models, observer and control strategies are to be designed with which the growing accuracy requirements in industrial manufacturing processes can be achieved. Read more →

Time-optimal fold-out of a mobile concrete pump

The autonomous operation of large-scale construction machines is of growing interest in the recent years. The goal of this project is to develop and experimentally validate a trajectory planning strategy, which allows to obtain time-optimal trajectories for the boom of a mobile concrete pump, considering several previously known obstacles in the working area. Read more →

Modelling and optimal control of a linear motor2016 - 2020

The usage of linear motors in transport systems offers a variety of advantages in comparison to common conveyor belt transport systems. In this project, a high-dynamic operation of the system is studied based on a detailed model and an optimal control strategy. Read more →

Modeling and optimal control of electric machines with redundant stator windings

A fault of an electric machine can yield a potentially dangerous behavior of the overall system in certain applications. In this research projects, methods for the fault detection and the fault-tolerant operation of permanent magnet synchronous machines are developed. Read more →

Modeling and control of injection molding machines

Injection molding is the most prominent way to produce components made of plastics. In this research project, control strategies are developed for the optimal operation of injection molding machines. Read more →

Modeling and optimal control of permanent magnet synchronous motors

Permanent magnet synchronous machines (PMSM) are frequently used in industrial applications as e.g. robotics. This research project is concerned with the optimal control of PMSM, where magnetic saturation and non-sinusoidal field characteristics are systematically taken into account. Read more →

Modeling and control of hydraulic drive systems

Hydraulic drive systems are frequently used in industrial applications due to their high power density, small size and small weight. In this research project, model-predictive control strategies are developed and tested for different hydraulic drive systems. Read more →

Control of pumped storage power plants

To compensate the fluctions of the energy generation and consumption in electrical networks, pumped storage power plants are frequently utilized. These power plants are essential for the stabilization of electrical distribution networks. This research project investigates the efficient mathematical description, the optimal operation and the development of control and observer strategies. Read more →

Electrorheological fluids2007 - 2011

Electrorheological Fluids (ERF) allow to directly influence their rheological properties by means of an electric field. In this research project, the application of ERF in valves, semi-active suspension systems and shock absorbers was examined. Read more →