Technical Reports on Automatic Control (TRAC)
Technical reports on Automatic Control (TRAC) are publications of the Chair of Automatic Control (Lehrstuhl für Regelungstechnik). They present both theoretical and application related material from the fields of research of the institute. Before publication, each report passes a reviewing process organized and documented by the institute. All reports are available online and at the institute's library for at least 10 years from the date of publication.
2024
Lohmann, B.; Bongard, J.: A Discussion on Nonlinear Quadratic Control and Sontag´s Formula: technical report TRAC-8, Number 1, 29.1.2024
Abstract: The quadratic optimal state feedback (LQR) is one of the most popular designs for linear systems and succeeds via the solution of the algebraic Riccati equation. The situation is different in the case of non-linear systems: the Riccati equation is then replaced by the Hamilton Jacobi Bellman equation (HJB), the solution of which is generally difficult. A compromise can be the so-called Inverse Optimal Control, a form of which is Sontag's formula [1]; here the minimized cost function follows from the feedback law chosen, not vice versa. Using Sontag's formula in the variant according to Freeman and Primbs [2, 9], the actually minimized cost function is given in the following sections, including cases when it reduces to the quadratic cost. Also some remarks and thoughts are presented for discussion.
2013
Oliver Fritsch: Energy Based Attitude Tracking Control for a Quadrotor Helicopter Prioritizing the Thrust Direction. TRAC-7, Number 1, 06 June 2013.
2011
Enrico Pellegrini, Klaus J. Diepold, Ronnie Dessort and Heiko Panzer: 3D-Modeling of a Robot Balancing on a Ball. TRAC-6, Number 1, 03 August 2011.
Guido Koch, Enrico Pellegrini, Sebastian Spirk, Nils Pletschen and Boris Lohmann: Actuator Control for a Hybrid Suspension System. TRAC-6, Number 2, 05 December 2011.
2010
Behnam Salimbahrami: A Sequential Reduction Scheme in Reduced Order Modelling of Large Scale Systems. TRAC-5, Number 1, 01 April 2010.
Guido Koch, Enrico Pellegrini, Sebastian Spirk and Boris Lohmann: Design and Modeling of a Quarter-Vehicle Test Rig for Active Suspension Control. TRAC-5, Number 2, 21 July 2010.
2009
Thomas Wolf, Boris Lohmann, Rudy Eid and Paul Kotyczka: Passivity Preserving Order Reduction of Linear Port-Hamiltonian Systems by Moment Matching. TRAC-4, Number 1, 04 August 2009.
Rudy Eid, Heiko Panzer and Boris Lohmann: How to choose a single expansion point in Krylov-based model reduction? TRAC-4, Number 2, 17 November 2009.
Heiko Panzer, Jörg Hubele, Rudy Eid and Boris Lohmann: Generating a Parametric Finite Element Model of a 3D Cantilever Timoshenko Beam Using Matlab. TRAC-4, Number 3, 27 November 2009
2008
Zongru Yang, Boris Lohmann: Driving Using Model Predictive Control. TRAC-3, Number 1, 16 December 2008
2007
Jörg Paschedag: Dämpfung der Motorvibrationen im Kfz mittels Filtered-x-LMS-Algorithmus: Implementierung am Prüfstand und Konvergenzanalyse. TRAC-2, Number 1, 04 June 2007.
2006
Rudy Eid, Behnam Salimbahrami, Boris Lohmann, Evgenii B. Rudnyi and Jan G. Korvink: Parametric Order Reduction of Proportionally Damped Second Order Systems. TRAC-1, Number 1, 20 October 2006.
Amirhossein Yousefi: A Compromise Between Simplicity & Accuracy of Nonlinear Reduced Order Systems. TRAC-1, Number 2, 23 October 2006.
2004
Salimbahrami, B. and Lohmann, B.: Folding a First Order System to a Second Order Form. Technical Report, Institute of Automation, University of Bremen, January 2004.
2002
Lohmann, B.: Flatness Based Disturbance Compensation. Scientific Report, Univ. Bremen, Institute of Automation, Nov. 2002.
Lohmann, B.: Zur Gewinnung minimaler Zustandsraummodelle aus Übertragungsmatrizen. Interne Notiz, IAT, Universität Bremen, 09.09.2002.
B. Salimbahrami, B. Lohmann: Krylov Subspace Methods in Linear Model Order Reduction: Introduction and Invariance Properties. Scientific Report, Univ. of Bremen, 2002.
Salimbahrami, B. and Lohmann, B.: Modified Lanczos Algorithm in Model Order Reduction of MIMO Linear Systems. Internal Report, July 2002.
B. Salimbahrami, B. Lohmann, T. Bechtold: Two-Sided Arnoldi in Order Reduction of Large-Scale MIMO Systems. Scientific Report, University of Bremen, Dec. 2002.
2000
Lohmann, B.: Complete and Partial Decoupling by Constant State-Feedback. Institut für Automatisierungstechnik, Universität Bremen, 2000.
Krieg-Brückner, B., Gräser, A. und Lohmann, B.: Autonomiegewinn für behinderte Menschen durch Rehabilitations-Roboter. Impulse aus der Forschung, Nr. 1/2000 (ISSN: 0179-9495), Universität Bremen, S. 6-10.
Wang, Yaonan and Lohmann, Boris: Multisensor Image Fusion: Concept, Method and Applications. Institut für Automatisierungstechnik, Universität Bremen, December 2000.
Shutao Li, Yaonan Wang, Boris Lohmann: Multifocus Image Fusion Using Artificial Neural Networks. Internal report, 2000.
Shutao Li, Yaonan Wang, Boris Lohmann: Texture Classification Using Discrete Multiwavelet Transform. Internal report, 2000.
1998
Lohmann B.: Conventionel versus Petri Net Modeling of a Transport Process in Postal Automation. Forschungsbericht, Universität Bremen, 1998.
1997
Lohmann, B.: Nullstellen und Kompensation im Zustandsraum und ihre Bedeutung für den Entwurf. Institut für Automatisierungstechnik, Universität Bremen, 1997.
Lohmann, B.: Zur Störgrößenaufschaltung im Zustandsraum. Institut für Automatisierungstechnik, Universität Bremen, 1998.
1989
Lohmann, B.: Nullstellen und Kompensation bei Mehrgrößensystemen. Institut für Regelungs- und Steuerungssysteme, Universität Karlsruhe, 1989.
Lohmann, B.: H°°-Theorie: Grundlagen. Institut für Regelungs- und Steuerungssysteme, Universität Karlsruhe, 1989.
1988
Lohmann, B.: Einsatz der Kalman-Filtertechnik in der Bildverarbeitung. Fraunhofer-Institut, IITB, Karlsruhe, 1988.
Lohmann B.: Entwicklung von Bildverarbeitungsverfahren zur Positionsbestimmung eines mobilen Roboters. Fraunhofer-Institut, IITB, Karlsruhe 1988.