U. Konigorski | Tu Darmstadt (original) (raw)

Papers by U. Konigorski

Research paper thumbnail of Kombinierte Längs- und Quertrajektorienplanung für automatisierte Fahrstreifenwechsel

Beschrieben wird ein System, welches automatisiert Fahrstreifenwechsel auf der Autobahn durchfuhr... more Beschrieben wird ein System, welches automatisiert Fahrstreifenwechsel auf der Autobahn durchfuhrt. Das System setzt hierbei als Sensorik zur Umfelderfassung nur mehrere Radar-sensoren und eine Monokamera voraus. Aufgrund der Zeitabhangigkeit der Umfeldobjekte ist es notwendig, anstatt einer Bahn y(x) eine Trajektorie x(t), y(t) zu planen. Zur Fuhrung des Fahrzeugs besteht das System aus einer Trajektorienplanung und einer unterlagerten Regelung. Durch diese Trennung ist es moglich, die Neuplanungsrate geringer zu wahlen, als dies bei einer klassischen Modellpradiktiven Regelung der Fall ware. Zur Trajektorienplanung wurden zwei verschiedene Methoden entwickelt. Bei beiden Planungsmethoden ist die Trajektorie Ergebnis eines nichtlinearen Optimierungsproblems. Beide Planungen berucksichtigen durch ihre Gutefunktion die beschrankte Fahrzeugdynamik sowie weitere Komfortgrenzen. Zusatzlich berucksichtigen sie die Kollisionsfreiheit der Trajektorie und den Einfluss auf den ruckwartigen V...

Research paper thumbnail of Regelung von Druckmaschinen mit mehreren Hauptantriebsmotoren – Modelleigenschaften, Reglerstrukturen und Reglerentwurf

Research paper thumbnail of State Regulation and State Observation in Networked Control Systems

IFAC Proceedings Volumes, 2012

This paper discusses variable signal delays and stochastic packet dropouts within closed loop Net... more This paper discusses variable signal delays and stochastic packet dropouts within closed loop Networked Control Systems (NCS). A special focus is dedicated to uncertain or partly unknown transition probabilities and the solution of the bilinear controller design problem. In addition, this approach is extended to the design of state observers. A numerical example is given to demonstrate the effectiveness of the controller design, while the observer based approach is applied to an inverted pendulum experiment.

Research paper thumbnail of WirelessHART als Übertragungsprotokoll für regelungstechnische Anwendungen

Research paper thumbnail of Combined estimation of gait phase and stair slope utilizing time history data

Improving the quality of life for people with amputations through active prostheses requires appr... more Improving the quality of life for people with amputations through active prostheses requires appropriate knowledge of the locomotion task and gait phase of the user. A shank mounted Inertial Measurement Unit based estimation method for stair slope is presented in conjunction with an improved gait phase estimation. In contrast to prior work only one Artificial Neural Network is used for the estimation of stair slope and gait phase for all three locomotion tasks and transitions between them. Utilizing past measurements should give more information to an estimation method without the need of additional sensors. By implementing a time window of 60 samples of prior measurements the gait phase and slope estimation could be improved by around 37 % and 38 % respectively comparing mean squared errors of the complete test dataset.

Research paper thumbnail of A new approach to the design of distributed parameter systems based on approximation models

2009 European Control Conference (ECC), 2009

The controller design for distributed parameter systems is a challenging task. The simple early l... more The controller design for distributed parameter systems is a challenging task. The simple early lumping approach allows the application of standard control theory tools but the designer has to keep in mind various negative aspects like aliasing, truncation and discretization errors. In this paper a new scheme to minimize these negative aspects in the controller design is presented which adopts a late lumping method by discretization. The scheme leads to the resulting problem formulation of a finite output feedback. The design of a heat conductor demonstrates the application of the new method.

Research paper thumbnail of Entwicklung eines Regelungskonzeptes für einen selbstfahrenden Fahrsimulator

Research paper thumbnail of Zur Verbesserung des Regelverhaltens eines in Betrieb befindlichen pneumatisch angetriebenen Stellventils

Research paper thumbnail of Decentralized control approach for an inverter-based microgrid in islanded mode

Due to the expansion of renewable energy resources synchronous generators (SGs) are being replace... more Due to the expansion of renewable energy resources synchronous generators (SGs) are being replaced by inverter-based generators (IBGs). This paper presents a distributed control approach for an inverter-based microgrid (MG) in islanded operation. In comparison to the conventional droop control we give the controller a certain dynamic to make the IBG behave like a SG. In order to keep the controller structure relatively simple, we need to capture the main features of the SGs. Therefore, the 3rd-order flux-decay model of SG is used. Although the controllers are fully distributed, i.e., they can work without knowing the states from other buses, their parameters are still determined based on the whole system. This means the controller parameters can be accordingly adjusted in case of changes in the MG, which prevents the controller from suboptimal working in the long term. The parameters are optimized by minimizing the H-inf norm of the closed loop transfer function. Finally, the contro...

Research paper thumbnail of A Complete Concept for Combined Longitudinal and Lateral Trajectory Planning for Automated Driving on Highways

Research paper thumbnail of Design of modal filters exact on maximal spaces of functions

7th Vienna International Conference on Mathematical Modelling, 2012

Abstract For the implementation of modal control concepts for linear distributed-parameter system... more Abstract For the implementation of modal control concepts for linear distributed-parameter systems knowledge of the modal coordinates is mandatory. Modal filters present an approach to extract these coordinates from a set of measurements. Using an array of sensors the design problem involves the choice of proper weighting coefficients and locations for the elements of the sensor array. In this contribution conditions on the sensor positions are derived using knowledge of the mode shapes to design modal filters that are exact for a maximal number of consecutive modes. The application of the given design process is illustrated by two examples.

Research paper thumbnail of Controller design for the nonlinear Resin Transfer Molding-process by output coupling

2009 IEEE International Conference on Control and Automation, 2009

The resin transfer moulding is a processing technique for fibre reinforced plastics and can be us... more The resin transfer moulding is a processing technique for fibre reinforced plastics and can be used to fabricate complex shapes. The governing equations to describe the dynamical behavior of the process are nonlinear partial differential equations defined on a complex domain. To avoid defects due to enclosed air in the moulding process a controller should be implemented. The basis for controller design is a reduced order descriptor model resulting from proper orthogonal decomposition combined with a modified Galerkin approach. To achieve a harmonic behavior of the flow front a dynamic coupling output controller is implemented. Simulations with a complex geometry show the prospects of this approach.

Research paper thumbnail of Regelung eines redundant aktuierten Steer-by-Wire-Systems – Control of redundant actuated Steer-by-Wire-Systems

Research paper thumbnail of Adaptive Master-Slave Cubature Kalman Filters subject to State Inequality Constraints for Wind Turbine State Estimation

The cubature Kalman filter (CKF) is well-known for a decade as a derivative-free nonlinear Kalman... more The cubature Kalman filter (CKF) is well-known for a decade as a derivative-free nonlinear Kalman filter that is well-suited for high-dimensional nonlinear estimation problems. This paper further develops this classical CKF in order to cope with time-varying noise statistics as well as inequality constraints on the estimated states. The resulting adaptive filter is suggested to provide more accurate state estimates and to be more robust against filter divergence. Moreover, this contribution proposes an automated filter design based on numerical optimization which uses the normalized estimation error squared (NEES) and the normalized innovation squared (NIS) as part of the objective function. The novel adaptive CKF is applied to wind turbines in order to assess the potential improvement for state and parameter estimation. The simulation results for an illustrative acid test scenario with time-varying measurement noise show the superiority of the novel adaptive CKF since it compensate...

Research paper thumbnail of A Graph Metric for Model Predictive Control of Petri Nets

Research paper thumbnail of Modelling of longitudinal dynamics of beams with variable cross-sectional area

2009 European Control Conference, Aug 1, 2009

This paper presents a new method of modelling the longitudinal dynamic behaviour of beams with va... more This paper presents a new method of modelling the longitudinal dynamic behaviour of beams with variable cross-sectional area. The beam is considered as an one-dimensional distributed-parameter system, whose dynamics is described by a PDE with boundary conditions. The solution is expanded in a Fourier series, where the eigenfunctions of the eigenvalue problem for the PDE are used as basis functions. The eigenvalue problem can be rewritten as an homogeneous linear spatial-varying state space model. Its solution, represented by the transition matrix, is derived via using the unified spectral theory for LTV-systems. By defining spatial-transfer-functions, it is possible to derive the eigenfunctions and eigenfrequencies of beams with piecewise defined cross-sectional area. An example demonstrates the practicability of the new method of modelling.

Research paper thumbnail of Model based control of series elastic actuators

This contribution presents a comprehensible model based approach of a control structure to contro... more This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. The controller is based on a linear model of the actuator, which can be reduced to a PT2 element if a disturbance compensator is included. This allows for a straightforward design of a state space controller and an intuitive choice of the controller parameters. An actuator design is presented and the required system parameters are identified. The performance of the control structure is proven by experiment.

Research paper thumbnail of (Eds.)

Informationstechnik bildet die Basis systemtechnischer Innovationen in Industrie, Wirtschaft und ... more Informationstechnik bildet die Basis systemtechnischer Innovationen in Industrie, Wirtschaft und Wissenschaft, aber auch in fast allen anderen Bereichen des öffentlichen und privaten Lebens. Um die hierfür erforderlichen vielfältigen Informationstechnologien in Lehre und Forschung bedarfsgerecht zu integrieren, haben sich Wissenschaftler der technischen Universität Clausthal über Fakultätsgrenzen hinweg zum Informationstechnischen Zentrum zusammengeschlossen. Durch enge Zusammenarbeit des Informationstechnischen Zentrums mit den naturund ingenieurwissenschaftlichen Instituten stellt die TU Clausthal der Industrie das

Research paper thumbnail of Prediction of Highway Lane Changes Based on Prototype Trajectories

Research paper thumbnail of Ausgangsgrossenverkopplung Bei Linearen Mehrgrossensystemen

Automatisierungstechnik, 1999

Prof. Dr.-Ing. Ulrich Konigorski ist Inhaber des Lehrstuhls für Regelungstechnik und Elektronik a... more Prof. Dr.-Ing. Ulrich Konigorski ist Inhaber des Lehrstuhls für Regelungstechnik und Elektronik an der Technischen Universität Clausthal. Methodenorientierte Forschungsschwerpunkte sind der Entwurf linearer und nichtlinearer Mehrgrößensysteme, Ereignisdiskrete und hybride Systeme sowie die Anwendung von Walshfunktionen in der Systemtheorie. Anwendungsorientierte Schwerpunkte sind die digitale Regelung mechatronischer und elektromechanischer Systeme sowie der Entwurf von Fahrdynamikregelungssystemen.

Research paper thumbnail of Kombinierte Längs- und Quertrajektorienplanung für automatisierte Fahrstreifenwechsel

Beschrieben wird ein System, welches automatisiert Fahrstreifenwechsel auf der Autobahn durchfuhr... more Beschrieben wird ein System, welches automatisiert Fahrstreifenwechsel auf der Autobahn durchfuhrt. Das System setzt hierbei als Sensorik zur Umfelderfassung nur mehrere Radar-sensoren und eine Monokamera voraus. Aufgrund der Zeitabhangigkeit der Umfeldobjekte ist es notwendig, anstatt einer Bahn y(x) eine Trajektorie x(t), y(t) zu planen. Zur Fuhrung des Fahrzeugs besteht das System aus einer Trajektorienplanung und einer unterlagerten Regelung. Durch diese Trennung ist es moglich, die Neuplanungsrate geringer zu wahlen, als dies bei einer klassischen Modellpradiktiven Regelung der Fall ware. Zur Trajektorienplanung wurden zwei verschiedene Methoden entwickelt. Bei beiden Planungsmethoden ist die Trajektorie Ergebnis eines nichtlinearen Optimierungsproblems. Beide Planungen berucksichtigen durch ihre Gutefunktion die beschrankte Fahrzeugdynamik sowie weitere Komfortgrenzen. Zusatzlich berucksichtigen sie die Kollisionsfreiheit der Trajektorie und den Einfluss auf den ruckwartigen V...

Research paper thumbnail of Regelung von Druckmaschinen mit mehreren Hauptantriebsmotoren – Modelleigenschaften, Reglerstrukturen und Reglerentwurf

Research paper thumbnail of State Regulation and State Observation in Networked Control Systems

IFAC Proceedings Volumes, 2012

This paper discusses variable signal delays and stochastic packet dropouts within closed loop Net... more This paper discusses variable signal delays and stochastic packet dropouts within closed loop Networked Control Systems (NCS). A special focus is dedicated to uncertain or partly unknown transition probabilities and the solution of the bilinear controller design problem. In addition, this approach is extended to the design of state observers. A numerical example is given to demonstrate the effectiveness of the controller design, while the observer based approach is applied to an inverted pendulum experiment.

Research paper thumbnail of WirelessHART als Übertragungsprotokoll für regelungstechnische Anwendungen

Research paper thumbnail of Combined estimation of gait phase and stair slope utilizing time history data

Improving the quality of life for people with amputations through active prostheses requires appr... more Improving the quality of life for people with amputations through active prostheses requires appropriate knowledge of the locomotion task and gait phase of the user. A shank mounted Inertial Measurement Unit based estimation method for stair slope is presented in conjunction with an improved gait phase estimation. In contrast to prior work only one Artificial Neural Network is used for the estimation of stair slope and gait phase for all three locomotion tasks and transitions between them. Utilizing past measurements should give more information to an estimation method without the need of additional sensors. By implementing a time window of 60 samples of prior measurements the gait phase and slope estimation could be improved by around 37 % and 38 % respectively comparing mean squared errors of the complete test dataset.

Research paper thumbnail of A new approach to the design of distributed parameter systems based on approximation models

2009 European Control Conference (ECC), 2009

The controller design for distributed parameter systems is a challenging task. The simple early l... more The controller design for distributed parameter systems is a challenging task. The simple early lumping approach allows the application of standard control theory tools but the designer has to keep in mind various negative aspects like aliasing, truncation and discretization errors. In this paper a new scheme to minimize these negative aspects in the controller design is presented which adopts a late lumping method by discretization. The scheme leads to the resulting problem formulation of a finite output feedback. The design of a heat conductor demonstrates the application of the new method.

Research paper thumbnail of Entwicklung eines Regelungskonzeptes für einen selbstfahrenden Fahrsimulator

Research paper thumbnail of Zur Verbesserung des Regelverhaltens eines in Betrieb befindlichen pneumatisch angetriebenen Stellventils

Research paper thumbnail of Decentralized control approach for an inverter-based microgrid in islanded mode

Due to the expansion of renewable energy resources synchronous generators (SGs) are being replace... more Due to the expansion of renewable energy resources synchronous generators (SGs) are being replaced by inverter-based generators (IBGs). This paper presents a distributed control approach for an inverter-based microgrid (MG) in islanded operation. In comparison to the conventional droop control we give the controller a certain dynamic to make the IBG behave like a SG. In order to keep the controller structure relatively simple, we need to capture the main features of the SGs. Therefore, the 3rd-order flux-decay model of SG is used. Although the controllers are fully distributed, i.e., they can work without knowing the states from other buses, their parameters are still determined based on the whole system. This means the controller parameters can be accordingly adjusted in case of changes in the MG, which prevents the controller from suboptimal working in the long term. The parameters are optimized by minimizing the H-inf norm of the closed loop transfer function. Finally, the contro...

Research paper thumbnail of A Complete Concept for Combined Longitudinal and Lateral Trajectory Planning for Automated Driving on Highways

Research paper thumbnail of Design of modal filters exact on maximal spaces of functions

7th Vienna International Conference on Mathematical Modelling, 2012

Abstract For the implementation of modal control concepts for linear distributed-parameter system... more Abstract For the implementation of modal control concepts for linear distributed-parameter systems knowledge of the modal coordinates is mandatory. Modal filters present an approach to extract these coordinates from a set of measurements. Using an array of sensors the design problem involves the choice of proper weighting coefficients and locations for the elements of the sensor array. In this contribution conditions on the sensor positions are derived using knowledge of the mode shapes to design modal filters that are exact for a maximal number of consecutive modes. The application of the given design process is illustrated by two examples.

Research paper thumbnail of Controller design for the nonlinear Resin Transfer Molding-process by output coupling

2009 IEEE International Conference on Control and Automation, 2009

The resin transfer moulding is a processing technique for fibre reinforced plastics and can be us... more The resin transfer moulding is a processing technique for fibre reinforced plastics and can be used to fabricate complex shapes. The governing equations to describe the dynamical behavior of the process are nonlinear partial differential equations defined on a complex domain. To avoid defects due to enclosed air in the moulding process a controller should be implemented. The basis for controller design is a reduced order descriptor model resulting from proper orthogonal decomposition combined with a modified Galerkin approach. To achieve a harmonic behavior of the flow front a dynamic coupling output controller is implemented. Simulations with a complex geometry show the prospects of this approach.

Research paper thumbnail of Regelung eines redundant aktuierten Steer-by-Wire-Systems – Control of redundant actuated Steer-by-Wire-Systems

Research paper thumbnail of Adaptive Master-Slave Cubature Kalman Filters subject to State Inequality Constraints for Wind Turbine State Estimation

The cubature Kalman filter (CKF) is well-known for a decade as a derivative-free nonlinear Kalman... more The cubature Kalman filter (CKF) is well-known for a decade as a derivative-free nonlinear Kalman filter that is well-suited for high-dimensional nonlinear estimation problems. This paper further develops this classical CKF in order to cope with time-varying noise statistics as well as inequality constraints on the estimated states. The resulting adaptive filter is suggested to provide more accurate state estimates and to be more robust against filter divergence. Moreover, this contribution proposes an automated filter design based on numerical optimization which uses the normalized estimation error squared (NEES) and the normalized innovation squared (NIS) as part of the objective function. The novel adaptive CKF is applied to wind turbines in order to assess the potential improvement for state and parameter estimation. The simulation results for an illustrative acid test scenario with time-varying measurement noise show the superiority of the novel adaptive CKF since it compensate...

Research paper thumbnail of A Graph Metric for Model Predictive Control of Petri Nets

Research paper thumbnail of Modelling of longitudinal dynamics of beams with variable cross-sectional area

2009 European Control Conference, Aug 1, 2009

This paper presents a new method of modelling the longitudinal dynamic behaviour of beams with va... more This paper presents a new method of modelling the longitudinal dynamic behaviour of beams with variable cross-sectional area. The beam is considered as an one-dimensional distributed-parameter system, whose dynamics is described by a PDE with boundary conditions. The solution is expanded in a Fourier series, where the eigenfunctions of the eigenvalue problem for the PDE are used as basis functions. The eigenvalue problem can be rewritten as an homogeneous linear spatial-varying state space model. Its solution, represented by the transition matrix, is derived via using the unified spectral theory for LTV-systems. By defining spatial-transfer-functions, it is possible to derive the eigenfunctions and eigenfrequencies of beams with piecewise defined cross-sectional area. An example demonstrates the practicability of the new method of modelling.

Research paper thumbnail of Model based control of series elastic actuators

This contribution presents a comprehensible model based approach of a control structure to contro... more This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. The controller is based on a linear model of the actuator, which can be reduced to a PT2 element if a disturbance compensator is included. This allows for a straightforward design of a state space controller and an intuitive choice of the controller parameters. An actuator design is presented and the required system parameters are identified. The performance of the control structure is proven by experiment.

Research paper thumbnail of (Eds.)

Informationstechnik bildet die Basis systemtechnischer Innovationen in Industrie, Wirtschaft und ... more Informationstechnik bildet die Basis systemtechnischer Innovationen in Industrie, Wirtschaft und Wissenschaft, aber auch in fast allen anderen Bereichen des öffentlichen und privaten Lebens. Um die hierfür erforderlichen vielfältigen Informationstechnologien in Lehre und Forschung bedarfsgerecht zu integrieren, haben sich Wissenschaftler der technischen Universität Clausthal über Fakultätsgrenzen hinweg zum Informationstechnischen Zentrum zusammengeschlossen. Durch enge Zusammenarbeit des Informationstechnischen Zentrums mit den naturund ingenieurwissenschaftlichen Instituten stellt die TU Clausthal der Industrie das

Research paper thumbnail of Prediction of Highway Lane Changes Based on Prototype Trajectories

Research paper thumbnail of Ausgangsgrossenverkopplung Bei Linearen Mehrgrossensystemen

Automatisierungstechnik, 1999

Prof. Dr.-Ing. Ulrich Konigorski ist Inhaber des Lehrstuhls für Regelungstechnik und Elektronik a... more Prof. Dr.-Ing. Ulrich Konigorski ist Inhaber des Lehrstuhls für Regelungstechnik und Elektronik an der Technischen Universität Clausthal. Methodenorientierte Forschungsschwerpunkte sind der Entwurf linearer und nichtlinearer Mehrgrößensysteme, Ereignisdiskrete und hybride Systeme sowie die Anwendung von Walshfunktionen in der Systemtheorie. Anwendungsorientierte Schwerpunkte sind die digitale Regelung mechatronischer und elektromechanischer Systeme sowie der Entwurf von Fahrdynamikregelungssystemen.