GAMM2025

Session

S20: Dynamics and control

S20

8 Apr 2025, 16:30

Lecture and Conference Centre

Conveners

S20: Dynamics and control: S20.01

• Jonas Schießl
• Lukas Lanza

S20: Dynamics and control: S20.02

• Yevgeniya Filanova
• Josie König

S20: Dynamics and control: S20.03

• Jan Heiland
• Yevgeniia Yevgenieva

S20: Dynamics and control: S20.04

• Oleksii Molodchyk
• Sofya Maslovskaya

S20: Dynamics and control: S20.05

• Victoria Grushkovska
• Sofya Maslovskaya

S20: Dynamics and control: S20.06

• Simon Gottschalk
• Lukas Lanza

S20: Dynamics and control: S20.07

• Lukas Lanza
• Civan Yavas

Description

Dynamics and control is an interdisciplinary section which in particular adresses mathematical systems theory and control engineering. The contributions to this section are also concerned with the mathematical understanding and design of controllers which appear in actual applications.

498. Model predictive control for uncertain systems - robust and data-driven designs

Johannes Köhler

08/04/2025, 16:30

This talk addresses the design of predictive controllers that ensure the satisfaction of safety-critical constraints for uncertain dynamical systems. In particular, model predictive control (MPC) provides a natural approach to satisfy safety-critical constraints for general nonlinear dynamical systems, assuming an accurate model is available. In this talk, I will present robust design methods...

499. Near-optimal performance of stochastic economic MPC

Jonas Schießl

08/04/2025, 17:10

In this talk we present first results for near optimality in expectation of the closed-loop solutions for stochastic economic MPC. The approach relies on a recently developed turnpike property for stochastic optimal control problems at an optimal stationary process, combined with techniques for analyzing time-varying economic MPC schemes. We obtain near optimality in finite time as well as...

501. Vertical Vibration Reduction of Maglev Vehicles using Nonlinear Model Predictive Control

Mario Hermle

08/04/2025, 17:30

Magnetically levitated (Maglev) vehicles aim to address the growing demand for efficient and sustainable high-speed transportation solutions. They offer a promising alternative to traditional modes of transportation like air travel or wheel-on-rail systems. Based on the principle of the electromagnetic suspension (EMS), these vehicles need to be actively controlled to maintain stable...

502. Model hierarchy for the design of a MPC controller in gas networks

Andrés Ortegón-Villacorte

08/04/2025, 17:50

CANCELLED
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An accurate simulation of gas networks has been the objective of the last decades in numerical analysis, provided that this could later bring improvements on the operation of the network and reduced costs. However, when considering real-world application networks, simulating the gas network becomes computationally expensive due to the scale, complexity, and dynamic nature...

503. Comparison of a-posteriori error estimators in the context of Parametric Model Order Reduction by Matrix Interpolation

Sebastian Schopper

09/04/2025, 08:30

Simulations of complex dynamical systems using the Finite Element Method (FEM) can become computationally very expensive since large systems of equations have to be solved for multiple instances in time or frequency. Projection-based model order reduction (MOR) methods are state-of-the-art methods to compute an accurate approximate solution of the high-dimensional model with significantly less...

504. Reduced Order Modeling for Frequency Response Functions of Nonlinear Dynamical Systems: Application to Gear Transmission Systems

Hady Mohamed

09/04/2025, 08:50

We present a framework for developing non-intrusive reduced-order models (ROMs) to predict nonlinear dynamical systems' frequency response functions (FRFs), focusing on gear transmission systems. This approach addresses the challenge of modeling complex, multi-valued, and non-monotonic FRFs across a wide frequency range of up to 10 kHz. The methodology combines the Craig-Bampton method with...

506. Application of operator inference to reduced-order modeling of constrained mechanical systems

Yevgeniya Filanova

09/04/2025, 09:10

Constrained mechanical systems occur in many applications, such as modeling of robots and other multibody systems. In this case, the motion is governed by a system of differential-algebraic equations (DAE), often with large and sparse system matrices. The problem dimension strongly influences the effectiveness of simulations for system analysis, optimization, and control, given limited...

507. Approximate Balanced Truncation for Linear Structured Systems based on Greedy Numerical Integration

Celine Reddig

09/04/2025, 09:30

The research area of model reduction enables the acceleration of engineering design cycles through the construction of low-dimensional surrogate models. In this talk, we focus on the reduction of linear structured systems (LSS) from the perspective of balanced truncation. Such systems exhibit particular structures, which may involve second-order derivatives, time delays, or...

508. System-theoretic model order reduction for data assimilation

Josie König

09/04/2025, 09:50

Solving data assimilation (DA) problems often involves expensive forward model simulations to compute the expected output for multiple initial conditions. Since this quickly becomes infeasible in high dimensions, reduced models can play an important role in making such computations tractable. In particular, model reduction methods from control (systems) theory are well established for...

509. Controllability of an orbiting satellite model with electromagnetic-only actuation

Yevgeniia Yevgenieva

09/04/2025, 16:30

We investigate the small-time local controllability of a nonlinear control-affine system modeling the rotational motion of a satellite on a circular orbit, focusing on an underactuated scenario where the control torque is generated solely by magnetorquers. The satellite is treated as a rigid body subject to electromagnetic actuation. The main contributions include establishing small-time local...

510. On the existence of periodic solutions to weakly nonlinear distributed parameter control systems

Alexander Zuyev

09/04/2025, 16:50

This talk is devoted to the study of periodic solutions for a class of weakly nonlinear control systems in a Hilbert space. We assume that the linear part of the system generates a C₀-semigroup of bounded linear operators and that the nonlinearity is Lipschitz continuous. For an arbitrary bounded measurable input defined on the interval [0, T], we formulate the problem of finding a solution...

511. Approximate Control by Series Expansion with Application to the Ball and Beam System

Daniel Gerbet

09/04/2025, 17:10

For the design of reference tracking controllers for nonlinear systems linearising controllers are often applied. Especially input-output linearisation is a widely used approach. However, this is only applicable for a specific system class. In particular, a system output with well defined relative degree must exist, and there are several systems that do not fulfill this requirement.

One...

513. Comparison and analysis of event-triggered state estimation methods for nonlinear systems

Jiaxin Ji

09/04/2025, 17:30

Event-triggered state estimation has gained significant attention in resource-constrained environments such as network control system due to its ability to save communication and energy resources. For example, it has been observed that event-triggered Kalman filtering-based approaches can achieve resource efficiency in general nonlinear systems [1]. Also the idea of Moving Horizon Estimation...

514. Flatness-based observer design of Shallow Water Waves in a Tube with Moving Boundary and non-collocated measurement in Material-Fixed Coordinates

Jens Wurm

09/04/2025, 17:50

The design of flatness-based open-loop control for various kinds of hyperbolic partial differential equations (PDEs) has been discussed in several publications [1,2], including its application to quasi-linear hyperbolic PDEs [3]. Furthermore, flatness-based tracking control for quasi-linear hyperbolic PDEs has already been analyzed in [4]. However, the study of flatness-based observer design...

512. Observability Test for Systems with Rational Nonlinearities

Klaus Röbenack

09/04/2025, 18:10

Nonlinear observability based on the concept of indistinguishability of states was introduced by Hermann and Krener in 1977. In this approach, the observability map needs to be tested for injectivity. In general, observability is difficult to verify for nonlinear systems. The well-known observability rank condition, which is based on the inverse function theorem, only makes a sufficient...

515. Improving Policy Iteration: A Koopman-Based Riccati Analogue for Nonlinear Control Systems

Bernhard Höveler

10/04/2025, 08:30

Optimal feedback control for nonlinear systems is a powerful tool with applications in engineering, physics, and many other fields. However, a significant drawback of this approach is that the numerical treatment of the resulting nonlinear first-order partial differential equation—the Hamilton-Jacobi-Bellman (HJB) equation—can be challenging. In this talk, we will show that the HJB equation is...

516. Exploring the Links between the Fundamental Lemma and Kernel Regression

Oleksii Molodchyk

10/04/2025, 08:50

Generalizations and variations of the fundamental lemma by Willems et al. are an active topic of recent research. In this note, we explore and formalize the links between kernel regression and known nonlinear extensions of the fundamental lemma. Applying a transformation to the usual linear equation in Hankel matrices, we arrive at an alternative implicit representation of the system...

517. Exponential trim turnpike property for optimal control systems with symmetries

Boris Wembe

10/04/2025, 09:10

Nowadays, the turnpike phenomenon is a well-known concept in optimal control, which has been the subject of several studies over the last decade. This notion, first introduced in economics, refers to the particular structure of certain solutions that remain close to a turnpike most of the time except at the beginning and at the end. Most of recent works on turnpikes in optimal control focuses...

519. New Lagrangian framework for optimality conditions in second order optimal control problems

Sofya Maslovskaya

10/04/2025, 09:50

In this work, we propose a new framework to treat optimal control problems with second order control systems. Such control systems are usually encountered in mechanics in the form of Euler-Lagrange equations with forcing. The new approach is based on a reformulation of the optimal control problem as a regular Lagrangian variational problem. Such a reformulation is possible because of the...

520. New discrete Lagrangian approach for solving mechanical optimal control problems

Michael Konopik

10/04/2025, 10:10

In optimal control, Pontryagin's maximum principle provides necessary conditions for optimality of a solution. Generally, however, solutions satisfying these cannot be found analytically, and instead, we need to rely on numerical methods. The convergence rate of the resulting approximations is not the only important measure of the quality of the method. The preservation of qualitative features...

521. Exponential splittings in the presence of unbounded operators

Karolina Kropielnicka

10/04/2025, 14:00

Exponential splitting is a well established and widely used technique for finding approximate solutions of linear DE of type u’=(A+B)u. It can be also used for the case of time dependent component B(t) after application of mid-point quadrature, where the error estimate is not clear in the case of singular cases of unbounded operators B(t).

In this talk I will show how second and fourth...

522. Extremum seeking algorithms with time-varying gains

Victoria Grushkovska

10/04/2025, 14:40

This talk introduces a new approach for solving extremum seeking problems. Extremum seeking methods are widely employed for real time optimization without requiring explicit knowledge of the cost function’s gradient. However, conventional approaches relying on constant gain strategies often lead to the practical asymptotic stability. This means that the trajectories of a system converge to a...

523. Simultaneous Inversion for Underactuated Mechanical Systems with Servo-Constraints

Tengman Wang

10/04/2025, 15:00

Increasing energy efficiency and saving raw materials promote the lightweight design of mechanical structures, like beams and strings. Such systems are typically underactuated and require an accurate inverse model, which is essential in the two-degree-of-freedom control structure for robust trajectory tracking. The dynamic inversion of underactuated mechanical systems can be formulated in the...

524. An averaging approach for the optimal design of stand-alone mini- grids

Nina Kliche

10/04/2025, 15:20

CANCELLED

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In rural Ethiopia, 70% of the population lacks reliable access to electricity. Extending the main grid is prohibitively expensive. Mini-grids emerge as a cost-effective and dependable solution. Mini-grids are localized energy networks. They typically consist of small-scale renewable power generation systems and distribution infrastructure. The typical installation...

525. Rational Approximation of Transfer Functions with Automated Detection of Relative Degrees

Jan Heiland

10/04/2025, 15:40

We consider the task of data-driven identification of dynamical systems, specifically for systems whose behavior at large frequencies is nonproper, as encoded by a higher relative degree.

In this work, we review existing approaches to interpolate transfer function data most of which rely on a-priori knowledge of the relative degree or on high-frequency data with the term "high" remaining...

526. Safeguarded Hybrid Reinforcement Learning for Driving on a Racetrack

Simon Gottschalk

10/04/2025, 16:30

Optimal control problems in dynamic environments include the challenge that one has to make fast decisions without risking collisions. This can be illustrated with an example in which the goal is to drive on the racetrack without any collision with other road users. For this example, in [1], we introduced a hybrid structure, which consists of a Reinforcement Learning approach, which is used as...

527. Reducing Communication in Distributed Predictive Control: A Case Study from Mobile Robotics

Henrik Ebel

10/04/2025, 16:50

Distributed model predictive control (DMPC) is a powerful and general control technique to automate the behavior of a collaborating network of systems in a distributed manner. One key advantage is that, through the intuitive definition of constraints and the encoding of the collaborative goal in the cost function, a wide variety of collaborative tasks can be considered. Moreover, conceptually,...

500. Using Polar Coordinates for Sub-Riemannian Formation Control of Mobile Robots

Mario Rosenfelder

10/04/2025, 17:10

Precise setpoint control of formations of differential-drive robots poses significant challenges. Here, formation control refers to the cooperative control of the formation's centroid and the relative postures of the individual robots. Even for a single nonholonomic robot, controller design is challenging as no continuous, static state-feedback law can asymptotically stabilize a given...

789. Reinforcement learning based tuning of servo motor controllers

Ruggero Simonelli

10/04/2025, 17:30

CANCELLED
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Servo motor controllers are vital components in industrial applications such as robotics and automated machinery, in which precision, safety, and reliability are essential. This paper presents and evaluates different strategies to leverage Reinforcement Learning (RL) to control servo motors, while at the same time maintaining the traditional cascade control architecture,...

518. Optimal control for a class of linear transport dominated systems via the shifted proper orthogonal decomposition

Shubhaditya Burela

10/04/2025, 17:50

Addressing optimal control problems for transport-dominated partial differential equations (PDEs) can be computationally intensive, particularly for high-dimensional systems. To mitigate this, we focus on developing reduced-order models that can serve as surrogates for the full PDE system in solving these problems. Earlier works in this regard have explored the use of proper orthogonal...

528. Modeling of ambient temperature influence on dynamic characteristics of viscoelastic layered plates

Przemyslaw Litewka

11/04/2025, 08:30

The paper is devoted to ambient temperature influence on dynamic characteristics of viscoelastic layered plates i.e. structures applied in many fields of engineering under various physical conditions. Damping properties of common viscoelastic materials depend on thermal conditions, as is frequently reported [1], thus the problem has significant practical importance.

The Zener fractional...

529. Application of the Complex Harmonic Balance Method to determine parameters of a nonlinear fractional Zener model

Zdzislaw Pawlak

11/04/2025, 08:50

The research is devoted to the rheological properties of viscoelastic materials, which are used to reduce excessive vibrations in passive damping systems in high buildings loaded with wind or in buildings located in seismic areas. It is extremely important but also difficult to correctly describe the dynamic behavior of a viscoelastic material, since its rheological characteristics depend on...

531. The use of viscoelastic layers to retrofit the dynamic resistance of reinforced concrete frames

Civan Yavas

11/04/2025, 09:10

The repair and strengthening of reinforced concrete (RC) frames is of great importance in ensuring the structural safety and serviceability of buildings after seismic events. Beam-column joints are primary mechanisms for dissipating seismic energy within RC frame structures. During ground motions, these joints accumulate significant energy, which may result in plastic deformations [1]....

532. Towards Advancing Energy Efficiency in Subway Systems through Port-Hamiltonian Formulation

Dorothea Hinsen

11/04/2025, 09:30

Efficient mobility and sustainable transportation are imperative for driving economic growth and preserving the environment in today's globalized society. However, the transportation sector, responsible for a substantial portion of energy consumption and CO2 emissions, presents a formidable challenge for achieving sustainable and ecological transformations, especially in countries like...

533. Stability of hybrid systems of variable dimension

Marvin Schulte

11/04/2025, 09:50

The dynamics of a system are not always fully described by a continuous evolution in terms of differential equations, but also by discrete jumps of the state. Jump times and states after the jumps may be stochastic with the probability depending on the actual state of the system. This can be described in the mathematical framework of stochastic hybrid systems. As an extension to classical...

530. Application of the contour integral method to determine of the dynamic characteristics of structures equipped with viscoelastic dampers

Roman Lewandowski