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Fakultät 3
Fachgebiet Regelungssysteme und Netzleittechnik Prof. Dr.-Ing. Johannes Schiffer
Energy saving in multi-agent system in optimal coverage tasks (M.Sc.)
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UAVs (unmanned aerial vehicle) are increasingly being used in more and more areas. In surveillance or search activities they can be used to cover a specific area of a given terrain. There are some algorithms that allow to determine the optimal areas for each UAV, depending on the number of UAVs and the greater or lesser importance of the different points of the terrain. However, the way in which the UAVs must cover such areas based on energy autonomy has not yet been studied in depth. Within this project the different alternatives in which the energy autonomy is taken into account should be tested and analysed.Dr. Rolando Cortés Martínez

 

Leader-follower control of UAV under constrained scenarios (B.Sc.)
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In the leader-follower scheme a group of UAVs (unmanned aerial vehicle) must follow the leader in different formation schemes. However, if the environment in which they operate is constrained by walls and other obstacles, the followers must reconfigure the formation. The objective of this work is to analyse the various techniques to achieve this goal without compromising the following control task.Dr. Rolando Cortés Martínez

 

Global Observer for Uncertain for two degree of freedom Euler-Lagrange Systems with uncertain inertia matrix (B. SC. / M.Sc)
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Euler–Lagrange systems provide a fundamental mathematical framework for modelling a wide range of mechanical systems, including robotic manipulators and crane systems. In practice, reliable state estimation is not only of theoretical interest but is also a prerequisite for the implementation of model-based feedback controllers, since many control strategies require full state information that is often not directly measurable.  Accurate state estimation for such nonlinear systems is particularly challenging in the presence of modelling uncertainties, unknown inputs, Coriolis and centrifugal forces, and dry (Coulomb) friction. This project investigates and extends a global observer framework for uncertain Euler–Lagrange systems based on the theory of bi-limit homogeneity. The proposed observers guarantee exact estimation of the generalized velocities with convergence that can be made finite-time or fixed-time depending on the design parameters. Particular attention is given to the treatment of time-varying uncertainties and their influence on the observer structure, estimation-error dynamics, and convergence properties — aspects that extend and deepen the existing framework.

Beyond the academic scope of the thesis, a further objective is the dissemination of the obtained results through publication at a relevant international conference in the field of control theory, such as IEEE CDC, IFAC World Congress, or ECC, contributing to the broader scientific community and exposing the work to peer review at an early stage.		Oscar Texis-Loaiza
Output-Feedback Lipschitz-Continuous Control of a Reaction Wheel Pendulum: Stabilization and Trajectory Tracking (B. SC. / M.Sc)
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The Reaction Wheel Pendulum (RWP) is a canonical underactuated mechanical system and a compelling benchmark for advanced nonlinear control techniques. This project focuses on the implementation of an output-feedback control scheme based on a Lipschitz-continuous controller, where an observer reconstructs the unmeasured states from position measurements alone, enabling practical deployment without full state sensing. The work covers both stabilization of the upright equilibrium and an extension to trajectory tracking, addressing the additional design challenges that arise in the tracking case. The project is further intended to provide students with a concrete bridge between control theory and its practical implementation on a physical platform.

Beyond the academic scope of the thesis, a further objective is the dissemination of the obtained results through publication at a relevant international conference in the field of control theory, such as IEEE CDC, IFAC World Congress, or ECC, contributing to the broader scientific community and exposing the work to peer review at an early stage.		Oscar Texis-Loaiza
Modeling and Analysis of Grid-Forming Converters (B.Sc. / M.Sc.)
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A widely accepted solution for improving the sustainability of the power system is by increasing the share of power production via renewable sources. Typically, the interface between renewable power generation and the power grid is managed through power converters that operate in a so-called grid-following mode. Although this operation scheme is useful for injecting desired amounts of energy into the grid, it does not allow for the provision of ancillary services, such as grid voltage regulation and frequency response, which are essential for coping with system disturbances or sudden grid faults.

To address these limitations, grid-forming converters have been recently introduced. These converters can increase the robustness of the power grid by virtue of their voltage regulation and frequency response capabilities. Nonetheless, the integration of these devices into the grid presents several challenges, among which the establishment of robust and stable electrical synchronization is critical. This thesis project addresses aspects related to the modeling and control systems design for power converters operating in grid-forming mode under various operating conditions, including dynamic response to load changes and grid disturbances.

The specific research objectives and tasks to be developed by the student will be agreed upon with the aspirants according to their background and will depend on the ongoing research goals of the supervision team.		Nived Bhoir
Data-Driven Analysis and Control of Power Systems (B.Sc. / M.Sc.)
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The stability of the interconnected power system is crucial for ensuring reliable electrical supply to the end-users. This thesis project is concerned with the assessment of the power system’s stability using methods that exploit data, such as that produced from experiments or measurements, and that do not necessarily rely on knowledge of a system’s model, which is the current practice. Particular emphasis will be put on analytical criteria for decentralized or modular stability certification, i.e., which do not require global system data. The specific research objectives and tasks to be developed by the student will be agreed with the aspirants in accordance to their background. They will depend on the ongoing research goals of the supervision team.M. Alejandra Sandoval

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