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Publikationen

Aktive Schwingungsdämpfung für eine Feuerwehrdrehleiter

Bücher, Beiträge in Zeitschriften

A. Pertsch & O. Sawodny
Verteiltparametrische Modellierung und Regelung einer 60 m-Feuerwehrdrehleiter
.
at - Automatisierungstechnik, Oldenbourg Wissenschaftsverlag GmbH, 2012, 60, 522–533
doi: 10.1524/auto.2012.1024

N. Zimmert, A. Pertsch & O. Sawodny
2-DOF Control of a Fire-Rescue Turntable Ladder
.
IEEE Transactions on Control Systems Technology, 2011, Vol. 20, 438–452
doi: 10.1109/TCST.2011.2116021

A. Zuyev & O. Sawodny.
Stabilization and Observability of a Rotating Timoshenko Beam Model
.
Mathematical Problems in Engineering
, vol. 2007, Article ID 57238, 19 pages, 2007, doi: 10.1155/2007/57238

O. Sawodny, E.P. Hofer, H. Aschemann & A. Bulach.
Active Control of a Large Scale Robot Arm.
Nonlinear Problems in Dynamical Systems – Theory and Applications, Strealen, Germany, 2000

Konferenzbeiträge und weitere Publikationen

A. Pertsch und O. Sawodny
Modeling of Coupled Bending and Torsional Oscillations of an Inclined Aerial Ladder
Proc. of the 2013 American Control Conference, 4098–4103 Washington D.C., USA, 2013

A. Pertsch, N. Zimmert & O. Sawodny
Modeling a Fire-Rescue Turntable Ladder as piecewise Euler-Bernoulli Beam with a Tip Mass
.
Proc. of the 48th IEEE Conference on Decision and Control
, 7321–7326, PR China, Shanghai, 2009
doi: 10.1109/CDC.2009.5399815

N. Zimmert, O. Sawodny, R. Keck & C. Lauterjung
Höher, schneller, weiter - Aktive Schwingungsdämpfung für Feuerwehrdrehleitern.
dSPACE Magazin, Vol. 2, 30–35, 2010,  Artikel

N. Zimmert, A. Kharitonov & O. Sawodny.
A new Control Strategy for Trajectory Tracking of Fire-Rescue Turntable Ladders.
Proc. of the 17th IFAC World Congress, 869–874, Seoul, Korea, 2008, doi: 10.3182/20080706-5-KR-1001.2397

N. Zimmert & O. Sawodny.
A Trajectory Tracking Control with Disturbance-Observer of a Fire-Rescue Turntable Ladder.
Proc. of the 2008 American Control Conference, 4041–4046, Seattle, WA, USA, 2008, doi: 10.1109/ACC.2008.4587125

A. Kharitonov, N. Zimmert & O. Sawodny.
Active Oscillation Damping of the Fire-Rescue Turntable Ladder.
Proc. of the IEEE Conference on Control Applications 2007, 391–396, Singapore City, Singapore, 2007, doi: 10.1109/CCA.2007.4389262

S. Lambeck & O. Sawodny.
Trajectory Generation and Oscillation Damping Control for a Flexible Link Robot
.
Proc. of the 33rd Annual Conference of the IEEE Industrial Electronics Society
, 2748–2753, Taipei, Taiwan, 2007, doi: 10.1109/IECON.2007.4460163

S. Lambeck, O. Sawodny & E. Arnold.
Trajectory tracking control for a new generation of fire rescue turntable ladders.
Proc. of the IEEE Conference on Robotics, Automation and Mechatronics 2006, 1–6, Bangkok, Thailand, 2006, doi: 10.1109/RAMECH.2006.252757

A. Zuyev & O. Sawodny.
Stabilization of a flexible manipulator model with passive joints.
Proc. of the 16th IFAC World Congress, vol. 16, part 1, Praha, Czech Republic, 2005

H. Aschemann, O. Sawodny, A. Bulach & E. Hofer.
Model Based Trajectory Control of a Flexible Turntable Ladder.
Proc. of the 2002 American Control Conference, pages 921-926, Anchorage, AK, USA, 2002, doi: 10.1109/ACC.2002.1023135

O. Sawodny, H. Aschemann & A. Bulach.
Mechatronical design control of fire-rescue turntable-ladders as flexible link robots.
Proc. of the 15th IFAC World Congress, Barcelone, Spain, 2002

O. Sawodny, S. Lambeck & A. Hildebrandt.
Trajectory generation for the trajectory tracking control of a fire rescue turntable ladder.
Proc. of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02, 411–416, 2002,
doi: 10.1109/ROMOCO.2002.1177075

O. Sawodny, S. Lambeck & A. Hildebrandt.
Modelling and Gain-Scheduled Trajectory Control of a flexible Turntable Ladder.
Proceedings of the 7th IEEE International Conference on Methods and Models in Automation and Robotics 2001, Miedzyzdroje, Poland, 2001

Lastpendeldämpfung an einem Drehkran

Bücher, Beiträge in Zeitschriften

J. Neupert
Flachheitsbasierte Trajektorienfolgeregelung für Drehkrane mit modellprädiktiver Trajektoriengenerierung
Shaker Verlag, Aachen, 2011.

J. Neupert, E. Arnold, K. Schneider & O. Sawodny.
Tracking and anti-sway control for boom cranes.
Control Engineering Practice, 18(1):31–44, 2010, doi: 10.1016/j.conengprac.2009.08.003

E. Arnold, J. Neupert, O. Sawodny & K. Schneider.
Modell-prädiktive Trajektoriengenerierung für flachheitsbasierte Folgeregelungen am Beispiel eines Hafenmobilkrans.
at-Automatisierungstechnik, 56(8):395–405, 2008, doi: 10.1524/auto.2008.0719

O. Sawodny, A. Hildebrandt & K. Schneider
Harbour mobile cranes for automated boom crane operation
Journal Port Technology International,
99–101, 2003.

Konferenzbeiträge und weitere Publikationen

U. Schaper, C. Sagert, O. Sawodny & K. Schneider
A load position observer for cranes with gyroscope measurements.
Proceedings of the 18th IFAC World Congress, pp. 3563-3568, Milano, Italy, 2011, doi: 10.3182/20110828-6-IT-1002.01456.

U. Schaper, O. Sawodny & K. Schneider
State estimation of large-scale cranes and implications for crane control
11th International Conference “Stability, Control and Rigid Bodies Dynamics”, Donetsk, 2011.

A. Kharitonov, N. Zimmert & O. Sawodny.
Trajectory Tracking for Boom Cranes Based on Nonlinear Control and Optimal Trajectory Generation.
Proc. of the IEEE Conference on Control Applications 2007, pp. 1444–1449, Singapore City, Singapore, 2007,
doi: 10.1109/CCA.2007.4389439

J. Neupert, T. Mahl, O. Sawodny & K. Schneider.
A Nonlinear Control Strategy for Boom Cranes in Radial Direction.
Proc. of the 2007 American Control Conference, pp. 25-30, New York City, USA, 2007. doi: 10.1109/ACC.2007.4282455

E. Arnold, O. Sawodny, J. Neupert & K. Schneider.
Anti-sway system for boom cranes based on a model predictive control approach.
Proc. of the IEEE International Conference on Mechatronics & Automation, 1533–1 538, Niagara Falls, Canada, 2005, doi: 10.1109/ICMA.2005.1626783

O. Sawodny, A. Hildebrandt & K. Schneider
Harbour mobile cranes for automated boom crane operation
Journal Port Technology International, 99–101, 2003.

O. Sawodny, A. Hildebrandt & K. Schneider
Control Design for the Rotation of Crane Loads for Boom Cranes
Proc. of the 2003 IEEE Internat. Conf. on Robotics and Automation, 2182–2187, 2003.

O. Sawodny, H. Aschemann, J. Kümpel, C. Tarin & K. Schneider
Anti-sway Control for Boom Cranes
Proc. of the American Control Conference, 244–249, 2002.

J. Neupert, O. Sawodny, T. Fuchs & K. Schneider.
Parameter identification of rotating payloads for boom cranes.
Proc. of the 6th Asian Control Conference, 931–936, 2006

J. Neupert, A. Hildebrandt, O. Sawodny & K. Schneider
Trajectory Tracking For Boom Cranes Using A Flatness Based Approach
SICE-ICASE, 2006. International Joint Conference, 1812–1816, 2006.

E. Arnold, O. Sawodny, A. Hildebrandt, & K. Schneider.
Anti-sway system for boom cranes based on an optimal control approach.
Proc. of American Control Conference, 3166–3171, Denver, CO, USA, 2003. doi: 10.1109/ACC.2003.1244016

Aktive Seegangskompensation bei Offshore-Kranen

Bücher, Beiträge in Zeitschriften

S. Küchler, T. Mahl, J. Neupert, K. Schneider & O. Sawodny
Active Control for an Offshore Crane Using Prediction of the Vessel's Motion.
IEEE/ASME Transactions on Mechatronics, 16(2), 297–309, 2011.

S. Küchler & O. Sawodny
Beobachtergestützte Prognose der Vertikalbewegung eines Schiffes.
at-Automatisierungstechnik, 59(8), 502–511, 2011.

Konferenzbeiträge und weitere Publikationen

S. Küchler & O. Sawodny
Nonlinear Control of an Active Heave Compensation System with Time-Delay.
IEEE International Conference on Control Applications (CCA), Yokohama (Japan), 1313–1318, 2010.

S. Küchler, C. Pregizer, J. Eberharter, K. Schneider & O. Sawodny
Real-Time Estimation of a Ship's Attitude.

American Control Conference (ACC), San Francisco, CA (USA),
2411–2416, 2011.

S. Küchler, J. Eberharter, K. Langer, K. Schneider & O. Sawodny
Heave Motion Estimation of a Vessel Using Accelerometer Measurements.
18th IFAC World Congress, Milano (Italy), 14742–14747, 2011.

Trajektorienplanung und Trajektorienfolgeregelung

Konferenzbeiträge und weitere Publikationen

T. Ruppel, L. Knierim & O. Sawodny.
Flachheitsbasierte Regelung eines Brückenkrans entlang einer glatten Referenzbahn.
Dokumentationsvideo, Feb. 2010, Link zum Video (Windows Media File 9MB)

Ruppel, T., Zimmert, N., Zimmerman, J. & Sawodny, O.
Kinodynamic Planning - An Analytical Approximation with Cn Polynomials for Industrial Application.
Proc. of the 17th IEEE International Conference on Control Applications, 528–533, USA, TX, San Antonio, 2008, doi: 10.1109/CCA.2008.4629679

Zimmert, N., Sawodny, O., Arnold, E. & Oschmann, S.
An On-Line Trajectory Generation based on a Model Predictive Approach.
Proc. of the 6th Asian Control Conference
, 946–951, Bali, Idonesia, 2006,

J. Neupert, A. Hildebrandt, O. Sawodny & K. Schneider
A trajectory planning strategy for large serving robots
Proc. of the SICE Annual Conference, 2180–2185, 2005.