Inhalt des Dokuments
From Fachgebiet Regelungssysteme TU Berlin
Technische Universität Berlin
|Office:||EN 240 (Elektrotechnik Neubau)|
|Phone:||+49 (0)30 314-23573|
|Fax:||+49 (0)30 314-21137|
I studied Electrical Engineering with a major in Measurement and Automatic Control at TU Berlin from 2005 to 2010. I did my "Studienarbeit" at the Automatic Control Lab, KTH in Stockholm, Sweden. Further, I have been an Intern with Bosch and Siemens Household Appliances GmbH in Berlin. I have joined the Control Systems Group at TU Berlin in October 2010. Further, I was a visiting Fulbright scholar at the HyNeSs Lab, Boston University, USA for the academic year 2013/2014.
- Integrierte Lehrveranstaltung: Mehrgrößenregelsysteme, seit SS 2015
- Integrierte Lehrveranstaltung: Grundlagen der Regelungstechnik, seit WS 2014/2015
- Praktikum: Regelungssysteme (Praktikum), WS 2012/2013
Consider a quadrotor that has to pick-up 3 objects located at particular spots (marked in red) in a limited environment and bring them to a designated place d (represented by a green square). The vehicle has to avoid obstacles (denoted by gray polyhedra) and minimize the time for completing the assignment. In addition, object 1 has to be picked up first. The mass of the vehicle changes upon every pick-up or drop-off. A drop-off of objects, carried by the quadrotor, is possible only at d at any time. The (approximately) optimal solution of this task is given in the animated figure on the right. For further details, please refer to Nenchev et al., "Optimal motion planning with temporal logic and switching constraints", Proc. of ECC, 2015.
Possible thesis topics
- Bachelor thesis: Time-optimal motion planning for mobile robots in uncertain environments
Consider the example above, but with the quadrotor moving in an urban environment, where it has to possibly counteract different disturbances to accomplish the task. Or a ground robot that has to clean up a room with an unknown friction coefficient of the floor. These or similar tasks should be investigated in this thesis.
- Master thesis: Linear quadratic control of switched linear systems with timing constraints
Recently, linear quadratic control has been extended for different classes of linear hybrid systems. This work should consider optimal control problems, where a finite specification with timing constraints has to be satisfied by a switched linear system. An application example could be a quadrotor that has to deliver a finite number of packages to particular places in an environment in specified time-windows, while minimizing the consumed energy.
- Master thesis: Optimal swing-up and swing-down control for a pendulum on a cart
The inverted pendulum is an eminent benchmark example in control due to its simple yet challenging nature. This thesis should focus on developing methods for swinging a pendulum up and down in a time- or energy optimal manner that do not lead to a violation of the setup limitations. The approach should first be tested in simulation for a single and then for a triple pendulum. Then, the controllers should be verified in practice on the triple pendulum in the lab.
If you are interested in any of the topics above, please contact me via email or drop by in my office hours.
- V. Nenchev, C. G. Cassandras, J. Raisch. Optimal control for a robotic exploration, pick-up and delivery problem. (submitted), 2016.
- V. Nenchev, C. Belta. Receding Horizon Robot Control in Partially Unknown Environments with Temporal Logic Constraints. In Proceedings of 15th European Control Conference (ECC'16), Aalborg, Denmark, pages 2614-2619, 2016.
- V. Nenchev, C. G. Cassandras. Optimal exploration and control for a robotic pick-up and delivery problem in two dimensions. In Proceedings of 54th IEEE Conference on Decision and Control (CDC'15), Osaka, Japan, pages 258-263, 2015.
- V. Nenchev, C. Belta, J. Raisch. Optimal motion planning with temporal logic and switching constraints. In Proceedings of 14th European Control Conference (ECC'15), Linz, Austria, pages 1135-1140, 2015.
- C. A. Hans, V. Nenchev, J. Raisch, C. Reincke-Collon. Approximate Closed-Loop Minimax Model Predictive Operation Control of Microgrids. In Proceedings of 14th European Control Conference (ECC'15), Linz, Austria, pages 241-246, 2015.
- V. Nenchev, C. A. Hans. Optimal Adaptive Predictive Control of a Combustion Engine. In Proceedings of 14th European Control Conference (ECC'15), Linz, Austria, pages 1403-1407, 2015.
- V. Nenchev, C. G. Cassandras. Optimal Exploration and Control for a Robotic Pick-up and Delivery Problem. In Proceedings of 53rd IEEE Conference on Decision and Control (CDC'14), Los Angeles, CA, USA, pages 7-12, 2014.
- C. A. Hans, V. Nenchev, J. Raisch, C. Reincke-Collon. Minimax Model Predictive Operation Control of Microgrids. In Proceedings of 19th IFAC World Congress, Cape Town, South Africa, pages 10287-10292, 2014.
- V. Nenchev, J. Raisch. Towards time-optimal exploration and control by an autonomous robot. In Proceedings of 21st IEEE Mediterranean Conference on Control and Automation (MED'13), Platanias-Chania, Greece, pages 1236-1241, 2013.
- N. Bajcinca, Y. Kouhi, V. Nenchev, J. Raisch. Decentralized set-valued state estimation based on non-deterministic chains. In Proceedings of IEEE International Symposium on Information, Communication and Automation Technologies (ICAT 2011), Sarajevo, Bosnia and Herzegovina, 2011.
- E. W. Jacobsen, V. Nenchev. Robustification as a Tool in Modeling Biochemical Reaction Networks (extended edition). Journal of Process Control, 21 pages 1517-1525, 2011.
- J. Raisch, T. Moor, N. Bajcinca, S. Geist, V. Nenchev. Distributed State Estimation for Hybrid and Discrete Event Systems using l-Complete Approximations. In Proceedings of 10th IFAC International Workshop on Discrete Event Systems (WODES 2010), Berlin, Germany, pages 129-134, 2010.
- V. Nenchev, E. W. Jacobsen. Robustification as a tool in modelling biochemical reaction networks. In Proceedings of 9th IFAC International Symposium on Dynamics and Control of Process Systems (DYCOPS 2010), Leuven, Belgium, pages 338-343, 2010.
- V. Nenchev. Time-Optimal Learning, Exploration and Control for Mobile Robots in (Partially) Known Environments. In The Twenty-Ninth Conference on Artificial Intelligence (AAAI-2015), Austin, TX, USA, 2015.
- V. Nenchev. l-Vollständige Approximationen als monolithische und verteilte Zustandsschätzer. Department of Electrical Engineering and Computer Science, TU Berlin, 2010.
- V. Nenchev. Robustness Analysis of MAPK Signaling Cascades. School of Electrical Engineering, Royal Institute of Technology (KTH), Stockholm, 2009.
- M. Molnar. Optimization-based safe navigation in partially unknown environments. Bachelor Thesis, 2016.
- A. Mazumdar. Optimal multi-robot exploration of static environments. Master Thesis, 2016.
- P. Nguemo. Hybrid energy optimal trajectory planning for trains. Master Thesis, 2014.
- E. K. Ng. Hybrid optimal control of mobile robots for pick-up and delivery tasks. Master Thesis, 2014.