Interdisciplinary Center for Scientific Computing (IWR)
Im Neuenheimer Feld 205
phone: +49 6221 54 14 618
office: Mathematikon A, INF 205, Room 2.407
PhD Project Fast NMPC Algorithms for Multi-Phase DAE-Systems with Discontinuites
In this PhD Project highly efficient mathematical methods for fast nonlinear feedback control for multi-phase DAE-systems are developed. Problems of this kind appear in human walking motions, where the human is modeled as a rigid body system. Key application is the implementation on humanoid robot platforms associated to the KoroiBot Project. These are challenging problems due to their nonlinear behaviour, the occurrence of implicitly state dependent discontinues and parametric uncertainty in the process model and data, and additionally have hard real-time constraints.
- Nonlinear Model Predictive Control, Real-Time Optimization
- Switched, Hybrid, and Implicitly Discontinuous Systems
- Optimization under Uncertainty, Robust Optimization
- Rigid Body Dynamics
Manuel studied mathematics at Heidelberg University. He graduated at Heidelberg University with a diploma degree in mathematics in 2012. Since January 2013, he works as a PhD Student at IWR, Heidelberg University. Manuel worked for one year on methods for real-time optimum experimental design for parameter estimation under the supervision of Dr. Stefan Körkel of the BASF JRG Optimum Experimental Design. This work was funded by a HGS MathComp stipend. Since October 2013 Manuel works in the JRG Optimization of Uncertain Systems of Dr. Christian Kirches. A detailed CV is available upon request.