• Steuerung und Regelung autonomer Roboter
• Optimale Trajektorienplanung
• Lernende Verfahren
• Hinderniserkennung und Kollisionsvermeidung

Betreuung studentischer Arbeiten

Wintersemester:

• Übung und Praktikum zur LV Regelungssysteme im Zustandsraum
• Praktikum zur LV Regelungsorientierte Modellbildung in der Mechatronik

Sommersemester

• Praktikum zur LV Robust Control and State Estimation

1. Gilbert Puttich: Modellbildung und Kraftregelung von pneumatischen Muskeln, February 2025
2. Krone, Arvid; Hempel, Nick: Aufbau eines Miniaturprüfstands zur Identifikation pneumatischer Muskeln, March 2026

1. Kaneewar Ibrahim, Robert Prabel and Harald Aschemann (2025). Modelling and identification of a pneumatically actuated balancer for collaborative load handling. Mathematical and Computer Modelling of Dynamical Systems, 31(1). https://doi.org/10.1080/13873954.2025.2597307
2. Kaneewar Ibrahim and Robert Prabel and Harald Aschemann (2026a). Integral sliding mode approaches combined with underlying model-free vs. model-based controllers for a pneumatically actuated assistance system. Control Engineering Practice, vol. 177. https://doi.org/10.1016/j.conengprac.2026.107237
3. Kaneewar Ibrahim, Robert Prabel and Harald Aschemann (2026b). Nonlinear control approaches for a pneumatically driven assistance system with load balancing. IEEE Open Journal of Control Systems, vol. 5, pp. 394-405. https://doi.org/10.1109/OJCSYS.2026.3719599

1. Kaneewar Ibrahim, Ricus Husmann, Sven Weishaupt and Harald Aschemann: Reinforcement Learning for Path Planning and Control of an Autonomous Vehicle with Collision Avoidance. 28th International Conference on System Theory, Control and Computing (ICSTCC) 2024, Sinaia, Romania.
2. Sven Weishaupt, Ricus Husmann, Kaneewar Ibrahim and Harald Aschemann: Deep Reinforcement Learning-Based Collision-Free Path Planning for Robotic Manipulators With Dynamic State Vector Sorting. The 51st Annual Conference of the IEEE Industrial Electronics Society (IECON 2025). Madrid, Spain, 2025.
3. Kaneewar Ibrahim, Robert Prabel and Harald Aschemann: Nonlinear Model-Based Position Control for a Pneumatically Actuated Assistance System. 24th European Control Conference (ECC), Reykjavík, Iceland, 2026, pp. 821-826.
4. Kaneewar Ibrahim, Robert Prabel and Harald Aschemann: Position Control Approaches for a Pneumatically Actuated Assistance System. 23rd IFAC World Congress, Busan, Republic of Korea, 2026.

1. Sven Weishaupt, Kaneewar Ibrahim, Ricus Husmann and Harald Aschemann: Reinforcement Learning for Path Planning and  Control of an Autonomous Vehicle with Post-Training Tuning Abilities. In Algorithms for Machine Vision in Navigation and Control. Series Editors: Oleg Sergiyenko, Wendy Flores-Fuentes and Paolo Mercorelli. Springer Nature Switzerland, 2026.