Functional Safety Control

Mission

As automated systems grow more complex and expand to operate autonomously in open environments, ensuring safe operation solely through testing-based system verification becomes increasingly impractical. The Functional Safety Control research group therefore aims to redefine how the functional safety of automation systems is assured: our goal is to reduce the testing effort required for system verification by formally ensuring safety-related specifications in the design process without imposing overly conservative system behavior.

Approach

We pursue this mission by developing safe-by-design methods that make functional safety a formally verifiable property of the system design, rather than a conclusion drawn from testing. Our work spans three tightly connected layers: formal controller synthesis methods that provide robust safety guarantees, safe motion planning algorithms that maintain these guarantees under real-world uncertainty, and compositional verification approaches that establish system-level functional safety through the formal verification of individual automation components and their interfaces.

What sets our work apart from established robust control and formal verification approaches is the integration of all three layers within a unified control-theoretic framework, grounded in reachability analysis and differential game theory. This enables scalable, formally verified safety across complete automation architectures, aligned with regulatory certification standards such as ISO 26262 and IEC 61508.

Working with industry partners in the automotive, robotics, and manufacturing sectors, we develop and validate our methods on application domains where ensuring functional safety without imposing overly conservative system behavior is particularly demanding: autonomous vehicles, mobile robots, industrial robots, and nanopositioning actuators.

Staff

↵

	Christopher Bohn Head of Research Group Research Interest: Adaptive Robust Motion Generation through Differential Games
	Ben-Micha Piscol Research Associate Research Interest: AI-based vehicle control		Andreas Zürcher Research Associate Research Interest: Control of overactuated nano positioning systems
	Manuel Hess Research Associate Research Interest: Trajectory planning with consideration of motion sickness		Lorenz Fehn Research Associate Research Interest: Trajectory planning under uncertainty
	Jan Riffel Research Associate Research Interest:

Bachelor- and Master Students

Open Theses Functional Safety Control
Title	Type	Supervisor
Autonome Fahrzeugführung mit dem Ziel der Minimierung von Unsicherheiten durch limitierte Sensorwahrnehmungsbereiche	Bachelor-/Master Thesis	M. Sc. Lorenz Fehn
Captivity-Escape Games as a Means for Safety in Online Motion Generation for Industrial Robots	Master Thesis	M. Sc. Jan Riffel
Integration eines Safety Filters in eine Simulationsumgebung am Beispiel der Nordschleife	Bachelor Thesis	M. Sc. Ben-Micha Piscol
Optimierung und Evaluierung modellprädiktiver Safety Filter im Kontext hochautomatisierter Fahrzeugregelung	Master Thesis	M. Sc . Ben-Micha Piscol
Safe Motion Planning under Tightened Safety Margins	Master Thesis	M. Sc. Manuel Hess
Sicherheitszertifizierung eines Modellprädiktiven Safety Filters nach relevanten Standards	Master Thesis	M. Sc. Ben-Micha Piscol
Verallgemeinerte und automatisierte Lösung von Captivity-Escape Games	Master Thesis	M. Sc. Manuel Hess

Publications

2026

Safety filters as a means for ensuring functional safety in data-driven control: an overview
Hess, M.; Piscol, B.-M.; Bohn, C.; Hohmann, S.
2026. at - Automatisierungstechnik, 74 (6), 420–438. doi:10.1515/auto-2025-0104
Reference Driving Scenarios to Support Research on Motion Sickness Mitigation
Hess, M.; Seiffer, A.; Bohn, C.; Hohmann, S.
2026, March 11. doi:10.35097/4mj6xh6jedtnd6e0
Path-constrained trajectory planning for multi-robot manufacturing systems using null-space descent optimization with reduced Hessian
Ye, X.; Grobbel, M.; Schürmann, T.; Schwab, S.; Hohmann, S.
2026. The International Journal of Robotics Research, 1. doi:10.1177/02783649251400381

2025

Reducing Conservatism in Fast and Safe Motion Generation by Means of Captivity-Escape Games
Bohn, C.; Bosch, J.; Hess, M.; Hohmann, S.
2025. 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), 1518–1524, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ITSC60802.2025.11423657
ZeloS – A Research Platform for Early-Stage Validation of Research Findings Related to Automated Driving
Bohn, C.; Siebenrock, F.; Bosch, J.; Hetzner, T.; Mauch, S.; Reis, P.; Staudt, T.; Hess, M.; Piscol, B.-M.; Hohmann, S.
2025. 2025 IEEE Conference on Control Technology and Applications (CCTA), San Diego, CA, USA, 25-27 August 2025, 63–70, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA53793.2025.11151504
Mitigating Motion Sickness in Online Motion Planning by Means of Linear Quadratic Optimization
Hess, M.; Riffel, J.; Bohn, C.; Hohmann, S.
2025. IEEE Conference on Control Technology and Applications (CCTA 2025), 735–741, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA53793.2025.11151485
Verfahren zur Trajektorienplanung automatisierter Fahrzeuge mit systematischer Berücksichtigung von Systemunsicherheiten. PhD dissertation
Siebenrock, F.
2025, August 14. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000183944
Architectures and methods for intelligent robot systems
Barth, M.; Schwab, S.
2025. at - Automatisierungstechnik, 73 (5), 285–287. doi:10.1515/auto-2025-0034
Coordinated trajectory planning of homogeneous and heterogeneous mobile robots in collision avoidance scenarios
Majer, N.; Ye, X.; Schwab, S.; Hohmann, S.
2025. at - Automatisierungstechnik, 73 (5), 319–330. doi:10.1515/auto-2024-0178
Impact of Lateral Acceleration on Motion Sickness in Automated Driving
Hess, M.; Bohn, C.; Seiffer, A.; Hohmann, S.
2025. 16. Uni-DAS e.V. Workshop Fahrerassistenz und automatisiertes Fahren: 31.03. – 02.04.2025, Kloster Irsee, 9 S
Real-World Accuracy Improvement for Cooperative Manipulation using Model Predictive Control
Ye, X.; Majer, N.; Schwab, S.; Hohmann, S.
2025. IFAC-PapersOnLine, 59 (17), 209–214. doi:10.1016/j.ifacol.2025.10.165

2024

On Control Allocation and its Applicability for Dual-Stage Actuator Systems
Zürcher, A.; Dimitrov, K.; Schwartz, M.; Hohmann, S.
2024. 2024 European Control Conference (ECC), Stockholm, 25th -28th June 2024, 1704 – 1709, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ECC64448.2024.10591318
Time and Memory-Efficient Computation of Hamilton-Jacobi Reachable Sets Based on a Level Set Method Employing Adaptive Grids
Bohn, C.; Reis, P.; Schwartz, M.; Hohmann, S.
2024. 2023 62nd IEEE Conference on Decision and Control (CDC), 13-15 December 2023, 8235–8241, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CDC49753.2023.10383317

2023

ReACT: Reinforcement Learning for Controller Parametrization Using B-Spline Geometries
Rudolf, T.; Flögel, D.; Schürmann, T.; Süß, S.; Schwab, S.; Hohmann, S.
2023. 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 3385–3391, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC53992.2023.10394648
Fahrermodelle im Kontext der Freigabe Hoch-Automatisierter Fahrzeuge
Lemmer, M.; Schwab, S.; Hohmann, S.
2023, September 7. 18th DortmunderAutoTag (2023), Dortmund, Germany, September 7, 2023
Game-Theoretic Trajectory Planning of Mobile Robots in Unstructured Intersection Scenarios
Majer, N.; Luithle, L.; Schürmann, T.; Schwab, S.; Hohmann, S.
2023. IFAC-PapersOnLine, 56 (2), 11808–11814. doi:10.1016/j.ifacol.2023.10.575
Toward transactive control of coupled electric power and district heating networks
Maurer, J.; Tschuch, N.; Krebs, S.; Bhattacharya, K.; Cañizares, C.; Hohmann, S.
2023. Applied Energy, 332, Art.-Nr.: 120460. doi:10.1016/j.apenergy.2022.120460
The role of driver models in testing highly-automated driving: a survey [Die Rolle von Fahrermodellen für das Testen hoch-automatisierter Fahrfunktionen: Eine Übersicht]
Lemmer, M.; Schwab, S.; Hohmann, S.
2023. at - Automatisierungstechnik, 71 (1), 16–27. doi:10.1515/auto-2022-0097
Enhancement of Path Tracking Accuracy for Physically Coupled Industrial Robots by Hybrid Position-Torque Compensation
Ye, X.; Schwartz, M.; Hohmann, S.
2023. 2023 European Control Conference (ECC), 1–8, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ECC57647.2023.10178292
Efficient Computation of Inner Approximations of Reachable Sets for a Verified Motion Planning Concept
Bohn, C.; Riegert, J.; Siebenrock, F.; Schwartz, M.; Hohmann, S.
2023. IFAC-PapersOnLine, 56 (2), 10664–10670. doi:10.1016/j.ifacol.2023.10.716

2022

Identification of a Game-Theoretic Driver Decision Making Model using a Bi-Level Approach
Lemmer, M.; Schwab, S.; Hohmann, S.
2022. 2022 IEEE Conference on Control Technology and Applications (CCTA), 857–862, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA49430.2022.9966194
Die Rolle von Fahrermodellen bei der Freigabe des Hoch-Automatisierten Fahrens
Schwab, S.; Hohmann, S.; Lemmer, M.
2022, June 23. 17. Fachtagung Entwurf Komplexer Automatisierungssysteme (EKA 2022), Magdeburg, Germany, June 23–24, 2022
Mitigating Power Peaks in Automotive Power Networks by Exploitation of Flexible Loads
Schürmann, T.; Kutter, N.; Schwab, S.; Hohmann, S.
2022. 2022 XXVIII International Conference on Information, Communication and Automation Technologies (ICAT): 16–18 June 2022, Sarajevo, Bosnia and Herzegovina, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICAT54566.2022.9811195
Topologie-Optimierung eines radselektiv angesteuerten Fahrzeugs basierend auf einer optimalen Fahrzeugführungsregelung. PhD dissertation
Schwartz, M.
2022, April 13. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000144704
Fuzzy Action-Masked Reinforcement Learning Behavior Planning for Highly Automated Driving
Rudolf, T.; Gao, M.; Schurmann, T.; Schwab, S.; Hohmann, S.
2022. 2022 8th International Conference on Control, Automation and Robotics (ICCAR): 8–10 April 2022, Xiamen, China, 264–270, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCAR55106.2022.9782671
Data-Driven Automotive Development: Federated Reinforcement Learning for Calibration and Control
Rudolf, T.; Schürmann, T.; Skull, M.; Schwab, S.; Hohmann, S.
2022. 22. Internationales Stuttgarter Symposium : Automobil- und Motorentechnik. Bd.: 1. Hrsg.: M. Bargende, 369–384, Springer Fachmedien Wiesbaden. doi:10.1007/978-3-658-37009-1_26
Dynamic Model of a Piezoelectric Walking Drive
Zürcher, A.; Raiser, T.; Hohmann, S.
2022. 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), Padova, Italy, 18-20 Feb. 2022, 157–163, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/AMC51637.2022.9729310
Stiffness Optimized Multi-Robot Behavior Planning using Reduced Hessian Method
Ye, X.; Schwartz, M.; Hohmann, S.
2022. IFAC-PapersOnLine, 55 (38), 55–60. doi:10.1016/j.ifacol.2023.01.133
Robust Parameter Estimation and Tracking through Lyapunov-based Actor-Critic Reinforcement Learning
Rudolf, T.; Ransiek, J.; Schwab, S.; Hohmann, S.
2022. IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IECON49645.2022.9968893
Communication Scheme for a Modular Automotive Power Network Management
Schurmann, T.; Schwab, S.; Hohmann, S.
2022. 2022 26th International Conference on System Theory, Control and Computing (ICSTCC), 582–587, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICSTCC55426.2022.9931764
Trajectory-planning using set-based motion-primitives considering model uncertainty and controller tracking errors
Siebenrock, F.; Moss, D.; Nagatou, K.; Schwartz, M.; Hohmann, S.
2022. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2358–2365, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ITSC55140.2022.9922292
Toward Transactive Control of Coupled Electric Power and District Heating Networks
Maurer, J.; Tschuch, N.; Krebs, S.; Bhattacharya, K.; Cañizares, C.; Hohmann, S.
2022. arxiv. doi:10.48550/ARXIV.2211.02357
Multi-level optimization approach for multi-robot manufacturing systems
Ye, X.; Shen, W.; Mamaev, I.; Bertram, T.; Bryg, M.; Schwartz, M.; Hohmann, S.; Asfour, T.; Hein, B.; Kipfmueller, M.; Kotschenreuther, J.
2022. 54th International Symposium on Robotics : (ISR Europe 2022) : 20-21 June 2022, Munich, Germany, 1–8, VDE Verlag
Topologie-Optimierung eines radselektiv angesteuerten Fahrzeugs basierend auf einer optimalen Fahrzeugführungsregelung. PhD dissertation
Schwartz, M.
2022. KIT Scientific Publishing. doi:10.5445/KSP/1000148800
Model Predictive Reference Generation of Wheel-Individually Controlled Vehicles
Schwartz, M.; Wang, T.; Bohn, C.; Hohmann, S.
2022. 2022 IEEE Conference on Control Technology and Applications (CCTA): Trieste, August 22-25, 2022, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA49430.2022.9966023
Ein Verfahren zur lexikographischen modellprädiktiven Regelung mit der Anwendung auf eine permanenterregte Synchronmaschine. PhD dissertation
Schnurr, C. X.
2022. KIT Scientific Publishing. doi:10.5445/KSP/1000131520
Guaranteed Verification of Dynamic Systems. PhD dissertation
Schwab, S.
2022. KIT Scientific Publishing. doi:10.5445/KSP/1000097527

2021

Distributed and Modular Automotive Power Network Management Based on Auction Theory
Schurmann, T.; Rafles, A.; Schwab, S.; Hohmann, S.
2021. 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2242–2249, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC52423.2021.9659250
Maneuver Based Modeling of Driver Decision Making using Game-Theoretic Planning
Lemmer, M.; Shu, J.; Schwab, S.; Hohmann, S.
2021. 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Melbourne, Australia, 17-20 Oct. 2021, 1332–1338, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC52423.2021.9658771
Modeling Multi-Driver Interaction in Intersection Scenarios Based on a Hybrid Game Approach
Lemmer, M.; Schwab, S.; Hohmann, S.
2021. IEEE Conference on Control Technology and Applications (CCTA), San Diego, CA, USA, 9-11 Aug. 2021, 416–423, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA48906.2021.9658588
Toward Holistic Energy Management Strategies for Fuel Cell Hybrid Electric Vehicles in Heavy-Duty Applications
Rudolf, T.; Schurmann, T.; Schwab, S.; Hohmann, S.
2021. Proceedings of the IEEE, 109 (6), 1094–1114. doi:10.1109/JPROC.2021.3055136
Analysis of a Cascaded MPC Structure for Vehicle Motion Control [in press]
Schwartz, M.; Ludmann, L.; Hohmann, S.
2021. American Control Conference, May 24-28, 2021, Institute of Electrical and Electronics Engineers (IEEE)
Analysis of a Cascaded MPC Structure for Vehicle Motion Control
Schwartz, M.; Ludmann, L.; Hohmann, S.
2021. Proceedings of the American Control Conference, ACC 2021, Virtual, New Orleans, 25 May 2021 - 28 May 2021, 198–205, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ACC50511.2021.9482741
Automated Anomaly Detection in Data Streams on Engine Test Benches Using Multi-Scale Convolutional Recurrent Encoder-Decoder
Juhl, J.; Rudolf, T.; Lukas, K.; Schwab, S.; Dummer, G.; Hohmann, S.; Stork, W.
2021. Proceedings of the International Vienna Motor Symposium 2021. Hrsg.: B. Geringer, Österreichischer Verein für Kraftfahrzeugtechnik (ÖVK)
Design of an Active, Fault-tolerant Motion Control of Wheel-individual Controlled Vehicles
Schwartz, M.; Sommer, M.; Hohmann, S.
2021. 2021 7th International Conference on Control, Automation and Robotics (ICCAR), 372–381, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCAR52225.2021.9463452
Ein Verfahren zur lexikographischen modellprädiktiven Regelung mit der Anwendung auf eine permanenterregte Synchronmaschine. PhD dissertation
Schnurr, C. X.
2021, February 10. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000129290
Application of an auction based automotive power network management
Schürmann, T.; Schwab, S.; Hohmann, S.
2021. FDIBA in the New Technological World, 29–32
Safely Learning Model Predictive Control with Time-Variant State Constraints and its Application to Motion Planning
Kohrer, L.; Majer, N.; Schwab, S.; Hohmann, S.
2021. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC): 19-22 September 2021, Indianapolis, IN, USA, 755–762, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ITSC48978.2021.9564934
Entrepreneurship für Ingenieure - Konzeption einer innovativen interdisziplinären Lehrveranstaltung
Belgardt, S.; Doer, C.; Hohmann, S.; Karg, P.; Rothfuß, S.; Siebenrock, F.; Stork, W.; Terzidis, O.; Tittel, A.; Zwick, T.
2021. Handbuch Qualität in Studium, Lehre und Forschung, 76, 67–84
Guaranteed state estimation using a bundle of interval observers with adaptive gains applied to the induction machine
Schwartz, M.; Krebs, S.; Hohmann, S.
2021. Sensors, 21 (8), Art.-Nr.: 2584. doi:10.3390/s21082584

2020

Explicit port-Hamiltonian formulation of bond graphs with dependent storages
Pfeifer, M.; Caspart, S.; Muller, C.; Pfeiffer, S.; Krebs, S.; Hohmann, S.
2020. Proceedings of the 21st IFAC World Congress. Ed.: R. Findeisen, 5579–5585, International Federation of Automatic Control (IFAC). doi:10.1016/j.ifacol.2020.12.1570
Driver Interaction at Intersections: A Hybrid Dynamic Game Based Model
Lemmer, M.; Schwab, S.; Hohmann, S.
2020. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2269–2276, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC42975.2020.9283079
Explicit port-Hamiltonian formulation of multi-bond graphs for an automated model generation
Pfeifer, M.; Caspart, S.; Hampel, S.; Muller, C.; Krebs, S.; Hohmann, S.
2020. Automatica, 120, Art. Nr.: 109121. doi:10.1016/j.automatica.2020.109121
Predictive and Bounded Reference Generation of the Actuators of Four-wheel Drive and Four-wheel Steer Vehicles
Schwartz, M.; Zhao, K.; Hohmann, S.
2020. IEEE CCTA 2020 : 4th IEEE Conference on Control Technology and Applications : August 24-26, 2020, Montréal, Canada, 291–298, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA41146.2020.9206296
Extended Nonlinear Dynamical Modeling and State Estimation for the Temperature Control of Loop Heat Pipes
Gellrich, T.; Moeller, J.; Schwab, S.; Hohmann, S.
2020. 2020 IEEE Conference on Control Technology and Applications (CCTA), Montreal, QC, Canada, Canada, 24-26 Aug. 2020, 1015–1022, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA41146.2020.9206366
Shared-Control Concepts for Large Vehicle-Manipulators
Varga, B.; Burkhardt, Y.; Schwab, S.; Hohmann, S.
2020. 2020 IEEE 29th International Symposium on Industrial Electronics (ISIE), 197–203, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ISIE45063.2020.9152208
Analytical Optimal Control Allocation with Time-varying Secondary Objectives
Schwartz, M.; Mittelviefhaus, F.; Hohmann, S.
2020. 2020 6th International Conference on Control, Automation and Robotics (ICCAR) : April 20-23, 2020, Singapore, 247–254, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCAR49639.2020.9108002
Robust Position and Velocity Tracking Control of a Four-wheel Drive and Four-wheel Steered Electric Vehicle
Schwartz, M.; Rudolf, T.; Hohmann, S.
2020. 2020 6th International Conference on Control, Automation and Robotics (ICCAR) : April 20-23, 2020, Singapore, 415–422, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCAR49639.2020.9108078
Kinematic Sensitivity Analysis of the Suspension Characteristics for the Initial Design of Four-Wheel Drive and Four-Wheel Steered Vehicles
Schwartz, M.; Goosmann, T.; Hohmann, S.
2020. WCX SAE World Congress Experience, Detroit, MI, April 21-23, 2020. Proceedings, SAE International. doi:10.4271/2020-01-0990
Passivity conditions for plug-and-play operation of nonlinear static AC loads
Strehle, F.; Malan, A. J.; Krebs, S.; Hohmann, S.
2020
Passivity conditions for plug-and-play operation of nonlinear static AC loads
Strehle, F.; Malan, A. J.; Krebs, S.; Hohmann, S.
2020. 21th IFAC World Congress. Ed.: R. Findeisen, 12237–12243, Elsevier. doi:10.1016/j.ifacol.2020.12.1128
Distributed Frequency and Voltage Control for AC Microgrids based on Primal-Dual Gradient Dynamics
Kölsch, L.; Wieninger, K.; Krebs, S.; Hohmann, S.
2020. IFAC-PapersOnLine, 53 (2), 12229–12236. doi:10.1016/j.ifacol.2020.12.1110
Model-Free Control Design for Loop Heat Pipes Using Deep Deterministic Policy Gradient
Gellrich, T.; Min, Y.; Schwab, S.; Hohmann, S.
2020. IFAC-PapersOnLine, 53 (2), 1575–1580. doi:10.1016/j.ifacol.2020.12.2190
Model-free control design for loop heat pipes using deep deterministic policy gradient
Gellrich, T.; Min, Y.; Schwab, S.; Hohmann, S.
2020. 21st IFAC World Congress 2020 - 1st Virtual IFAC World Congress
Dynamic state-space modeling and model-based control design for loop heat pipes
Gellrich, T.; Sester, C.; Okraschevski, M.; Schwab, S.; Bauer, H.-J.; Hohmann, S.
2020
A Cooperative Assistant System with Smoothly Shifting Control Authority Based on Partially Observable Markov Decision Processes
Braun, C. A.; Bohn, C.; Inga, J.; Hohmann, S.
2020. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, ON, Canada, October 11–14, 2020., 806–811, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC42975.2020.9283176
A scalable port-hamiltonian approach to plug-and-play voltage stabilization in DC microgrids
Strehle, F.; Pfeifer, M.; Malan, A. J.; Krebs, S.; Hohmann, S.
2020
A scalable port-hamiltonian approach to plug-and-play voltage stabilization in DC microgrids
Strehle, F.; Pfeifer, M.; Malan, A. J.; Krebs, S.; Hohmann, S.
2020. 2020 IEEE Conference on Control Technology and Applications (CCTA), 24-26 August 2020, online, 787–794, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA41146.2020.9206323
LTV-MPC Based Trajectory Planning Considering Uncertain Object Prediction Through Adaptive Potential Fields
Siebenrock, F.; Günther, M.; Hohmann, S.
2020. The 4th IEEE Conference on Control Technology and Applications (CCTA), Montréal, Canada, August 24 - 26, 2020, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA41146.2020.9206298
Limited-Information Cooperative Shared Control for Vehicle-Manipulators
Varga, B.; Shahirpour, A.; Lemmer, M.; Schwab, S.; Hohmann, S.
2020. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, ON, Canada, October 11–14, 2020., Art.-Nr. 09283367, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC42975.2020.9283367
Validation of Cooperative Shared-Control Concepts for Large Vehicle-Manipulators
Varga, B.; Shahirpour, A.; Burkhardt, Y.; Schwab, S.; Hohmann, S.
2020. IEEE CCTA 2020 : 4th IEEE Conference on Control Technology and Applications : August 24-26, 2020, Montréal, Canada, 542–548, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA41146.2020.9206372
Bias-free Parameter Identification for Non-Commensurable Fractional Systems
Stark, O.; Pfeifer, M.; Krebs, S.; Hohmann, S.
2020. 18th European Control Conference, ECC 2020, Saint Petersburg, Russian Federation, 12 - 15 May 2020, 1422–1429, EUCA
Distributed Frequency Regulation for Heterogeneous Microgrids via Steady State Optimal Control
Kölsch, L.; Dupuis, M.; Bhatt, K.; Krebs, S.; Hohmann, S.
2020. IEEE Green Technologies Conference, GreenTech 2020, 1 - 3 April 2020, Oklahoma City, USA. doi:10.1109/GreenTech46478.2020.9289724
Dynamic Set-Inversion Procedure to Design Interval-Based State Estimators for Discrete-Time LPV Systems
Krebs, S.; Meslem, N.; Hohmann, S.
2020. 58th IEEE Conference on Decision and Control (CDC 2019), Nice, F, December 11-13, 2019, 3190–3195, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CDC40024.2019.9029661

2019

Steady-State Optimal Frequency Control for Lossy Power Grids with Distributed Communication
Kölsch, L.; Bhatt, K.; Krebs, S.; Hohmann, S.
2019. IEEE International Conference on Electrical, Control and Instrumentation Engineering (ICECIE). Proceedings, 1–8, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICECIE47765.2019.8974715
Nonlinear Model Identification Adaptive Heater Control Design for Loop Heat Pipes
Gellrich, T.; Zhang, X.; Schwab, S.; Hohmann, S.
2019. IEEE Conference on Control Technology and Applications (CCTA), 679–684, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA.2019.8920525
Regenerative Braking Strategies for Electric Heavy Duty Trucks
Rudolf, T.; Bischof, F.; Schwab, S.; Hohmann, S.
2019, July. 6th SINO-EU Doctoral School for Sustainability Engineering (SESE 2019), Lisbon, Portugal, July 22–24, 2019
Verification of hybrid systems using Kaucher arithmetic
Schwab, S.; Hohmann, S.
2019. Automatisierungstechnik, 67 (4), 316–325. doi:10.1515/auto-2018-0095
On Robustness Regarding Modeling Errors in Predictive Energy Management Systems for Multi-Carrier Energy Grids
Sauter, P. S.; Herkner, T.; Maurer, J.; Krebs, S.; Hohmann, S.
2019. International ETG-Congress 2019; ETG Symposium, Esslingen, Germany, 8-9 May 2019, 266–271, VDE Verlag
Bias-free Parameter Identification of a Fractional Order Model
Stark, O.; Malan, A. J.; Krebs, S.; Hohmann, S.
2019. doi:10.5445/IR/1000117548
A Port-Hamiltonian Approach to Plug-And-Play Voltage and Frequency Control in Islanded Inverter-Based AC Microgrids
Strehle, F.; Malan, A. J.; Krebs, S.; Hohmann, S.
2019. 58th IEEE Conference on Decision and Control (CDC), Nice, F, December 11-13, 2019
Automated Generation of Explicit Port-Hamiltonian Models from Multi-Bond Graphs
Pfeifer, M.; Caspart, S.; Pfeiffer, S.; Muller, C.; Krebs, S.; Hohmann, S.
2019. doi:10.5445/IR/1000104388
Control of Large Vehicle-Manipulators with Human Operator
Varga, B.; Shahirpour, A.; Schwab, S.; Hohmann, S.
2019. IFAC-PapersOnLine, 52 (30), 373–378. doi:10.1016/j.ifacol.2019.12.571
AMOTO: Automatic MOdeling TOol for the Port-Hamiltonian Formulation of Bond Graphs
Pfeiffer, S.; Muller, C.; Pfeifer, M.; Caspart, S.; Krebs, S.; Hohmann, S.
2019. VDI/VDE GMA-Fachausschuss 1.30 „Modellbildung, Identifikation und Simulation in der Automatisierungstechnik“. Tagung (2019), Anif, Austria, September 25–27, 2019
Explicit Port-Hamiltonian Formulation of Bond Graphs
Pfeifer, M.; Pfeiffer, S.; Caspart, S.; Muller, C.; Krebs, S.; Hohmann, S.
2019. GMA-Fachausschuss 1.30 „Modellbildung, Identifikation und Simulation in der Automatisierungstechnik“, Anif, A, 25.-27. September 2019, VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik
Model Predictive Control Allocation of an Over-actuated Electric Vehicle with Single Wheel Actuators
Schwartz, M.; Siebenrock, F.; Hohmann, S.
2019. IFAC-PapersOnLine, 52 (8), 162–169. doi:10.1016/j.ifacol.2019.08.065
Guaranteed Verification of Dynamic Systems. PhD dissertation
Schwab, S.
2019. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000097068
Model predictive control and trajectory optimization of large vehicle-manipulators
Varga, B.; Meier, S.; Schwab, S.; Hohmann, S.
2019. IEEE International Conference on Mechatronics (IEEE ICM 2019), Ilmenau, March 18-20, 2019, 60–66, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICMECH.2019.8722886
Passivity-Based Plug-and-Play Voltage and Frequency Control in Islanded Inverter-Based AC Microgrids
Strehle, F.; Malan, A. J.; Krebs, S.; Hohmann Sören
2019. 58th IEEE Conference on Decision and Control, Nice, F, December 11-13, 2019, 4648–4655, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CDC40024.2019.9029272
Automatic Determining of a Modulating Function
Stark, O.; Eckert, M.; Krebs, S.; Hohmann, S.
2019. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000092062
Interval Set-Membership State Estimator for Discrete-Time LPV Systems
Krebs, S.; Hohmann, S.
2019. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000091545
A Scalable Port-Hamiltonian Approach to Plug-and-Play Voltage Stabilization in DC Microgrids [submitted]
Strehle, F.; Pfeifer, M.; Krebs, S.; Hohmann, S.
2019. IFAC-PapersOnLine [submitted]
Non-linear MPC for winding loss optimised torque control of anisotropic PMSM
Schnurr, C.; Hohmann, S.; Kolb, J.
2019. The Journal of Engineering, (17), 4252 – 4256. doi:10.1049/joe.2018.8143

2018

Modeling of Human-Centered Cooperative Control by Means of Tracking in Discrete Time Linear Quadratic Differential Games
Lemmer, M.; Köpf, F.; Schwab, S.; Flad, M.; Hohmann, S.
2018. 1st IEEE International Conference on Artificial Intelligence and Knowledge Engineering, AIKE 2018; Laguna Hills; United States; 26 September 2018 through 28 September 2018, 156–161, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/AIKE.2018.00034
Coupled boundary interval observer for LPV systems subject to uncertainties in input, output and parameters
Krebs, S.; Bächle, M.; Hohmann, S.
2018. Automatica, 95, 426–432. doi:10.1016/j.automatica.2018.06.012
Non-linear MPC for winding loss optimised torque control of anisotropic PMSM
Schnurr, C.; Hohmann, S.; Kolb, J.
2018, April 19. 9th International Conference on Power Electronics, Machines and Drives (PEMD 2018), Liverpool, United Kingdom, April 17, 2018–April 19, 2019
Novel Lexicographic MPC for Loss Optimized Torque Control of Nonlinear PMSM
Schnurr, C.; Hohmann, S.; Kolb, J.
2018. 2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 21–24 August 2018, 690–697, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA.2018.8511455
A Robust Fault Detection Method using a Zonotopic Kaucher Set-membership Approach
Schwab, S.; Puig, V.; Hohmann, S.
2018. IFAC-PapersOnLine, 51 (24), 500–507. doi:10.1016/j.ifacol.2018.09.623
Weighted Least Squares State Estimation for Coupled Power and Gas Distribution Networks
Pfeifer, M.; Zimmerlin, M.; Schwarzendorfer, M.; Sauter, P.; Krebs, S.; Leibfried, T.; Hohmann, S.
2018. 53rd International Universities Power Engineering Conference, Glasgow, Scotland, 4th-7th September 2018, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/UPEC.2018.8542013
Intervallbeobachter für lineare parametervariante Systeme und deren Anwendung auf die Asynchronmaschine. PhD dissertation
Krebs, S.
2018. KIT Scientific Publishing. doi:10.5445/KSP/1000086503
Combined Optimization of District Heating and Electric Power Networks
Maurer, J.; Elsner, C.; Krebs, S.; Hohmann, S.
2018. Energy procedia, 149, 509–518. doi:10.1016/j.egypro.2018.08.215
Intervallbeobachter für lineare parametervariante Systeme und deren Anwendung auf die Asynchronmaschine. PhD dissertation
Krebs, S.
2018. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000085805
Interval MRAC with Proven Stability Properties and Application on Induction Motor Control
Müller, J.; Krebs, S.; Buchholz, M.; Hohmann, S.
2018. The 14th IEEE International Conference on Control and Automation (IEEE ICCA Alaska 2018), Anchorage, AK, June 12-15, 2018, 173–179, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCA.2018.8444328
Automatisierte Verifikation hybrider Systeme am Beispiel eines Batteriemanagementsystems
Schwab, S.; Hohmann, S.
2018. Entwurf komplexer Automatisierungssysteme : EKA 2018 : Beschreibungsmittel, Methoden, Werkzeuge und Anwendungen : 15. Fachtagung mit Workshop : 02. bis 03. März 2018 in Magdeburg. Hrsg.: Ulrich Jumar, Christian Diedrich, ifak / Otto-von-Guericke-Universität

2017

Verified Diagnosis of Safety Critical Dynamic Systems Based on Kaucher Interval Arithmetic
Schwab, S.; Stark, O.; Hohmann, S.
2017. 20th IFAC World Congress, Toulouse, F, July 9-14, 2017, 13414–13421. doi:10.1016/j.ifacol.2017.08.1939
Interval observers for LPV systems and application to the guaranteed state estimation of an induction machine
Krebs, S.; Gellrich, T.; Hohmann, S.
2017. IFAC-PapersOnLine, 50 (1), 2794–2799. doi:10.1016/j.ifacol.2017.08.629
Examples on Verified Diagnosis of Safety Critical Dynamic Systems Based on Kaucher Interval Arithmetik
Schwab, S.; Stark, O.; Hohmann, S.
2017, June 14. 10th Summer Workshop on Interval Methods, and 3rd International Symposium on Set Membership Applications, Reliability and Theory. (SWIM - SMART 2017), Manchester, UK, June 14 - 16, 2017
Interval State Observer Based on a Time-Variant Transformation for LPV Systems and Application to Induction machines
Krebs, S.; Fugel, S.; Hohmann, S.
2017. 1st IEEE Conference on Control Technology and Applications, CCTA 2017, Waikoloa, Hawaii USA, 27. - 30. Aug, 2017, 1077–1084, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CCTA.2017.8062602
Automated Verification of Switched Systems Using Hybrid Identification
Schwab, S.; Holzmüller, B.; Hohmann, S.
2017. Cyber Physical Systems : Design, Modeling, and Evaluation. 6th International Workshop, Pittsburgh, PA, October 6, 2016. Ed.: C. Berger, 87–100, Springer International Publishing. doi:10.1007/978-3-319-51738-4_7

2016

Verification of battery management systems using hybrid identification
Schwab, S.; Hohmann, S.
2016. SINO-EU Doctoral School for Sustainability Engineering Harbin Institute of Technology (HIT), Harbin, China, 29th August – 03rd September, 2016
Interval Modelling of a Voltage Source Inverter
Krebs, S.; Köhrer, L.; Hohmann, S.
2016. 8th IET International Conference on Power Electronics, Machines and Drives (PEMD 2016), Glasgow, United Kingdom, 19-21 April 2016, 1–6, Curran. doi:10.1049/cp.2016.0336
Garantierte Zustandsschätzung für Asynchronmaschinen auf Basis eines Intervallbeobachters
Krebs, S.; Hohmann, S.
2016. GMA-Fachausschuss 1.40, Workshop 2016, 21.-23.09.2016, Anif/ Salzburg
A New Modelling and Identification Approach for Guaranteed Inclusion of a Voltage Source Inverter’s Output Voltages
Krebs, S.; Köhrer, L.; Hohmann, S.
2016. ICCAIS 2016 - International Conference on Control Automation & Information Sciences, October 27-29, 2016, Ansan, Korea, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCAIS.2016.7822445
Interval Observer for LPV Systems Based on Time-Variant Transformations
Krebs, S.; Pfeifer, M.; Fugel, S.; Weigold, J.; Hohmann, S.
2016. 55th IEEE Conference on Decision and Control (CDC), December 12-14, 2016, Las Vegas, NV, USA, 4090–4096, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CDC.2016.7798889
Reduced-order hybrid interval observer for verified state estimation of an induction machine
Krebs, S.; Schnurr, C.; Pfeifer, M.; Weigold, J.; Hohmann, S.
2016. Control engineering practice, 57, 157–168. doi:10.1016/j.conengprac.2016.09.004

2015

Interval observers for electrical traction drives
Krebs, S.; Hohmann, S.
2015. Summer School of Sino-EU Doctoral School for Sustainability, 18.10.-19.10.2015, Lissabon

2014

Steering driver assistance system: A systematic cooperative shared control design approach
Flad, M.; Otten, J.; Schwab, S.; Hohmann, S.
2014. Proceedings - 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, USA, October 5-8, 2014, 3585–3592, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2014.6974486
Necessary and sufficient conditions for the design of cooperative shared control
Flad, M.; Otten, J.; Schwab, S.; Hohmann, S.
2014. Proceedings - 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, USA, October 5-8, 2014, 1253–1259, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2014.6974086
A Cooperative and Competitive Workshop in Mechatronics Engineering
Krebs, S.; Schmidt, S.; Matthiesen, S.; Hohmann, S.
2014. International Journal of Engineering Pedagogy, 4 (1), 13–17

2013

Cooperation-focused education in mechatronic engineering design projects
Schmidt, S.; Lohmeyer, Q.; Krebs, S.; Hohmann, S.; Matthiesen, S.
2013. 15th International Conference on Engineering and Product Design Education: Design Education - Growing Our Future, EPDE 2013; Dublin; Ireland; 5 - 6 September 2013: Proceedings. Ed.: E. Bohemia, 296–301, The Design Society
Erschließung mechatronischer Synergiepotentiale durch kooperationsorientierte Lehre (koop-L)
Matthiesen, S.; Hohmann, S.; Schmidt, S.; Breitschuh, J.; Lohmeyer, Q.; Krebs, S.
2013. Standortvorteil Methodik : 11. Gemeinsames Kolloquium Konstruktionstechnik (KT 2013), 12. - 13. September 2013 in Aachen. Hrsg.: K. Brökel, Shaker Verlag
Online identification of individual driver steering behaviour and experimental results
Diehm, G.; Maier, S.; Flad, M.; Hohmann, S.
2013. Proceedings - 2013 IEEE International Conference on Systems, Man and Cybernetics (SMC 2013) : Manchester, United Kingdom, 13 - 16 October 2013, 221–227, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2013.44
An Identification Method for Individual Driver Steering Behaviour Modelled by Switched Affine Systems
Diehm, G.; Maier, S.; Flad; .; Hohmann, S.
2013. 52nd IEEE Annual Conference on Decision and Control, Florence, Italy, Dec. 10 ‐13, 2013, 3547–3553, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CDC.2013.6760428

Functional Safety Control

Mission

Approach

Staff

Christopher Bohn

Ben-Micha Piscol

Andreas Zürcher

Manuel Hess

Lorenz Fehn

Jan Riffel

Bachelor- and Master Students

Haiyun Zhao

Janne Bosch

Yuying Zhao

Anton Sewergin

Philip Hertel

Janusch Markus Tolksdorff

Publications