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	Address	Henrik Ebel Institute of Engineering and Computational Mechanics University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart, Germany
	Office	Pfaffenwaldring 9, 3rd Floor Room 3.101
	Phone Fax	+49 711 685-66554 +49 711 685-66400
	Email	henrik.ebel@itm.uni-stuttgart.de

Field of Research

Control of Multibody Systems, Distributed Control of Mechanical Systems

Publications

• Ebel, H.; Wei, L.; Fangchao, Y.; Tang, Q.; Eberhard, P.: Design and Experimental Validation of a Distributed Cooperative Transportation Scheme. Submitted to IEEE Transactions on Automation Science and Engineering.


• Ebel, H.; Eberhard, P.: Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots. In Tan, Y.; Shi, Y.; Tang, Q. (Eds.): Advances in Swarm Intelligence, 9th International Conference, ICSI 2018, pp. 89–101, Cham: Springer International Publishing, 2018. doi:10.1007/978-3-319-93818-9_9


• Sharafian Ardakani, E.; Ebel, H.; Eberhard, P.: Study on the Cooperative Transportation of a Load Using Swarm Robots. Proceedings of the 5th Joint International Conference on Multibody System Dynamics, Lisbon, 2018.


• Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Comparison of Distributed Model Predictive Control Approaches for Transporting a Load by a Formation of Mobile Robots. Proceedings of the 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague, June 19-22, 2017.


• Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Distributed Model Predictive Formation Control with Discretization-Free Path Planning for Transporting a Load. Robotics and Autonomous Systems, Vol. 96, pp. 211-223, October 2017. doi:10.1016/j.robot.2017.07.007
  
  


• Sharafian Ardakani, E.; Ebel, H.; Eberhard, P.: Transporting an Elastic Plate Using a Group of Swarm Mobile Robots. In Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, July 3-7, 2017.


• Ebel, H.; Matikainen, M.K.; Hurskainen, V.; Mikkola, A.: Analysis of High-Order Quadrilateral Plate Elements Based on the Absolute Nodal Coordinate Formulation for Three-Dimensional Elasticity. Advances in Mechanical Engineering, Vol. 9, No. 6, 2017. doi:10.1177/1687814017705069


• Ebel, H.; Matikainen, M.K.; Hurskainen, V.; Mikkola, A.: Higher-Order Beam Elements Based on the Absolute Nodal Coordinate Formulation for Three-Dimensional Elasticity. Nonlinear Dynamics, 88(2), pp. 1075-1091, April 2017. doi:10.1007/s11071-016-3296-x


• Ebel, H.; Matikainen, M.K.; Hurskainen, V.; Mikkola, A.: Higher-Order Plate Elements for Large Deformation Analysis in Multibody Applications. Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Paper No. DETC2016-59381, pp. V006T09A024. Charlotte, North Carolina, USA, August 21-24, 2016. doi:10.1115/DETC2016-59381


• Ebel, H.: Model Predictive Formation Control of Swarm Mobile Robots for Transporting a Load, Masterarbeit MSC-239. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016. (Eberhard, P.; Sharafian Ardakani, E.)


• Ebel, H.: Design and Implementation of an Explicit MPC Algorithm, bachelor thesis BSC-39. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2014. (Eberhard, P.; Schnelle, F.)


• Ebel, H.: Modeling of a Shack-Hartmann Wavefront Sensor for Dynamic Optical Simulations, SimTech project thesis SA-6. Institute of Engineering and Computational Mechanics, University of Stuttgart, 2014. (Eberhard, P.; Störkle, J.; Wengert, N.)

Talks

• December 14, 2018: The 11th SimTech Status Seminar, Bad Boll; "Predictive Control and Distributed Decision Making in Multi-Agent Robotics Applications"


• June 19, 2018: The Ninth International Conference on Swarm Intelligence, Shanghai; "Distributed Decision Making and Control for Cooperative Transportation Using Mobile Robots"


• May 28, 2018: ITM Statusseminar, Bad Herrenalb; "On the Design and Application of Distributed Control Methods"


• June 19, 2017: The 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague; "Comparison of Distributed Model Predictive Control Approaches for Transporting a Load by a Formation of Mobile Robots"


• May 22, 2017: ITM Status Seminar, Monbachtal; "On Formation Control of Mobile Robots"

Supervised Theses

• Set-Membership Particle Filtering as a Basis for Robust Model Predictive Control Concepts, Masterarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019. (running)
  In co-supervision with Dominik Hose, M.Sc.


• Cooperative Distributed Model Predictive Control of the Vertical Dynamics of a Maglev Train, Masterarbeit.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019. (running)
  In co-supervision with Patrick Schmid, M.Sc.


• Implementation and Analysis of Stochastic Sampling-Based Moving Horizon Estimation for the State and Parameter Estimation of Time-Variant Systems, Studienarbeit STUD-489.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2019.


• Development of New Control Concepts for the Magnetic Levitation System of the Transrapid, Masterarbeit MSC-269.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  In co-supervision with Florian Dignath, Dr.-Ing.; Fabian Schnelle, Dr.-Ing.


• Localization of Objects with Markers and an Infrared Camera for Network-Based Usage in Control Tasks, Bachelorarbeit BSC-96.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  In co-supervision with Fabian Kempter, M.Sc.


• Implementation and Analysis of a Communication-Based Cosimulation Environment for Swarm Robotic Tasks in Matlab and Gazebo, Bachelorarbeit BSC-95.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.


• Implementation and Analysis of Stochastic Sampling-Based Model Predictive Control for the Control of Nonlinear Mechanical Systems, Studienarbeit STUD-479.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  In co-supervision with Ehsan Sharafian, M.Sc.


• Trajectory Planning and Tracking Control of a Quadrotor in an Unknown and Dynamic Environment, Studienarbeit STUD-481.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  In co-supervision with Ehsan Sharafian, M.Sc.


• Modeling, Parameter Identification and Model Validation for a Quadrotor, SimTech project thesis SA-20.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  In co-supervision with Ehsan Sharafian, M.Sc.


• Implementation and Analysis of Moving Horizon Estimation for Multibody Systems, Masterarbeit MSC-261.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2018.
  In co-supervision with Fabian Schnelle, M.Sc.


• Implementation and Analysis of Methods for the Solution of Deployment Problems for Mobile Robots, Bachelorarbeit BSC-70.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.


• Implementation of a Learning-Based Model Predictive Control Algorithm with Application to a Quadrotor, Masterarbeit MSC-258.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.


• Formation Control of Mobile Robots Using Results from Algebraic Graph Theory, Masterarbeit MSC-254.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
  In co-supervision with Ehsan Sharafian, M.Sc.


• Attitude and Motion Control of an Elastic Plate Transported by a Formation of Mobile Robots, Studienarbeit STUD-473.
  Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
  In co-supervision with Ehsan Sharafian, M.Sc.

Teaching

• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics II (ST 2019)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics I (WT 2018/19)
• advisor for the practical training Controller Design for a Model Railway (ST 2018)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics IV, in cooperation with B. Fröhlich (ST 2018)
• organisation of the seminar and advisor of the tutor seminar in Applied Mechanics III (WT 2017/18)
• seminar in Applied Mechanics II (ST 2017)

Additional Services at the Institute

• organisation of the practical trainings