most citedRobust adaptive MPC using control contraction metrics

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eess.SY2022★ 4 cited

LQG for Constrained Linear Systems: Indirect Feedback Stochastic MPC with Kalman Filtering

Simon Muntwiler, Kim P. Wabersich, Robert Miklos +1

We present an output feedback stochastic model predictive control (SMPC) approach for linear systems subject to Gaussian disturbances and measurement noise and probabilistic constr…

eess.SY2022★ 8 cited

Online convex optimization for constrained control of linear systems using a reference governor

Marko Nonhoff, Johannes Köhler, Matthias A. Müller

In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost f…

eess.SY2022★ 61 cited

Robust adaptive MPC using control contraction metrics

András Sasfi, Melanie N. Zeilinger, Johannes Köhler

We present a robust adaptive model predictive control (MPC) framework for nonlinear continuous-time systems with bounded parametric uncertainty and additive disturbance. We utilize…