89 citations · 292 across the 18 of their papers we have counts for
19 papers
Switched Lyapunov Function based Controller Synthesis for Networked Control Systems: A Computationally Inexpensive Approach
Katarina Stanojevic, Martin Steinberger, Martin Horn
This paper presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the red…
Modified Implicit Discretization of the Super-Twisting Controller
Benedikt Andritsch, Lars Watermann, Stefan Koch +3
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in…
Search-Based Task and Motion Planning for Hybrid Systems: Agile Autonomous Vehicles
Zlatan Ajanović, Enrico Regolin, Barys Shyrokau +3
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achie…
Unknown Input Observer Design for Linear Time-Invariant Systems -- A Unifying Framework
Markus Tranninger, Helmut Niederwieser, Richard Seeber +1
This paper presents a new observer design approach for linear time invariant multivariable systems subject to unknown inputs. The design is based on a transformation to the so-call…
Detectability Conditions and State Estimation for Linear Time-Varying and Nonlinear Systems
Markus Tranninger, Richard Seeber, Martin Steinberger +2
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, who…
A Non-Conservative Stability Criterion for Networked Control Systems with time-varying Packet Delays
Martin Steinberger, Martin Horn
A networked output feedback loop subject to packetized transmissions of the output signal is considered. Based on the small gain theorem, an easy-to-use stability criterion coverin…
Strong Detectability and Observers for Linear Time Varying Systems
Markus Tranninger, Richard Seeber, Juan G. Rueda-Escobedo +1
This work presents a notion of strong detectability for linear time varying systems affected by unknown inputs. It is shown that this notion is equivalent to detectability of an au…
From classical to Networked Control: Retrofitting the Concept of Smith Predictors
Martin Steinberger, Martin Horn
Filtered Smith predictors are well established for controlling linear plants with constant time delays. Apart from this classical application scenario, they are also employed withi…
Robust exact differentiators with predefined convergence time
Richard Seeber, Hernan Haimovich, Martin Horn +2
The problem of exactly differentiating a signal with bounded second derivative is considered. A class of differentiators is proposed, which converge to the derivative of such a sig…
Uniform Detectability of Linear Time Varying Systems with Exponential Dichotomy
Markus Tranninger, Richard Seeber, Martin Steinberger +1
Exponential dichotomies play a central role in stability theory for dynamical systems. They allow to split the state space into two subspaces, where all trajectories in one subspac…
Finite-horizon Linear Quadratic Control for Networked Control Systems with non-distributed plants
Marijan Palmisano, Martin Steinberger, Martin Horn
An optimal control law for networked control systems with a discrete-time linear time-invariant (LTI) system as plant and networks between sensor and controller as well as between…
Pipe Roughness Identification of Water Distribution Networks: A Tensor Method
Stefan Kaltenbacher, Martin Steinberger, Martin Horn
The identification of pipe roughnesses in a water distribution network is formulated as nonlinear system of algebraic equations which turns out to be demanding to solve under real-…
Pipe Roughness Identification of Water Distribution Networks: The Full Turbulent Case
Stefan Kaltenbacher, Martin Steinberger, Martin Horn
This paper proposes a technique to identify individual pipe roughness parameters in a water distribution network by means of the inversion of the steady-state hydraulic network equ…
Search-Based Motion Planning for Performance Autonomous Driving
Zlatan Ajanovic, Enrico Regolin, Georg Stettinger +2
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference…
Learning a Behavior Model of Hybrid Systems Through Combining Model-Based Testing and Machine Learning (Full Version)
Bernhard K. Aichernig, Roderick Bloem, Masoud Ebrahimi +6
Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as p…
Non-Uniform Stability, Detectability, and, Sliding Mode Observer Design for Time Varying Systems with Unknown Inputs
Markus Tranninger, Sergiy Zhuk, Martin Steinberger +2
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and s…
Safe learning-based optimal motion planning for automated driving
Zlatan Ajanovic, Bakir Lacevic, Georg Stettinger +2
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based…
Search-based optimal motion planning for automated driving
Zlatan Ajanovic, Bakir Lacevic, Barys Shyrokau +2
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of se…
A novel model-based heuristic for energy optimal motion planning for automated driving
Zlatan Ajanovic, Michael Stolz, Martin Horn
Predictive motion planning is the key to achieve energy-efficient driving, which is one of the main benefits of automated driving. Researchers have been studying the planning of ve…