126 citations · 157 across the 10 of their papers we have counts for
15 papers
Discounted MPC and infinite-horizon optimal control under plant-model mismatch: Stability and suboptimality
Robert H. Moldenhauer, Karl Worthmann, Romain Postoyan +2
We study closed-loop stability and suboptimality for MPC and infinite-horizon optimal control solved using a surrogate model that differs from the real plant. We employ a unified f…
Exponential stability of data-driven nonlinear MPC based on input/output models
Lea Bold, Irene Schimperna, Karl Worthmann +1
We consider nonlinear model predictive control (MPC) schemes without stabilizing terminal conditions, where the model used in the optimization step is generated based on input-outp…
Model predictive control for singular differential-algebraic equations
Achim Ilchmann, Jonas Witschel, Karl Worthmann
We study model predictive control for singular differential-algebraic equations with higher index. This is a novelty when compared to the literature where only regular differential…
Funnel MPC for nonlinear systems with relative degree one
Thomas Berger, Dario Dennstädt, Achim Ilchmann +1
We show that Funnel MPC, a novel Model Predictive Control (MPC) scheme, allows tracking of smooth reference signals with prescribed performance for nonlinear multi-input multi-outp…
Learning-based Funnel-MPC for output-constrained nonlinear systems
Thomas Berger, Carolin Kästner, Karl Worthmann
We exploit an adaptive control technique, namely funnel control, in order to establish both initial and recursive feasibility in Model Predictive Control (MPC) for output-constrain…
Towards multiobjective optimization and control of smart grids
Philipp Sauerteig, Karl Worthmann
The rapid uptake of renewable energy sources in the electricity grid leads to a demand in load shaping and flexibility. Energy storage devices such as batteries are a key element t…
Symmetry and Motion Primitives in Model Predictive Control
Kathrin Flaßkamp, Sina Ober-Blöbaum, Karl Worthmann
Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the…
Model Predictive Control, Cost Controllability, and Homogeneity *
Jean-Michel Coron, Lars Grüne, Karl Worthmann
We are concerned with the design of Model Predictive Control (MPC) schemes such that asymptotic stability of the resulting closed loop is guaranteed even if the linearization at th…
Optimal control of differential-algebraic equations from an ordinary differential equation perspective
Achim Ilchmann, Leslie Leben, Jonas Witschel +1
We study the Optimal Control Problem (OCP) for regular linear differential-algebraic systems (DAEs). To this end, we introduce the input index, which allows, on the one hand, to ch…
Predictive Control Algorithms: Stability despite Shortened Optimization Horizons
Philipp Braun, Jürgen Pannek, Karl Worthmann
The stability analysis of model predictive control schemes without terminal constraints and/or costs has attracted considerable attention during the last years. We pursue a recentl…
Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizons
Lars Grüne, Jürgen Pannek, Martin Seehafer +1
For nonlinear discrete time systems satisfying a controllability condition, we present a stability condition for model predictive control without stabilizing terminal constraints o…
Ensuring Stability in Networked Systems with Nonlinear MPC for Continuous Time Systems
Lars Grüne, Jürgen Pannek, Karl Worthmann
For networked systems, the control law is typically subject to network flaws such as delays and packet dropouts. Hence, the time in between updates of the control law varies unexpe…
Stability and Performance Guarantees for MPC Algorithms without Terminal Constraints
Jürgen Pannek, Karl Worthmann
A typical bottleneck of model predictive control algorithms is the computational burden in order to compute the receding horizon feedback law which is predominantly determined by t…
Reducing the Prediction Horizon in NMPC: An Algorithm Based Approach
Jürgen Pannek, Karl Worthmann
In order to guarantee stability, known results for MPC without additional terminal costs or endpoint constraints often require rather large prediction horizons. Still, stable behav…
Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
Lars Grüne, Jürgen Pannek, Martin Seehafer +1
For discrete time nonlinear systems satisfying an exponential or finite time controllability assumption, we present an analytical formula for a suboptimality estimate for model pre…