198 citations · 920 across the 74 of their papers we have counts for
91 papers
Optimal energy conversion -- A port-Hamiltonian approach
Guanru Pan, Karl Worthmann, Manuel Schaller +1
This paper studies optimal energy conversion in port-Hamiltonian systems. We analyze state- and control-constrained finite-horizon optimal control problems that maximize energy con…
Receding Horizon Control and Dissipativity - Optimal Control, Games and Uncertainty
Sophie Hall, Jonas Schießl, Sergio Grammatico +1
We provide a tutorial overview of receding horizon control across deterministic, stochastic, multi-agent, and game-theoretic settings. We contrast the minimizer of an optimal contr…
Energy-optimal predictive control of discrete-time port-Hamiltonian systems: Closed-loop practical stability
Vaibhav Kumar Singh, Manuel Schaller, Timm Faulwasser +1
We study a dissipativity-based model predictive control (MPC) scheme for energy-optimal constrained output stabilization of a discrete-time nonlinear SISO port-Hamiltonian system d…
Closed-loop analysis of linear stochastic MPC with risk-averse constraints
Jonas Schießl, Ruchuan Ou, Michael H. Baumann +2
Chance constraints are widely used in stochastic model predictive control (MPC) to enforce probabilistic state and input constraints in the presence of unbounded disturbances. Howe…
Towards Polynomial Immersion of Port-Hamiltonian Systems
Mohammad Itani, Manuel Schaller, Karl Worthmann +1
Port-Hamiltonian (pH) systems offer a highly structured and energy-based modular framework for control systems. Many pH systems exhibit non-polynomial non-linearities. We consider…
PolyOCP.jl -- A Julia Package for Stochastic OCPs and MPC
Ruchuan Ou, Learta Januzi, Jonas Schießl +3
The consideration of stochastic uncertainty in optimal and predictive control is a well-explored topic. Recently Polynomial Chaos Expansions (PCE) have received considerable attent…
System-Theoretic Analysis of Dynamic Generalized Nash Equilibria -- Turnpikes and Dissipativity
Sophie Hall, Florian Dörfler, Timm Faulwasser
Generalized Nash equilibria are used in multi-agent control applications to model strategic interactions between agents that are coupled in the cost, dynamics, and constraints, and…
Stability and performance of stochastic economic MPC -- Stochastic characterization of the closed-loop asymptotics
Jonas Schießl, Hannah Selder, Ruchuan Ou +3
Model Predictive Control (MPC) is well understood in the deterministic setting, yet rigorous stability and performance guarantees for stochastic MPC remain limited to the considera…
Complexity Reduction for TSO-DSO Coordination: Flexibility Aggregation vs. Distributed Optimization
Maísa Beraldo Bandeira, Alexander Engelmann, Timm Faulwasser
The increasing number of flexible devices and distributed energy resources in power grids renders the coordination of transmission and distribution systems increasingly complex. In…
Probabilistic Time Series Forecasting of Residential Loads -- A Copula Approach
Marco Jeschke, Timm Faulwasser, Roland Fried
Predicting the time series of future evolutions of renewable injections and demands is of utmost importance for the operation of power systems. However, the current state of the ar…
Towards turnpike-based performance analysis of risk-averse stochastic predictive control
Jonas Schießl, Ruchuan Ou, Michael H. Baumann +2
In this paper, we present performance estimates for stochastic economic MPC schemes with risk-averse cost formulations. For MPC algorithms with costs given by expectations, it was…
A Stochastic Fundamental Lemma with Reduced Disturbance Data Requirements
Ruchuan Ou, Guanru Pan, Timm Faulwasser
Recently, the fundamental lemma by Willems et al. has been extended towards stochastic LTI systems subject to process disturbances. Using this lemma requires previously recorded da…
Tutorial Problems for Nonsmooth Dynamics and Optimal Control: Ski Jumping and Accelerating a Bike Without Pedaling
Julian Golembiewski, Timm Faulwasser
Nonsmooth phenomena, such as abrupt changes, impacts, and switching behaviors, frequently arise in real-world systems and present significant challenges for traditional optimal con…
Large problems are not necessarily hard: A case study on distributed NMPC paying off
Gösta Stomberg, Maurice Raetsch, Alexander Engelmann +1
A key motivation in the development of Distributed Model Predictive Control (DMPC) is to accelerate centralized Model Predictive Control (MPC) for large-scale systems. DMPC has the…
Towards Event-Triggered NMPC for Efficient 6G Communications: Experimental Results and Open Problems
Jens Püttschneider, Julian Golembiewski, Niklas A. Wagner +2
Networked control systems enable real-time control and coordination of distributed systems, leveraging the low latency, high reliability, and massive connectivity offered by 5G and…
Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations
Gösta Stomberg, Roland Schwan, Andrea Grillo +2
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collec…
A continuous-time fundamental lemma and its application in data-driven optimal control
Philipp Schmitz, Timm Faulwasser, Paolo Rapisarda +1
Data-driven control of discrete-time and continuous-time systems is of tremendous research interest. In this paper, we explore data-driven optimal control of continuous-time linear…
On Dissipativity of Cross-Entropy Loss in Training ResNets
Jens Püttschneider, Timm Faulwasser
The training of ResNets and neural ODEs can be formulated and analyzed from the perspective of optimal control. This paper proposes a dissipative formulation of the training of Res…
Distributed Optimization for Energy Grids: A Tutorial on ADMM and ALADIN
Lukas Lanza, Timm Faulwasser, Karl Worthmann
The ongoing transition towards energy and power systems dominated by a large number of renewable power injections to the distribution grid poses substantial challenges for system o…
Towards Efficient Aggregation of Storage Flexibilities in Power Grids
Emrah Öztürk, Kevin Kaspar, Timm Faulwasser +3
The increasing penetration of volatile renewables combined with increasing demands poses a challenge to modern power grids. Furthermore, distributed energy resources and flexible d…
Near-optimal performance of stochastic economic MPC
Jonas Schießl, Ruchuan Ou, Timm Faulwasser +2
This paper presents first results for near optimality in expectation of the closed-loop solutions for stochastic economic MPC. The approach relies on a recently developed turnpike…
The Dynamics of a Bicycle on a Pump Track -- First Results on Modeling and Optimal Control
Julian Golembiewski, Marcus Schmidt, Benedikt Terschluse +3
We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is pr…
A Polynomial Chaos Approach to Stochastic LQ Optimal Control: Error Bounds and Infinite-Horizon Results
Ruchuan Ou, Jonas Schießl, Michael Heinrich Baumann +2
The stochastic linear--quadratic regulator problem subject to Gaussian disturbances is well known and usually addressed via a moment-based reformulation. Here, we leverage polynomi…
On the relationship between stochastic turnpike and dissipativity notions
Jonas Schießl, Michael H. Baumann, Timm Faulwasser +1
In this paper, we introduce and study different dissipativity notions and different turnpike properties for discrete-time stochastic nonlinear optimal control problems. The propose…