45 citations · 147 across the 71 of their papers we have counts for
6 papers · 2 filters
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…
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…
Koopman operator theory: fundamentals, control, and applications
Igor Mezić, Jorge Cortés, Karl Worthmann +2
The Koopman operator has gained considerable attention due to its ability to provide a global linear representation of highly complex dynamical systems. The operator describes nonl…
Koopman meets input-output data: Data-driven output-feedback control of nonlinear systems with closed-loop guarantees
Robin Strässer, Julian Berberich, Manuel Schaller +2
Data-driven control of nonlinear systems from input-output measurements remains a fundamental challenge, as existing approaches with rigorous closed-loop guarantees predominantly r…
A model-free approach to control barrier functions for higher-order systems
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a widely applied modular tool to ensure safe operation of nonlinear dynamical control systems. However, for their construction accurate knowled…
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…