45 citations · 147 across the 71 of their papers we have counts for
7 papers · 2 filters
A model-free approach to control barrier functions using funnel control
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the…
On Model Predictive Funnel Control with Equilibrium Endpoint Constraints
Jens Göbel, Dario Dennstädt, Lukas Lanza +3
We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodo…
Two-component controller design to safeguard data-driven predictive control
Lea Bold, Lukas Lanza, Karl Worthmann
We design a two-component controller to achieve reference tracking with output constraints - exemplified on systems of relative degree two. One component is a data-driven or learni…
Data-driven Model Predictive Control: Asymptotic Stability despite Approximation Errors exemplified in the Koopman framework
Irene Schimperna, Karl Worthmann, Manuel Schaller +2
In this paper, we analyze stability of nonlinear model predictive control (MPC) using data-driven surrogate models in the optimization step. First, we establish asymptotic stabilit…
Spatial decay of perturbations in hyperbolic equations with optimal boundary control
Benedikt Oppeneiger, Manuel Schaller, Karl Worthmann
Recently, domain-uniform stabilizability and detectability has been the central assumption %in order robustness results on the to ensure robustness in the sense of exponential deca…
Spatial exponential decay of perturbations in optimal control of general evolution equations
Simone Göttlich, Benedikt Oppeneiger, Manuel Schaller +1
We analyze the robustness of optimally controlled evolution equations with respect to spatially localized perturbations. We prove that if the involved operators are domain-uniforml…