61 citations · 84 across the 12 of their papers we have counts for
12 papers
Stability of data-driven Koopman MPC with terminal conditions
Irene Schimperna, Lea Bold, Johannes Köhler +2
This paper derives conditions under which Model Predictive Control (MPC) with terminal conditions, using a data-driven surrogate model as a prediction model, asymptotically stabili…
Guaranteed Robust Nonlinear MPC via Disturbance Feedback
Antoine P. Leeman, Johannes Köhler, Melanie N. Zeilinger
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is f…
Time-Varying Coverage Control: A Distributed Tracker-Planner MPC Framework
Patrick Benito Eberhard, Johannes Köhler, Oliver Hüsser +2
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad app…
Multi-objective robust controller synthesis with integral quadratic constraints in discrete-time
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +2
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algo…
Stochastic Model Predictive Control for Sub-Gaussian Noise
Yunke Ao, Johannes Köhler, Manish Prajapat +4
We propose a stochastic Model Predictive Control (MPC) framework that ensures closed-loop chance constraint satisfaction for linear systems with general sub-Gaussian process and me…
Adaptive Economic Model Predictive Control: Performance Guarantees for Nonlinear Systems
Maximilian Degner, Raffaele Soloperto, Melanie N. Zeilinger +2
We consider the problem of optimizing the economic performance of nonlinear constrained systems subject to uncertain time-varying parameters and bounded disturbances. In particular…