105 citations · 139 across the 14 of their papers we have counts for
13 papers · 1 filter
Distributed Predictive Control Barrier Functions: Towards Scalable Safety Certification in Modular Multi-Agent Systems
Jonas Ohnemus, Alexandre Didier, Ahmed Aboudonia +2
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables…
Distributionally Robust Imitation Learning: Layered Control Architecture for Certifiable Autonomy
Aditya Gahlawat, Ahmed Aboudonia, Sandeep Banik +5
Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, I…
Dissipativity-Based Data-Driven Decentralized Control of Interconnected Systems
Taiki Nakano, Ahmed Aboudonia, Jaap Eising +3
We propose data-driven decentralized control algorithms for stabilizing interconnected discrete-time linear time-invariant systems. We first derive a data-driven condition to synth…
A Data-driven Predictive Control Architecture for Train Thermal Energy Management
Ahmed Aboudonia, Johannes Estermann, Keith Moffat +2
We aim to improve the energy efficiency of train climate control architectures, with a focus on a specific class of regional trains operating throughout Switzerland, especially in…
Plug and Play Distributed Control of Clustered Energy Hub Networks
Varsha Behrunani, Cara Koepele, Jared Miller +4
The transition to renewable energy is driving the rise of distributed multi-energy systems, in which individual energy hubs and prosumers (e.g., homes, industrial campuses) generat…
Adaptive Learning-based Model Predictive Control for Uncertain Interconnected Systems: A Set Membership Identification Approach
Ahmed Aboudonia, John Lygeros
We propose a novel adaptive learning-based model predictive control (MPC) scheme for interconnected systems which can be decomposed into several smaller dynamically coupled subsyst…
Online Computation of Terminal Ingredients in Distributed Model Predictive Control for Reference Tracking
Ahmed Aboudonia, Goran Banjac, Annika Eichler +1
A distributed model predictive control scheme is developed for tracking piecewise constant references where the terminal set is reconfigured online, whereas the terminal controller…
Reconfigurable Plug-and-play Distributed Model Predictive Control for Reference Tracking
Ahmed Aboudonia, Andrea Martinelli, Nicolas Hoischen +1
A plug-and-play model predictive control (PnP MPC) scheme is proposed for varying-topology networks to track piecewise constant references. The proposed scheme allows subsystems to…
A distributed framework for linear adaptive MPC
Anilkumar Parsi, Ahmed Aboudonia, Andrea Iannelli +2
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network s…
Passivity-based Decentralized Control for Discrete-time Large-scale Systems
Ahmed Aboudonia, Andrea Martinelli, John Lygeros
Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in co…
Input Convex Neural Networks for Building MPC
Felix Bünning, Adrian Schalbetter, Ahmed Aboudonia +3
Model Predictive Control in buildings can significantly reduce their energy consumption. The cost and effort necessary for creating and maintaining first principle models for build…
Distributed Model Predictive Control with Reconfigurable Terminal Ingredients for Reference Tracking
Ahmed Aboudonia, Annika Eichler, Francesco Cordiano +2
Various efforts have been devoted to developing stabilizing distributed Model Predictive Control (MPC) schemes for tracking piecewise constant references. In these schemes, termina…
Distributed Model Predictive Control with Asymmetric Adaptive Terminal Sets for the Regulation of Large-scale Systems
Ahmed Aboudonia, Annika Eichler, John Lygeros
In this paper, a novel distributed model predictive control (MPC) scheme with asymmetric adaptive terminal sets is developed for the regulation of large-scale systems with a distri…