230 citations · 230 across the 1 of their papers we have counts for
3 papers
eess.SY2021
Stability and performance in MPC using a finite-tail cost
Johannes Köhler, Frank Allgöwer
In this paper, we provide a stability and performance analysis of model predictive control (MPC) schemes based on finite-tail costs. We study the MPC formulation originally propose…
cs.RO2019★ 230 cited
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control
Julian Nubert, Johannes Köhler, Vincent Berenz +2
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) wit…
eess.SY2019
A nonlinear tracking model predictive control scheme for dynamic target signals
Johannes Köhler, Matthias A. Müller, Frank Allgöwer
We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer,…