230 citations · 372 across the 23 of their papers we have counts for
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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★ 83 cited
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,…