808 citations · 821 across the 9 of their papers we have counts for
8 papers · 1 filter
Transient performance of MPC for tracking without terminal constraints
Nadine Ehmann, Matthias Köhler, Frank Allgöwer
Model predictive control (MPC) for tracking is a recently introduced approach, which extends standard MPC formulations by incorporating an artificial reference as an additional opt…
Path-following model predictive control for autonomous e-scooters
David Meister, Robin Strässer, Felix Brändle +6
In order to mitigate economical, ecological, and societal challenges in electric scooter (e-scooter) sharing systems, we develop an autonomous e-scooter prototype. Our vision is to…
Data-driven Estimator Synthesis with Instantaneous Noise
Felix Brändle, Frank Allgöwer
Data-driven controller design based on data informativity has gained popularity due to its straightforward applicability, while providing rigorous guarantees. However, applying thi…
Beyond Asymptotics: Targeted exploration with finite-sample guarantees
Janani Venkatasubramanian, Johannes Köhler, Frank Allgöwer
In this paper, we introduce a targeted exploration strategy for the non-asymptotic, finite-time case. The proposed strategy is applicable to uncertain linear time-invariant systems…
On the effects of angular acceleration in orientation estimation using inertial measurement units
Felix Brändle, David Meister, Marc Seidel +2
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than…
Bounding the difference between model predictive control and neural networks
Ross Drummond, Stephen R. Duncan, Matthew C. Turner +2
There is a growing debate on whether the future of feedback control systems will be dominated by data-driven or model-driven approaches. Each of these two approaches has their own…
A nonlinear model predictive control framework using reference generic terminal ingredients -- extended version
Johannes Köhler, Matthias A. Müller, Frank Allgöwer
In this paper, we present a quasi infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonl…
Data-Driven Model Predictive Control with Stability and Robustness Guarantees
Julian Berberich, Johannes Köhler, Matthias A. Müller +1
We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant (LTI) systems. The scheme uses an implicit model description based on behavio…