6 citations · 7 across the 12 of their papers we have counts for
13 papers
Mission-Centric Requirements Analysis of Model Predictive Control in Spacecraft Rendezvous and Proximity Operations
Nils Maier, Torbjørn Cunis, Tam W. Nguyen
Rendezvous and proximity operations (RPO) missions are commonly designed as a sequence of distinct phases each governed by its own sample time, constraint set, and cost structure,…
Worst-Case Probability Bounds for Finite-Horizon Safety under Moment Uncertainty
Renato Loureiro, Torbjørn Cunis
This paper addresses the problem of estimating upper bounds on the probability that a dynamical system will enter an undesirable region at some point within a finite time horizon.…
Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility
Jan Olucak, Torbjørn Cunis
In this paper, a computationally lightweight approximate robust nonlinear model predictive control (NMPC) law is proposed based on a pair of input-to-state control Lyapunov functio…
Sum-of-Squares Stability Verification on Manifolds with Applications in Spacecraft Attitude Control
Fabian Geyer, Friedrich Tuttas, Walter Fichter +1
In the context of spacecraft attitude control, parametrizations such as direction vectors or quaternions are often used to avoid singularities in the attitude representation. This,…
On the Practical Implementation of a Sequential Quadratic Programming Algorithm for Nonconvex Sum-of-squares Problems
Jan Olucak, Torbjørn Cunis
Sum-of-squares (SOS) optimization provides a computationally tractable framework for certifying polynomial nonnegativity. If the considered problem is convex, the SOS problem can b…
Novel Multi-objective Switched Model Predictive Control with Feasibility and Stability Guarantees
Elias Niepötter, Adrian Grimm, Torbjørn Cunis
As the relevance of control systems capable of dealing with multiple objectives rises (e.g. being economic while maintaining a certain performance), multi-objective Switched Model…
Safe-by-Design: Approximate Nonlinear Model Predictive Control with Real Time Feasibility
Jan Olucak, Arthur Castello B. de Oliveira, Torbjørn Cunis
This paper proposes a computationally lightweight, continuous-time receding-horizon nonlinear model predictive control (MPC) approach with infinitesimal prediction horizon. Unlike…
Virtual Target Trajectory Prediction for Stochastic Targets
Marc Schneider, Renato Loureiro, Torbjørn Cunis +1
Trajectory prediction of aerial vehicles is a key requirement in applications ranging from missile guidance to UAV collision avoidance. While most prediction methods assume determi…
CaΣoS: A nonlinear sum-of-squares optimization suite
Torbjørn Cunis, Jan Olucak
We present CaoS, the first MATLAB software specifically designed for nonlinear sum-of-squares optimization. A symbolic polynomial algebra system allows to formulate parametrized…
Probabilistic Region-of-Attraction Estimation with Scenario Optimization and Converse Theorems
Torbjørn Cunis
The region of attraction characterizes well-behaved and safe operation of a nonlinear system and is hence sought after for verification. In this paper, a framework for probabilisti…
Real-time Nonlinear Model Predictive Control using One-step Optimizations and Reachable Sets
Jan Olucak, Walter Fichter, Torbjørn Cunis
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the fut…
Sequential sum-of-squares programming for analysis of nonlinear systems
Torbjørn Cunis, Benoît Legat
Numerous interesting properties in nonlinear systems analysis can be written as polynomial optimization problems with nonconvex sum-of-squares problems. To solve those problems eff…
Some notes on continuity in convex optimization
Torbjørn Cunis
We provide proof that the optimal value function of a convex parametrized optimization problem in Euclidean spaces is itself a convex function onto the extended real line.