3 papers
eess.SY2026
A model-free approach to control barrier functions for higher-order systems
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a widely applied modular tool to ensure safe operation of nonlinear dynamical control systems. However, for their construction accurate knowled…
math.OC2025
On Model Predictive Funnel Control with Equilibrium Endpoint Constraints
Jens Göbel, Dario Dennstädt, Lukas Lanza +3
We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodo…
math.OC2022
Funnel MPC with feasibility constraints for nonlinear systems with arbitrary relative degree
Thomas Berger, Dario Dennstädt
We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achi…