5 papers
A Feedback Stability Theorem for Frequency-dependent Compensation of Excess and Lack of Passivity
Pol Jane-Soneira, Gösta Stomberg, Ognjen Stanojev +2
This article studies the stability of feedback interconnections of linear time-invariant systems based on frequency-dependent passivity indices. Using these frequency-dependent pas…
Decentralized Real-Time Iterations for Distributed NMPC
Gösta Stomberg, Alexander Engelmann, Moritz Diehl +1
This article presents a Real-Time Iteration (RTI) scheme for distributed Nonlinear Model Predictive Control (NMPC). The scheme transfers the well-known RTI approach, a key enabler…
Decentralized non-convex optimization via bi-level SQP and ADMM
Gösta Stomberg, Alexander Engelmann, Timm Faulwasser
Decentralized non-convex optimization is important in many problems of practical relevance. Existing decentralized methods, however, typically either lack convergence guarantees fo…
Large problems are not necessarily hard: A case study on distributed NMPC paying off
Gösta Stomberg, Maurice Raetsch, Alexander Engelmann +1
A key motivation in the development of Distributed Model Predictive Control (DMPC) is to accelerate centralized Model Predictive Control (MPC) for large-scale systems. DMPC has the…
Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations
Gösta Stomberg, Roland Schwan, Andrea Grillo +2
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collec…