4 papers
Exponential stability of data-driven nonlinear MPC based on input/output models
Lea Bold, Irene Schimperna, Karl Worthmann +1
We consider nonlinear model predictive control (MPC) schemes without stabilizing terminal conditions, where the model used in the optimization step is generated based on input-outp…
From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
Dennis Benders, Johannes Köhler, Robert Babuška +2
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains cha…
A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
Dennis Benders, Laura Ferranti, Johannes Köhler
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robot…
A model-free approach to control barrier functions using funnel control
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the…